Patent ID: 8818679

Claim:
A vehicle control device that is applied to a vehicle to approach a target wheel speed, the vehicle control device comprising: a plurality of wheel speed sensors, each of which determines a wheel speed of a corresponding one of a plurality of wheels of the vehicle; a calculation part that calculates a wheel speed validity threshold for each wheel based on the determined wheel speed; a decision part that decides whether each wheel speed is valid depending on whether the calculated wheel speed validity threshold of each wheel is below a specified threshold speed; a setting part that resets the target wheel speed to a speed that is higher than one of the wheel speed validity thresholds calculated for the wheels depending on the result of the decision by the decision part; and an estimation part that estimates the vehicle speed based upon the determined target wheel speed if the calculated wheel speed validity thresholds are determined to be all valid, and estimates the vehicle speed based upon the reset target wheel speed if at least one of the calculated wheel speed validity thresholds is determined to be invalid.