PURPOSE: To prevent malfunction of a suspensin control device or a four-wheel steering device at the time of a failure by detecting the abnormality of an angular velocity sensor.

CONSTITUTION: The car velocity is detected by a car velocity sensor 1 and the angular velocity round the yaw axis is detected by a yaw angular velocity sensor 2. In a sensor abnormality detecting means 6, the abnortmality of the yaw angular velocity sensor is detected from an output signal ωy of the yaw angular velocity sensor 2, and if it is a failure, an abnormality detecting signal is output to a driving circuit 8 to terminate the control for rolling and fix a shock absorber 3 to the basic damping force. In the case of normal operation, the degree of rolling generated at the time of turing is estimated from an output signal V of the car velocity sensor 1 and an output signal ωy of a turning condition estimating means 7, and a control signal is output in such a manner as to restrain the rolling. According to a control signal from the turning condition estimating means 7, the driving circuit 8 drives an actuator 4 to control the damping force of the shock absorber 3.