A vehicle cruise control device that controls traveling of a vehicle, the vehicle cruise control device comprising: an arithmetic unit; and a device controller (200, 300, 400, 500) that controls actuation of one or more traveling devices mounted in the vehicle, based on an arithmetic result from the arithmetic unit, wherein the arithmetic unit includes: a vehicle external environment recognition unit that recognizes a vehicle external environment based on an output from an information acquisition unit that acquires information of the vehicle external environment; a route setting unit (112, 113, 114, 115) that sets a route to be traveled by the vehicle, in accordance with the vehicle external environment recognized by the vehicle external environment recognition unit; a target motion determination unit that determines a target motion of the vehicle to follow the route set by the route setting unit; and a body-related device control unit that sets operations of a first device that is one or more body-related devices of the vehicle, based on an output from the target motion determination unit, and generates control signals that control the first device, characterized in that the vehicle cruise control device further comprises: a body-related device controller that is separate from the arithmetic unit, and generates a control signal that controls an air bag which is one of more than one body-related devices and is different the first device, in response to an instruction from the arithmetic unit. an arithmetic unit; and a device controller (200, 300, 400, 500) that controls actuation of one or more traveling devices mounted in the vehicle, based on an arithmetic result from the arithmetic unit, wherein the arithmetic unit includes: a vehicle external environment recognition unit that recognizes a vehicle external environment based on an output from an information acquisition unit that acquires information of the vehicle external environment; a route setting unit (112, 113, 114, 115) that sets a route to be traveled by the vehicle, in accordance with the vehicle external environment recognized by the vehicle external environment recognition unit; a target motion determination unit that determines a target motion of the vehicle to follow the route set by the route setting unit; and a body-related device control unit that sets operations of a first device that is one or more body-related devices of the vehicle, based on an output from the target motion determination unit, and generates control signals that control the first device, characterized in that the vehicle cruise control device further comprises: a body-related device controller that is separate from the arithmetic unit, and generates a control signal that controls an air bag which is one of more than one body-related devices and is different the first device, in response to an instruction from the arithmetic unit. a vehicle external environment recognition unit that recognizes a vehicle external environment based on an output from an information acquisition unit that acquires information of the vehicle external environment; a route setting unit (112, 113, 114, 115) that sets a route to be traveled by the vehicle, in accordance with the vehicle external environment recognized by the vehicle external environment recognition unit; a target motion determination unit that determines a target motion of the vehicle to follow the route set by the route setting unit; and a body-related device control unit that sets operations of a first device that is one or more body-related devices of the vehicle, based on an output from the target motion determination unit, and generates control signals that control the first device, characterized in that the vehicle cruise control device further comprises: a body-related device controller that is separate from the arithmetic unit, and generates a control signal that controls an air bag which is one of more than one body-related devices and is different the first device, in response to an instruction from the arithmetic unit.