VEHICLE CONTROL UNIT

A vehicle includes connecting/disconnecting mechanisms () disposed on power transmission paths between first rotating electric machines () mounted on the vehicle and an output shaft () that drives a wheel, a first rotating electric machine speed sensor () that detects a rotation speed of the first rotating electric machine () as a first rotation speed (Nm, Ng), and a wheel speed sensor () that detects a rotation speed of the wheel as a wheel speed (Nw). A control unit () includes: a first calculator (B) that calculates an axle rotation speed (Nam,Nag) representing a rotation speed of the output shaft () based on the first rotation speed (Nm, Ng) in a state where the first connecting/disconnecting mechanism () is engaged; a monitoring unit (C) that calculates a deviation (X, Y) between the axle rotation speed (Nam, Nag) calculated by the first calculator (B) and the wheel speed (Nw); and a second calculator (D) that calculates the axle rotation speed (Nax, Nay) by calibrating the wheel speed (Nw) based on the calculated deviation (X, Y) in a state where the first connecting/disconnecting mechanism () is disengaged.