Abstract: A longitudinal acceleration calculation unit includes a low-pass filter (LPF), a high-pass filter (HPF), and an addition unit. The LPF is configured to acquire a first longitudinal acceleration of a vehicle detected by a longitudinal acceleration sensor, and remove a high-frequency component of the first longitudinal acceleration. The HPF is configured to acquire a second longitudinal acceleration of the vehicle estimated based on an engine torque of the vehicle and a brake hydraulic pressure of the vehicle, and remove a low-frequency component of the second longitudinal acceleration. The addition unit is configured to obtain a composed longitudinal acceleration of the vehicle based on a post-high-frequency-component-removal longitudinal acceleration obtained by removing the high-frequency component by the LPF and a post-low-frequency-component-removal longitudinal acceleration obtained by removing the low-frequency component by the HPF.

Abstract: A longitudinal acceleration calculation unit includes an LPF, an HPF, and an addition unit. The LPF acquires a longitudinal acceleration of a vehicle detected by a longitudinal acceleration sensor provided to the vehicle, and removes a high-frequency component of the acquired longitudinal acceleration. The HPF acquires a longitudinal acceleration of the vehicle estimated based on an engine torque and a brake hydraulic pressure of the vehicle, and removes a low-frequency component of the acquired longitudinal acceleration. The addition unit obtains a composed longitudinal acceleration being a longitudinal acceleration of the vehicle based on a post-high-frequency-component-removal longitudinal acceleration obtained by removing the high-frequency component by the LPF and a post-low-frequency-component-removal longitudinal acceleration obtained by removing the low-frequency component by the HPF.