To reduce the fear that a necessary motion control cannot be started at desirable timing in the situation where the movable load of a vehicle fluctuates, when the motion of the vehicle is controlled based on the deviation between a real yaw rate of the vehicle and a target yaw rate based on an estimated value of a stability factor.

The motion control device of the vehicle operates an estimated value of the stability factor of the vehicle, operates the target yaw rate of the vehicle based on the estimated value of the stability factor, and controls the motion of the vehicle based on the deviation between a real yaw rate of the vehicle and the target yaw rate (S20, 80-95). At least one of the dead zone, the yaw rate deviation, and the target yaw rate of the motion control can be corrected based on the magnitude relation between the estimated value of the stability factor and a reference stability factor set beforehand about a reference weight of the vehicle (S25-50).