TIRE FORCE ESTIMATOR, FOUR-WHEELED VEHICLE, AND TIRE FORCE ESTIMATION METHOD

A tire force estimator includes a measuring unit configured to measure an acceleration of a vehicle body of a four-wheeled vehicle in a horizontal direction and an acceleration of at least one of four wheels of the four-wheeled vehicle in a vertical direction; and a processing unit configured to estimate a tire force acting on the at least one wheel from a ground surface in the vertical direction based on the acceleration of the vehicle body in the horizontal direction and the acceleration of the at least one wheel in the vertical direction.