CONTROL DEVICE AND CONTROL PROGRAM

A control device includes a driving force acquisition unit configured to acquire driving force applied by a vehicle to a road surface, a longitudinal acceleration acquisition unit configured to acquire longitudinal acceleration that is acceleration along a longitudinal direction of the vehicle, an angle calculation unit configured to calculate a trajectory angle that is an angle formed by a trajectory of a rotation center axis of a wheel of the vehicle with respect to the road surface, based on the driving force and the longitudinal acceleration, and a height estimation unit configured to estimate a step height that is a height of a step provided on the road surface, based on the trajectory angle.