A driving support device comprising: a detection unit for detecting a driving state of a vehicle, a position of a lane marker, and positions and types of obstacles around said vehicle; a calculation unit for calculating, based on said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from said lane marker and/or to avoid a collision with said surrounding obstacles; and a distribution unit for distributing, based on at least one of said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, said target yaw moment to a first actuator for controlling a driving/braking force and a second actuator for controlling a steering, characterized in that said distribution unit has, based on an absolute value of the target yaw moment calculated in the calculation unit, occasions to distribute said target yaw moment so as to operate said first actuator, and occasions to distribute said target yaw moment so as to operate both of said first and second actuators; and wherein said first actuator defines at least one of a brake control device, a driving force control device and a yaw moment control device, and said second actuator defines a steering control device, and wherein said distribution unit increases a distribution of the target yaw moment of said steering control device to the target yaw moment of said brake control device, said driving force control device or said yaw moment control device, as the absolute value of said target yaw moment increases. a detection unit for detecting a driving state of a vehicle, a position of a lane marker, and positions and types of obstacles around said vehicle; a calculation unit for calculating, based on said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, a target yaw moment so as to prevent a departure from said lane marker and/or to avoid a collision with said surrounding obstacles; and a distribution unit for distributing, based on at least one of said driving state of the vehicle, said position of the lane marker, and said positions and types of the surrounding obstacles, said target yaw moment to a first actuator for controlling a driving/braking force and a second actuator for controlling a steering, characterized in that said distribution unit has, based on an absolute value of the target yaw moment calculated in the calculation unit, occasions to distribute said target yaw moment so as to operate said first actuator, and occasions to distribute said target yaw moment so as to operate both of said first and second actuators; and wherein said first actuator defines at least one of a brake control device, a driving force control device and a yaw moment control device, and said second actuator defines a steering control device, and wherein said distribution unit increases a distribution of the target yaw moment of said steering control device to the target yaw moment of said brake control device, said driving force control device or said yaw moment control device, as the absolute value of said target yaw moment increases.