To prevent a control input from being discontinued, and to prevent an unnecessary vehicle behavior from being generated, even in continuous road departure operation in the vicinity of a road boundary on which sidewalk/roadway separation blocks are discontinuously arranged.

The size of each of obstacles around a vehicle and the relative position and relative speed thereof with respect to the vehicle are detected (500). A pair of objects to be connected is determined from the detected obstacles (501). The obstacle connection length as a criterion for virtual connection is set (502). The implementation of the virtual connection is determined on the basis of the criterion (503). A gap position is interpolated for the pair determined to be virtually connected (504). Whether there is an object to be controlled for avoiding a collision is searched (505). A yaw moment for avoiding the obstacle is calculated on the basis of position information relating to the avoidance control object (506).