Abstract: An emergency determination mechanism determines whether the necessity of an emergency stop of a vehicle is high. If the emergency determination mechanism determines that the necessity of the emergency stop is high, a granular object sprinkling device sprinkles granular objects on a road surface in front of a vehicle in a running direction. At the same time, when the granular object sprinkling device is operated to sprinkle the granular objects, an ABS control device changes the setting of a target slip ratio as a target value in ABS control from a relatively small first value to a relatively large second value.