PROBLEM TO BE SOLVED: To provide an estimation device capable of accurately estimating a height of a step on a traveling surface.SOLUTION: An estimation device includes a step detection section 13 for calculating a pitch angle of a wheelchair 100 having front wheels 101 and rear wheels 102, and estimating a height of a step on the basis of a pre-step pitch angle Pa_before calculated immediately before the front wheels 101 reach the step, an after-step pitch angle Pa_after calculated immediately after the rear wheels 102 pass the step, a pitch angle Pa_step_slope calculated during a period after the front wheels 101 pass the step till the rear wheels 102 reach the step and including the step and a slope portion, and a wheel base length H of the wheelchair 100.SELECTED DRAWING: Figure 2【課題】精度良く走行面上の段差の高さを推定することができる推定装置を提供する。【解決手段】前輪１０１および後輪１０２を備える車椅子１００のピッチ角を算出するとともに、前輪１０１が段差に到達する直前に算出された段差前ピッチ角Ｐａ＿ｂｅｆｏｒｅと、後輪１０２が段差を通過した直後に算出された段差後ピッチ角Ｐａ＿ａｆｔｅｒと、前輪１０１が段差を通過してから後輪１０２が段差に到達するまでの間に算出された段差と傾斜分を含んだピッチ角Ｐａ＿ｓｔｅｐ＿ｓｌｏｐｅと、車椅子１００のホイールベース長Ｈと、に基づいて前記段差の高さを推定する段差検出部１３を備えることを特徴する。【選択図】図２
