A control device for controlling a drive force that operates on a vehicle includes a first controller for controlling the drive force, and a second controller for sending to the first controller a limit of the drive force. The second controller has an input unit for inputting the drive force outputted from the first control means, and a calculation unit for computing in a first mode a limiting drive force for limiting the drive force. In a case that a first difference between the drive force and the limiting drive force is equal to or greater than a threshold value, the calculation unit calculates the limiting drive force in a second mode instead of the first mode so that the first difference is limited from becoming greater.