Wheel load estimation device

A wheel load estimation device comprising:

• at least one memory configured to store wheel load estimation computer program code;
• and
• at least one processor configured to access the at least one memory and operate as instructed by the wheel load estimation computer program code, the wheel load estimation computer program code including:
• obtaining code configured to cause the at least one processor to obtain angular velocities and angular accelerations of a rigid body around three axes of the rigid body including an element, accelerations of the rigid body in a front-rear direction being a traveling direction of the rigid body and in a lateral direction being a width direction of the rigid body, a weight of the element, and a position including a height of the element, the element fluctuating a center of gravity of the rigid body;
• center-of-gravity inertia value calculation code to cause the at least one processor to calculate information relevant to the center of gravity of the rigid body and an inertia value including an inertial principal axis around the center of gravity of the rigid body;
• wheel load variation calculation code to cause the at least one processor to calculate variation amounts of wheel loads that each act on a corresponding one of a plurality of wheels supporting the rigid body based on the angular velocities, the angular accelerations, the accelerations in the front-rear direction and the lateral direction obtained, and the information relevant to the center of gravity of the rigid body and the inertia value calculated;
• and
• wheel load estimation code to cause the at least one processor to estimates the wheel loads based on the variation amounts of the wheel loads calculated and static loads that act on the respective wheels;
• and
• control code to cause the at least one processor to control an operation of the rigid body based on the wheel loads estimated.