An acceleration control system (100) stores a target acceleration calculation equation acquired by transforming an equation that expresses that a product of the differentiation of the square power of the speed and the environmental factor alpha(env) represents a sensed value [mu] of acceleration. A surrounding environment monitor device (106) detects surrounding bodies present in the forward periphery of the vehicle, and an environmental factor calculation unit (110) calculates the environmental factor alpha(env) by using the detected positions of the surrounding bodies. A target acceleration setting unit (114) successively sets target accelerations a ref in compliance with the target acceleration calculation equation by using the environmental factor alpha(env) . The acceleration is executed to match the driver's feeling.