VEHICLE CONTROL DEVICE, AND VEHICLE CONTROL METHOD

This device has a sensor for detecting wheel speed. A control device estimates a sprung mass state based on information in a prescribed frequency range of wheel speed detected by the sensor, controls a friction brake so as to bring the sprung mass state to a target sprung mass state, and, in instances where the estimated accuracy at which the pitch motion amount deteriorates, gradually lowers the amount by which the friction brakes are controlled.