A control device (10) for a vehicle (1) including detecting means (21-24) that detect a vehicle body speed (V), a yaw rate (r), a lateral acceleration (A.sub.y), and a longitudinal acceleration (A.sub.x) of the vehicle (1), includes: a first estimator (11) that estimates, among coefficients included in a transfer function of a product of the vehicle body speed (V) and the yaw rate (r) using the lateral acceleration (A.sub.y) as an input, a particular coefficient including cornering power (K.sub.r) of a rear wheel (2R) of the vehicle (1); a second estimator (12) that estimates a grip degree (k.sub.rg) of the rear wheel (2R) indicating slipperiness of the rear wheel (2R) based on at least the particular coefficient and the longitudinal acceleration (A.sub.x); and a controller (13) that controls, based on the grip degree (k.sub.rg) of the rear wheel (2R), an actuator (3-8) or a notifying device (9) of the vehicle (1).

A control unit for a hybrid motor vehicle with a combustion engine, the motor vehicle including: an electric network; a catalytic converter including an electric heating system connected to the electric network; a battery electrically connected to the electric network; an electric machine electrically connected to the electric network. The electronic control unit being configured for: activating the generator mode of the electric machine; electrically connecting the heating system to the electric power supply network at a first time, defined after a first predetermined delay with respect to the activation time of the generator mode; and activating the motor mode of the electric machine, at a second time, defined after the first time; disconnecting the heating system from the electric network at a disconnection time, defined after the second time.