Patent ID: 8510010

Claim:
A vehicle control device for controlling a driving force and a braking force that is applied to a vehicle to maintain a target wheel speed, the vehicle control device comprising: a plurality of determination parts 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 valid wheel speed threshold, wherein the valid wheel speed threshold is initially set to a minimum wheel speed value that is detectable for each wheel, and is updated to be lowered to become closer to an actual valid wheel speed threshold, for each wheel based on the corresponding determined wheel speed; a decision part that compares the valid wheel speed threshold calculated for each wheel with a specific speed threshold value that is below the target wheel speed and decides the validity of each wheel speed based on the comparison; and an estimation part that estimates a vehicle speed based on the wheel speeds that are decided as being valid by the decision part, wherein, when it is decided that any of the wheel speeds is not valid, the estimation part estimates the vehicle speed based on the wheel speeds except at least one relatively low wheel speed.