PURPOSE: To eliminate a control delay, and enhance stability of a vehicle by performing a change and prohibition or the like of control before a motional condition of the vehicle enters a nonlinear area.

CONSTITUTION: A travel control device of a vehicle is provided with a feedback control means 48 to perform feedback control on a rear wheel steering device so that an actual yaw rate is made to coincide with a target yaw rate and a map control means 44 to substantially guarantee stability of a vehicle. An anticipating means 49 anticipates that a motional condition of the vehicle enters a nonlinear area by neural network operation using car speed Vsp, a yaw rate , a front wheel steering angle Fs and an accelerator stepping-down quantity Acp or the like as input information. A control switching means 50 switches control to map control by the control means 44 from feedback control by the control means 48 before the motional condition enters the nonlinear area.