PROBLEM TO BE SOLVED: To provide a step detection device capable of highly accurately detecting a step on a road surface.SOLUTION: The step detection device includes: a pitch rate acquisition part 11 for acquiring a first pitch rate when front wheels 101 of a wheel chair 100 pass through a travel surface, and a second pitch rate when rear wheels 102 of the wheelchair 100 pass through the position where the first pitch rate is acquired； a correction part 12 for correcting the first pitch rate and the second pitch rate acquired by the pitch rate acquisition part 11, by a travel speed of the wheelchair 100； and a step detection part 13 for detecting a step on the basis of a first pitch change and a second pitch change as results corrected by the correction part 12.SELECTED DRAWING: Figure 2【課題】精度良く路面上の段差を検出することができる段差検出装置を提供する。【解決手段】走行面上を車椅子１００の前輪１０１が通過した際の第１ピッチレートと、第１ピッチレートが取得された位置を車椅子１００の後輪１０２が通過した際の第２ピッチレートとを取得するピッチレート取得部１１と、ピッチレート取得部１１が取得した第１ピッチレート及び第２ピッチレートを、車椅子１００の走行速度で補正する補正部１２と、補正部１２が補正した結果である第１ピッチ変化及び第２ピッチ変化に基づいて段差を検出する段差検出部１３と、を備えることを特徴とする。【選択図】図２
