A vehicle control device comprising: an actuator configured to perform sprung mass vibration damping control; wheel speed detecting means configured to detect wheel speed; sprung mass state estimating means configured to estimate a sprung mass state based on information in a prescribed frequency range of wheel speed detected by the wheel speed detecting means; actuator orientation control means (1 a, 2a, 3a) configured to control the actuator so as to bring the estimated sprung mass state to a target sprung mass state; characterized in that the vehicle control device further comprises a reference wheel speed calculating means including: a first calculating unit configured to calculate a first wheel speed to serve as a reference wheel speed for individual wheels, doing so based on a vehicle body plan view model having wheel speed sensor values as an input; a second calculating unit configured to calculate a second wheel speed to serve as a reference wheel speed of front and rear wheels, doing so based on a vehicle body front view model having the first wheel speed as an input; a third calculating unit configured to calculate a third wheel speed to serve as a reference wheel speed of all wheels, doing so based on a vehicle body side view model having the second front and rear wheel speeds as an input; and a reference wheel speed calculating unit configured to calculate a reference wheel speed of each wheel, doing so based on a vehicle body plan view model having the third wheel speed as an input; and an estimation accuracy deterioration detection means that is configured to detect deterioration in accuracy at which estimating is performed by the sprung mass state estimating means when a differential among reference wheel speeds of the wheels to the low-frequency side from the predetermined frequency region in which sprung mass behavior appears is equal to or greater than a prescribed value. an actuator configured to perform sprung mass vibration damping control; wheel speed detecting means configured to detect wheel speed; sprung mass state estimating means configured to estimate a sprung mass state based on information in a prescribed frequency range of wheel speed detected by the wheel speed detecting means; actuator orientation control means (1 a, 2a, 3a) configured to control the actuator so as to bring the estimated sprung mass state to a target sprung mass state; characterized in that the vehicle control device further comprises a reference wheel speed calculating means including: a first calculating unit configured to calculate a first wheel speed to serve as a reference wheel speed for individual wheels, doing so based on a vehicle body plan view model having wheel speed sensor values as an input; a second calculating unit configured to calculate a second wheel speed to serve as a reference wheel speed of front and rear wheels, doing so based on a vehicle body front view model having the first wheel speed as an input; a third calculating unit configured to calculate a third wheel speed to serve as a reference wheel speed of all wheels, doing so based on a vehicle body side view model having the second front and rear wheel speeds as an input; and a reference wheel speed calculating unit configured to calculate a reference wheel speed of each wheel, doing so based on a vehicle body plan view model having the third wheel speed as an input; and an estimation accuracy deterioration detection means that is configured to detect deterioration in accuracy at which estimating is performed by the sprung mass state estimating means when a differential among reference wheel speeds of the wheels to the low-frequency side from the predetermined frequency region in which sprung mass behavior appears is equal to or greater than a prescribed value. characterized in that the vehicle control device further comprises a reference wheel speed calculating means including: a first calculating unit configured to calculate a first wheel speed to serve as a reference wheel speed for individual wheels, doing so based on a vehicle body plan view model having wheel speed sensor values as an input; a second calculating unit configured to calculate a second wheel speed to serve as a reference wheel speed of front and rear wheels, doing so based on a vehicle body front view model having the first wheel speed as an input; a third calculating unit configured to calculate a third wheel speed to serve as a reference wheel speed of all wheels, doing so based on a vehicle body side view model having the second front and rear wheel speeds as an input; and a reference wheel speed calculating unit configured to calculate a reference wheel speed of each wheel, doing so based on a vehicle body plan view model having the third wheel speed as an input; and an estimation accuracy deterioration detection means that is configured to detect deterioration in accuracy at which estimating is performed by the sprung mass state estimating means when a differential among reference wheel speeds of the wheels to the low-frequency side from the predetermined frequency region in which sprung mass behavior appears is equal to or greater than a prescribed value.