Control device for vehicle

A control device () for a vehicle () including detecting means (-) that detect a vehicle body speed (V), a yaw rate (r), a lateral acceleration (A), and a longitudinal acceleration (A) of the vehicle (), includes: a first estimator () that estimates, among coefficients included in a transfer function of a product of the vehicle body speed (V) and the yaw rate (r) using the lateral acceleration (A) as an input, a particular coefficient including cornering power (K) of a rear wheel (R) of the vehicle (); a second estimator () that estimates a grip degree (k) of the rear wheel (R) indicating slipperiness of the rear wheel (R) based on at least the particular coefficient and the longitudinal acceleration (A); and a controller () that controls, based on the grip degree (k) of the rear wheel (R), an actuator (-) or a notifying device () of the vehicle ().