VEHICLE MOTION CONTROL DEVICE

A vehicle motion control device is provided with an information acquisition unit that acquires a plurality of pieces of environment information relating to surrounding environment of a subject vehicle, a limit value setting unit that calculates the plurality of limit values for physical quantities relating to motion of the subject vehicle on the basis of the plurality of pieces of environment information, and sets, on a map, a final limit value determined on the basis of the plurality of limit values, and a trajectory planning unit that generates a travel trajectory of the subject vehicle on the basis of the final limit value.