Vehicle integrated control device and vehicle integrated control method

A vehicle integrated control device that controls a motion parameter of a vehicle in which a plurality of actuators are installed, which are configured by a direction of movement on up to three control axes and the direction of rotation around the control axes, the device comprising:

• a first target value generation unit that acquires a target momentum of a control axis related to a driving task of the vehicle and generates a first motion parameter that is at least one motion parameter;
• a second target value generation unit that generates a second motion parameter different from the first motion parameter based on the first motion parameter to optimize a sensitivity index;
• a limit generation unit that generates a motion limit amount of the second motion parameter based on the first motion parameter and an operation range of an actuator;
• a final target generation unit that corrects the second motion parameter based on the motion limit amount;
• and
• an operation amount assignment unit that generates an operation amount of an actuator based on the first motion parameter and the second motion parameter corrected by the final target generation unit.