Driving operability for a driver or an autonomous driving/driving support device is improved by controlling pitch moment. The present invention is applicable to a four-wheel independent drive vehicle. This vehicle control device (1) controls a longitudinal force generation means (3) of in-wheel motors, etc., so that longitudinal force will be generated independently and individually in front wheels (8) and rear wheels (9) respectively, and the longitudinal force of the front wheels (8) or rear wheels (9) will act as vertical force on the sprung mass of a vehicle (2) via a suspension mechanism (41). The vehicle control device (1) comprises a means (31) that uses the value of the longitudinal force of the front wheels (8) or rear wheels (9) to control the longitudinal acceleration of the vehicle (2) and the pitch moment generated on the sprung mass of the vehicle (2). Also, a means (32) may be provided for generating pitch moment on the sprung mass of the vehicle (2) using the longitudinal force of the front wheels (8) or rear wheels (9), by controlling the longitudinal force generation means (3) on the basis of the lateral acceleration of the vehicle (2) calculated by a lateral acceleration calculator (40).