To turn at smaller limit quantities (with larger limit values).

The position of the center of gravity of a vehicle as a whole body is determined, and limit lateral acceleration alim(=aMin, aMax) is determined according to the position of the center of gravity. Turning travel is performed in such a range that lateral acceleration a* determined based on a target travel state (V*, γ*) desired by an occupant does not exceed the limit lateral acceleration alim. That is, in the case that the target travel state (V*, γ*) not exceeding the limit lateral acceleration alimis inputted (desired) by the occupant, turning travel is performed in the target travel state. In the case that the target travel state (V*, γ*) exceeding the limit lateral acceleration alimis inputted, the desired target travel state (V*, γ*) is limited to an actual target travel state (V*=, γ*=) to have the lateral acceleration a* equal to the limit lateral acceleration alim. The turning speed and the turning radius of curvature are not limited more than necessary, thereby the turning performance of the vehicle can be utilized to the utmost up to a limit.

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