Driving force control device

A driving force control device for separately controlling a driving force of drive wheels is configured to: acquire a detection value of a steering angle, a speed of the drive wheels, and a speed of the vehicle; set a driving force generated in each drive wheel; control the driving force of each drive wheel so as to become a set driving force; and set a driving force to be generated in at least one pair of the drive wheels, based on a value calculated by multiplying a difference between a speed difference between the a pair of drive wheels corresponding to a target yaw rate estimated from the steering angle and the speed of the vehicle and an acquired speed difference between the one pair of drive wheels by a coefficient based on at least one of a cornering stiffness and a driving stiffness of each drive wheel.