ESTIMATION DEVICE

An estimation device is provided with a braking-driving force acquiring unit that acquires, based on a signal from a sensor that detects a force, braking-driving force information as information indicating a braking force or a driving force applied to wheels of the vehicle; a wheel load acquiring unit that acquires, based on the braking-driving force information, a wheel load received by the wheels from a road surface; and an estimation unit that estimates, based on a value of the wheel load of each wheel included in the vehicle, a gravity center position of the vehicle.