Control device for vehicle

A control device for a vehicle, the vehicle comprising vehicle body speed detecting means that detects a vehicle body speed of the vehicle, yaw rate detecting means that detects a yaw rate of the vehicle, lateral acceleration detecting means that detects a lateral acceleration of the vehicle, and longitudinal acceleration detecting means that detects a longitudinal acceleration of the vehicle, the control device comprising:

• a first estimator that estimates, among coefficients included in a transfer function of a product of the vehicle body speed and the yaw rate using the lateral acceleration as an input, a particular coefficient including cornering power of a rear wheel of the vehicle;
• a second estimator that estimates a grip degree of the rear wheel indicating slipperiness of the rear wheel based on at least the particular coefficient and the longitudinal acceleration;
• and
• a controller that controls, based on the grip degree of the rear wheel, an actuator or a notifying device of the vehicle.