CONTROL DEVICE AND PROGRAM

A control device (10) for a vehicle (100), includes: a drive force acquisition unit (11) that acquires a drive force which the vehicle is applying to a road surface; an acceleration acquisition unit (12) that acquires an acceleration along a travel direction of the vehicle; an angle calculation unit (13) that calculates a trajectory angle (θ) which is an angle between a trajectory of a rotation center axis (AX) of a wheel (111, 112) of the vehicle and the road surface, based on the drive force and the acceleration.