To provide a tire grounding state estimating device that suppresses noise amplification of a tire rotating condition detection value and can presume a tire grounding state with high degree of accuracy.
The tire grounding state estimating device 30 includes: a vehicle speed detector 31 (vehicle speed detection unit); a braking/driving torque detector 32 (braking/driving torque unit); a friction circle radius dynamics model 33 (tire grounding state estimating unit); a tire rotating state estimator 34 (tire rotating state estimation unit); a wheel speed detector 35 (tire rotating state detecting unit); and a correction value computing element 36 (first correction signal computing unit). The correction value computing element 36 computes a first correction signal based on a wheel speed estimated value estimated by a tire rotating condition estimator 34, and a wheel speed detection value detected by the wheel speed detector 35, and return this first correction signal to the friction circle radius dynamics model 33.
JO SHINICHIRO
DEGUCHI YOSHITAKA
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