A driving-torque difference value, an inertial-force difference value of
the vehicle, and an inertial-force change-amount difference value of the
vehicle are calculated. Subsequently, a first determination coefficient
by which the inertial-force difference value is to be multiplied or a
second determination coefficient by which the driving-torque difference
value is to be multiplied is estimated on the basis of a state equation
having the inertial-force difference value as a state variable and the
driving-torque difference value as an input variable. Subsequently, a
road-surface condition is determined on the basis of a comparison between
a threshold value and the first determination coefficient or the second
determination coefficient.