Vehicle control device and vehicle control method

An estimating unit 7 estimates an element aij of a system matrix based on state quantity including at least a longitudinal force Fx applied to a wheel, a vertical force Fz applied to the wheel and a vehicle speed V. A setting unit 8 sets a target value aij' regarding the element aij of the system matrix. A processing unit 9 calculates a control value so that the estimated element aij approaches the set target value aij'. Controlling units 10 to 13 control a vehicle based on the calculated control value. Here, the element aij is expressed by a sum of a linear term changing with linearity of the wheel and a nonlinear term changing with nonlinearity of the wheel, and the setting unit 8 sets the linear term of the element aij as the target value aij'.