To integrate vehicle behavior control and operation support control, and to efficiently and stably perform cooperative control.

A control unit 40 calculates a target behavior (target longitudinal force Fx, target yaw moment Mz) estimated mainly from a driver operation to its own vehicle 1, and presets target functions L giving the minimum value including friction circle use rate μr(Δr) of its own vehicle 1 after preset Δt seconds, total Rt(Δt) of contact probability to whole solid objects as the object of decision and correction amounts δFv of target behavior, and calculates target behavior correction amounts δFv minimizing the target functions L. Then, controlled variables are determined based on the target posture and the target behavior correction amounts δFv, and automatic brake control is executed as one example of the actuator of the vehicle behavior control according to the controlled variables.