{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1426492",
  "publishedAt": "2026-06-25T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C5/00",
    "DENSO CORPORATION"
  ],
  "textContent": "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.",
  "title": "CONTROL DEVICE AND CONTROL PROGRAM"
}