Vehicle control device

A vehicle control device that is provided in a vehicle including a plurality of wheels and determines a rotation direction of a wheel included in the plurality of wheels using a sensor that detects rotation of each of the plurality of wheels whenever each of the plurality of wheels passes a predetermined rotation angle position, the vehicle control device comprising:

• a counting unit that counts a rotation detection of each of the plurality of wheels by the sensor;
• and
• a rotation determination unit that determines a rotation direction of a selected determination target wheel based on a count value of the rotation detection of each of the plurality of wheels obtained by the counting unit,
• wherein a movement distance of each of the plurality of wheels from the rotation detection to a next rotation detection is defined as a rotation detection travel distance of each of the plurality of wheels using a movement distance of a predetermined position of the vehicle as a reference, and
• the rotation determination unit determines that a rotation direction of rotation of a first determination target wheel detected for a second time is a direction opposite to a rotation direction of rotation detected for a first time when the rotation detection is not performed even once for a first reference wheel having a rotation detection travel distance equal to or less than a rotation detection travel distance of the first determination target wheel while the rotation of the first determination target wheel is detected twice.