A program is executed which includes a step (S100) of calculating a base required driving force, a step (S200) of calculating a reference driving force, a step (S400) of calculating a final required driving force on which a vibration suppression filtering process has been performed when the base required driving force is greater than a reference driving force, and a step (S500) of calculating a final required driving force on which the vibration suppression filtering process has not been performed when the base required driving force is equal to or less than the reference driving force.