A control device sets avoidance traveling reaching points, avoidance traveling target points, and a final avoidance target point of an obstacle to be avoided based on the position of the obstacle to be avoided and the position of the vehicle for the target passing position based on obstacle information recognized by a stereo camera, and an environment recognition unit, inputs the target actual steering angle as a vehicle motion parameter obtained according to a vehicle motion model to an electric power steering control device with these target passing positions as a target, and guides the avoidance traveling. The increase of the number of operations is controlled thereby to a minimum, and the obstacle is smoothly, efficiently and stably avoided based on actual behavior of the vehicle.