To provide a control device of a vehicle which can realize both effective utilization of kinetic energy of a wheel and stabilization of behavior of a vehicle by gyro moment.

A vehicle is equipped with a rotary shaft coupled to an axle shaft 10 of a rear wheel RW1 through the medium of a stepless continuous transmission 11 and a rotor discharging or accumulating kinetic energy at acceleration/deceleration of a vehicle. The rotor contains a first flywheel 15 assembled in a first rotary shaft 12 and a second flywheel 16 assembled in the second rotary shaft 14. The control device of a vehicle includes a differential gear 13 for reversing the rotating directions of the first flywheel 15 and second flywheel 16 and an angular momentum control device 20 for controlling the sum At of a first angular momentum A1 which is the production of an angular speed ω1 of the first flywheel 15 and inertia moment I1 and a second angular momentum A2 which is the production of an angular speed ω2 of the second flywheel 16 and inertia moment I2, to a target angular momentum Ata set in accordance with the behavior of a vehicle.