Vehicle control device

A vehicle control device comprising:

• a wheel speed acquisition unit configured to acquire wheel speeds of a plurality of wheels of a vehicle based on detection results of wheel speed sensors;
• an acceleration acquisition unit configured to acquire an acceleration in a longitudinal direction of the vehicle based on a detection result of an acceleration sensor;
• a calculation unit configured to calculate a first vehicle speed of the vehicle based on the wheel speeds of the plurality of wheels detected by the wheel speed sensors;
• an estimation unit configured to calculate a second vehicle speed, which is an estimated value of a vehicle speed of the vehicle, based on the first vehicle speed and the acceleration detected by the acceleration sensor;
• and
• a slip determination unit configured to determine whether the vehicle is in a slip state,
• wherein the estimation unit is configured to:
• calculate the second vehicle speed by executing a predetermined limit process on the acceleration detected by the acceleration sensor;
• and
• switch a mode of the limit process when it is determined that the vehicle is in the slip state during acceleration or deceleration of the vehicle.