Vehicle
motion control device, with: an information
reference device that obtains information regarding situations ahead of its own vehicle (100) as advance situation information; and an
electronic control unit (90) that controls the acceleration of the vehicle (100), the deceleration of the vehicle (100) and the steering of the vehicle (100), wherein the
electronic control unit (90) is configured to: when (i) a request is made to execute a follower
motion control, and (ii) the
electronic control unit (90) determines that another vehicle (101) is ahead of the own vehicle (100), based on the advance situation information, execute (i) an initial target acceleration setting process of the follower
motion control to set an initial target acceleration of the own vehicle (100) required to maintain an intermediate vehicle distance between the own vehicle (100) and the other vehicle (101) at a target distance, and (ii) an initial follower acceleration / deceleration process of the follower motion control to control a drive torque to be applied to the own vehicle (100) to accelerate or decelerate the own vehicle (100) to control an acceleration of the own vehicle (100) to the initial target acceleration; when (i) the following motion control is requested to execute, and (ii) the electronic
control unit (90) determines that the other vehicle (101) is not ahead of the own vehicle (100), based on the advance situation information, execute (i) a second target acceleration setting process of the following motion control to set a second target acceleration of the own vehicle (100) based on a movement speed of the own vehicle (100) and a target movement speed, and (ii) a second following acceleration / deceleration process of the following motion control to control the drive torque to accelerate or decelerate the own vehicle (100) to control the acceleration of the own vehicle (100) to the second target acceleration; if (i) the electronic
control unit (90) performs the second subsequent acceleration / deceleration process to control the acceleration of the own vehicle (100) to the second target acceleration, which is greater than zero, and (ii) the acceleration of the own vehicle (100) is less than a predetermined threshold, increasing the second target acceleration; and If the electronic
control unit (90) determines that a
stationary object (50) which is potentially touching the own vehicle (100) is present in front of the own vehicle (100), based on the advance situation information, execute a steering evasive control to steer the own vehicle (100) in order to cause the own vehicle (100) to pass the
stationary object (50), thereby avoiding the own vehicle (100) touching the
stationary object (50), characterized in that the electronic control unit (90) is configured to: Stopping the second subsequent acceleration / deceleration process when the electronic control unit (90) initiates an execution of the steering evasive control while the electronic control unit (90) is executing the second subsequent acceleration / deceleration process; and Limiting the second target acceleration so that the second target acceleration is less than or equal to a predetermined acceleration when the electronic control unit (90) completes an execution of the steering avoidance control.