Estimation method, vehicle control device, vehicle, and program

An estimation method of estimating wheel loads applied to a plurality of wheels of a vehicle, the vehicle including a sprung body, an unsprung body, a support unit, an actuator, and a sensor, the sprung body including a vehicle body and a first wheel of the wheels, the unsprung body including an axle and a second wheel of the wheels, the vehicle body and the axle being supported by the support unit so as to be rotatable in a roll direction of the vehicle, the actuator being configured to restrict rotations of the vehicle body and the axle in the roll direction, the sensor being configured to acquire motion information relating to motion of the vehicle, the estimation method comprising:

• calculating calculated values based on the acquired motion information, the calculated values including accelerations at respective center-of-gravity positions of the sprung body and the unsprung body, and roll stiffness distributions of the sprung body and the unsprung body;
• and
• estimating the wheel loads of the wheels based on the calculated values and a predetermined estimation formula.