To enhance the reliability from a driver and improve the safety by appropriately adjusting respective functions of a brake system to be multi-functioned.

A brake control unit 30 has five functions consisting of a sideslip prevention control function, cornering braking control function, lane departure prevention yaw moment control function, lane departure deceleration control function and follow-up travelling control function, and executes the sideslip prevention control function, cornering braking control function and lane departure prevention yaw moment control function which control a yaw moment of a vehicle, in descending order of precedence. In the lane departure deceleration control function and follow-up travelling control function which perform the deceleration control of a vehicle, a larger deceleration command value therein is output.