To appropriately set the starting reference of a motion control so as not to be influenced by an error caused by a detecting means.

In this control device, stability during the motion of a vehicle including turning of the vehicle is determined by a vehicle moving state determining means ES on the basis of the detected output of a detecting means DT for detecting a signal indicating the moving state of the vehicle, and a brake hydraulic control device BC is controlled by a braking force control means FC according to the determined result. The braking force control means FC is provided with a starting reference setting means ST where a starting reference for starting braking force control is set according to the determined result of the vehicle moving state determining means ES. Further when an error caused by the detecting means DT is estimated by an error estimating means ER, the starting reference is corrected by a correcting means AS according to the estimated error.