원래 이름 기록: TOYOTA JIDOSHA KABUSHIKI KAISHA; ADVICS CO., LTD.

An acceleration calculation device calculates an estimated acceleration of a vehicle using a first acceleration and a second acceleration when both an acceleration sensor and a wheel speed sensor are normal. The acceleration calculation device calculates the estimated acceleration using only the first acceleration between the first acceleration and the second acceleration when the acceleration sensor is normal, and the wheel speed sensor is abnormal. The acceleration calculation device calculates the estimated acceleration using only the second acceleration between the first acceleration and the second acceleration when the acceleration sensor is abnormal, and the wheel speed sensor is normal.