WHEEL LOAD ESTIMATION DEVICE AND PROGRAM

According to the present invention, a center-of-gravity inertia value calculation unit (36, 236) calculates information about the center of gravity of a vehicle including a load, calculates an inertia tensor (Jall) including the inertial spindle around the center of gravity of the vehicle and the inertial product, and a wheel load variation calculation unit (40, 240) calculates the variation amount of a wheel load, on the basis of the inertia tensor (Jall), angular velocities (P, Q, R) around three axes of the vehicle including the load, angular acceleration (P, Q, R), front-rear and lateral accelerations of the vehicle (Gxall, Gyall), a vehicle weight (Mall) including the load, and information about the center of gravity of the vehicle including the load (hR_CG, hcc, tl, tr, lf, lr), and a wheel load estimation unit (42, 242) estimates the wheel load, on the basis of the variation amount and the static load of the wheel load.