A vehicle travelling direction control device comprising: a lateral direction position information obtaining section configured to obtain information concerning a lateral direction position of a target vehicle with respect to a traffic lane; a lateral direction displacement threshold value setting section configured to set a first lateral direction displacement threshold value (LAL,LAR) and a second lateral direction displacement threshold value (LAL,LAR) on the traffic lane where the target vehicle travels; a first control amount calculating section configured to calculate a first control amount (φL_Rt, φL_Lt) for decreasing a lateral displacement deviation (ΔXR, ΔXL) of the target vehicle from the first or second lateral direction displacement threshold value (LAL,LAR); a second control amount calculating section configured to calculate a second control amount (φY_Rt, φY_Lt) for decreasing an angle deviation of a travelling direction of the target vehicle with respect to the traffic lane; and a lateral direction displacement threshold value passing judging section configured to judge whether or not the lateral direction position exceeds either of the lateral direction displacement threshold values (LAL,LAR) across a range of the first and second lateral direction displacement threshold values (LAL,LAR), wherein, in a case where it is judged that the lateral direction position does not exceed the lateral direction displacement threshold value (LAL,LAR), a command signal of a second control that controls the angle deviation is outputted, and wherein, in a case where it is judged that the lateral direction position exceeds the lateral direction displacement threshold value (LAL,LAR), at least a command signal of a first control that controls the lateral direction position is outputted. a lateral direction position information obtaining section configured to obtain information concerning a lateral direction position of a target vehicle with respect to a traffic lane; a lateral direction displacement threshold value setting section configured to set a first lateral direction displacement threshold value (LAL,LAR) and a second lateral direction displacement threshold value (LAL,LAR) on the traffic lane where the target vehicle travels; a first control amount calculating section configured to calculate a first control amount (φL_Rt, φL_Lt) for decreasing a lateral displacement deviation (ΔXR, ΔXL) of the target vehicle from the first or second lateral direction displacement threshold value (LAL,LAR); a second control amount calculating section configured to calculate a second control amount (φY_Rt, φY_Lt) for decreasing an angle deviation of a travelling direction of the target vehicle with respect to the traffic lane; and a lateral direction displacement threshold value passing judging section configured to judge whether or not the lateral direction position exceeds either of the lateral direction displacement threshold values (LAL,LAR) across a range of the first and second lateral direction displacement threshold values (LAL,LAR), wherein, in a case where it is judged that the lateral direction position does not exceed the lateral direction displacement threshold value (LAL,LAR), a command signal of a second control that controls the angle deviation is outputted, and wherein, in a case where it is judged that the lateral direction position exceeds the lateral direction displacement threshold value (LAL,LAR), at least a command signal of a first control that controls the lateral direction position is outputted.