To reduce deviation of an actual traveling track from an intended traveling track due to a steering delay, and reduce vehicle weight and manufacturing cost.

The steering control device 60 of a control device for a vehicle detects whether or not the steering delay (operation delay of a steering actuator 22) is generated when vehicle speed v is smaller than the set vehicle speed V (for example, at low speed in U-turn operation or the like). It determines an acceleration limitation value P of the vehicle according to a degree of the detected steering delay. The value P shows that the acceleration is not limited when the P is 0, and the acceleration is most strictly limited when the P is 1. The value P is transmitted to an engine control device 70 and the acceleration of the vehicle is limited by limiting an opening (engine output) of a throttle valve of a throttle valve device 74 based on the value P. If the acceleration is limited, the vehicle can travel without large deviation of the actual traveling track from the intended traveling track by the driver even if there is steering delay. When the vehicle speed v becomes not less than the set vehicle speed V during acceleration limitation of the vehicle, the acceleration limitation is released step by step.