A drive control device with a traction control function for a right-left independent drive vehicle including left and right drive wheels driven independently by drive sources, the drive control device controlling the drive sources for the respective left and right wheels, the drive control device comprising: a torque control unit configured to control the drive sources for the respective wheels in accordance with torque commands (T*) provided from a torque allocation unit to the respective left and right wheels; a traction control unit for the left wheel and a traction control unit for the right wheel interposed between the torque allocation unit and the torque control unit for the respective wheels and each configured to perform traction control for inhibiting a slip of the drive wheel during acceleration or deceleration and provide a driving torque command (T*) that is a result of the control, to the torque control unit; characterized by a longitudinal force estimation unit for the left wheel and a longitudinal force estimation unit for the right wheel configured to estimate longitudinal forces (F l, F r) acting on the respective left and right wheels by using the formulas F l = 1 R T l − I dω l dt F r = 1 R T r − I dω r dt with wheel radius R of the left and right drive wheels, driving torque T of the left and right drive wheels, moment of inertia I of a wheel rotating portion of the left and right drive wheels and rotation angular velocity ω of the left and right drive wheels, wherein a subscript "l" represents the left wheel, and a subscript "r" represents the right wheel; and a longitudinal force coincidence control unit configured to compare absolute values of the longitudinal forces (F l, F r) estimated by the longitudinal force estimation unit for the left and right wheels, and provide, instead of a driving torque outputted from the traction control unit, a driving torque command (T*) that generates a longitudinal force (F l, F r) equal to the longitudinal force (F l, F r) whose absolute value is smaller, to the torque control unit for the drive wheel at which the absolute value is larger. a torque control unit configured to control the drive sources for the respective wheels in accordance with torque commands (T*) provided from a torque allocation unit to the respective left and right wheels; a traction control unit for the left wheel and a traction control unit for the right wheel interposed between the torque allocation unit and the torque control unit for the respective wheels and each configured to perform traction control for inhibiting a slip of the drive wheel during acceleration or deceleration and provide a driving torque command (T*) that is a result of the control, to the torque control unit; characterized by a longitudinal force estimation unit for the left wheel and a longitudinal force estimation unit for the right wheel configured to estimate longitudinal forces (F l, F r) acting on the respective left and right wheels by using the formulas F l = 1 R T l − I dω l dt F r = 1 R T r − I dω r dt with wheel radius R of the left and right drive wheels, driving torque T of the left and right drive wheels, moment of inertia I of a wheel rotating portion of the left and right drive wheels and rotation angular velocity ω of the left and right drive wheels, wherein a subscript "l" represents the left wheel, and a subscript "r" represents the right wheel; and a longitudinal force coincidence control unit configured to compare absolute values of the longitudinal forces (F l, F r) estimated by the longitudinal force estimation unit for the left and right wheels, and provide, instead of a driving torque outputted from the traction control unit, a driving torque command (T*) that generates a longitudinal force (F l, F r) equal to the longitudinal force (F l, F r) whose absolute value is smaller, to the torque control unit for the drive wheel at which the absolute value is larger.