When an estimation state of a road noise value based on an angular acceleration of a wheel is a proper estimation state, it is determined whether a background noise of the vehicle is in the high background or the low background noise state according to magnitudes of the road noise value and a predetermined threshold value. When the estimation state is not the proper estimation state, it is determined that the background noise of the vehicle is in the low background noise state regardless of road noise value. When the background noise is in the high background noise state, an output of the in-vehicle actuator is set so noise accompanying an operation of the in-vehicle actuator becomes relatively large. When the background noise is in the low background noise state, an output of the in-vehicle actuator is set so that noise accompanying an operation of the in-vehicle actuator becomes relatively small.