A vehicle control device comprising: a control unit that obtains a control command for controlling a suspension device, a steering device being a steer-by-wire system, and a braking and driving device (230, 240) provided on a vehicle, the control unit being configured to acquire characteristics of a road condition in front of the traveling vehicle based on external information that is acquired from an external recognition unit, acquire vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics of the road condition and control variables concerning speed of the vehicle based on the external information, acquire trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics of the road condition and the estimated state variables, and output a first control command for controlling the suspension device, a second control command for controlling the steering device, and a third control command for controlling the braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables, the vehicle control device characterized in that: if characteristics of ruts are acquired as the characteristics of the road condition, the third control command is output so that the vehicle decelerates before the vehicle encounters the ruts, and the second control command is output so that the centroid position of the vehicle moves along the center of the ruts when the vehicle travels in the ruts, and further the second control command is output so that a toe angle of right and left wheels of the vehicle is adjusted. a control unit that obtains a control command for controlling a suspension device, a steering device being a steer-by-wire system, and a braking and driving device (230, 240) provided on a vehicle, the control unit being configured to acquire characteristics of a road condition in front of the traveling vehicle based on external information that is acquired from an external recognition unit, acquire vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics of the road condition and control variables concerning speed of the vehicle based on the external information, acquire trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics of the road condition and the estimated state variables, and output a first control command for controlling the suspension device, a second control command for controlling the steering device, and a third control command for controlling the braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables, the vehicle control device characterized in that: if characteristics of ruts are acquired as the characteristics of the road condition, the third control command is output so that the vehicle decelerates before the vehicle encounters the ruts, and the second control command is output so that the centroid position of the vehicle moves along the center of the ruts when the vehicle travels in the ruts, and further the second control command is output so that a toe angle of right and left wheels of the vehicle is adjusted. acquire characteristics of a road condition in front of the traveling vehicle based on external information that is acquired from an external recognition unit, acquire vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics of the road condition and control variables concerning speed of the vehicle based on the external information, acquire trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics of the road condition and the estimated state variables, and output a first control command for controlling the suspension device, a second control command for controlling the steering device, and a third control command for controlling the braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables, the vehicle control device characterized in that: if characteristics of ruts are acquired as the characteristics of the road condition, the third control command is output so that the vehicle decelerates before the vehicle encounters the ruts, and the second control command is output so that the centroid position of the vehicle moves along the center of the ruts when the vehicle travels in the ruts, and further the second control command is output so that a toe angle of right and left wheels of the vehicle is adjusted. if characteristics of ruts are acquired as the characteristics of the road condition, the third control command is output so that the vehicle decelerates before the vehicle encounters the ruts, and the second control command is output so that the centroid position of the vehicle moves along the center of the ruts when the vehicle travels in the ruts, and further the second control command is output so that a toe angle of right and left wheels of the vehicle is adjusted.