Vehicle control device

A vehicle control device that controls a slipping state of a wheel mounted on a vehicle, the vehicle control device comprising:

• an arithmetic unit that calculates a target slip ratio serving as a target value of a slip ratio of the wheel;
• a limiting unit that sets an upper limit value of the target slip ratio, the upper limit value being based on at least a vehicle velocity of the vehicle, and limits the target slip ratio calculated by the arithmetic unit to a value equal to or less than the upper limit value;
• and
• a controlling unit that controls driving torque of the vehicle such that a wheel velocity that achieves the target slip ratio limited by the limiting unit is obtained, wherein
• the arithmetic unit calculates the target slip ratio based on a demanded driving force and an estimated driving force, the target slip ratio being calculated on the basis of a value obtained by integrating a value obtained by subtracting the estimated driving force from the demanded driving force.