An evaluation apparatus for evaluating a condition of a road surface on which a vehicle having at least one wheel is traveling, the evaluation apparatus comprising: an oscillation unit configured to output an oscillation command that causes the at least one wheel of the vehicle to oscillate; an oscillation obtainer configured to obtain an oscillation of rotation of the at least one wheel in response to the output of the oscillation command; and an evaluation unit configured to perform an evaluation of the condition of the road surface in accordance with the oscillation command and the oscillation obtained by the oscillation obtainer, wherein the evaluation of the condition of the road surface performed by the evaluation unit includes whether the condition of the road surface is a low-friction condition or a high-friction condition, characterized in that the evaluation unit is configured to: calculate a reference waveform that represents a waveform of a predicted oscillation that is predicted to occur in rotation of the at least one wheel based on the oscillation command; calculate a first attenuation rate of a waveform of the oscillation obtained by the oscillation obtainer , and a second attenuation rate of the reference waveform; and compare the first attenuation rate with the second attenuation rate to accordingly determine whether the condition of the road surface is the low-friction condition or the high-friction condition. an oscillation unit configured to output an oscillation command that causes the at least one wheel of the vehicle to oscillate; an oscillation obtainer configured to obtain an oscillation of rotation of the at least one wheel in response to the output of the oscillation command; and an evaluation unit configured to perform an evaluation of the condition of the road surface in accordance with the oscillation command and the oscillation obtained by the oscillation obtainer, wherein the evaluation of the condition of the road surface performed by the evaluation unit includes whether the condition of the road surface is a low-friction condition or a high-friction condition, characterized in that the evaluation unit is configured to: calculate a reference waveform that represents a waveform of a predicted oscillation that is predicted to occur in rotation of the at least one wheel based on the oscillation command; calculate a first attenuation rate of a waveform of the oscillation obtained by the oscillation obtainer , and a second attenuation rate of the reference waveform; and compare the first attenuation rate with the second attenuation rate to accordingly determine whether the condition of the road surface is the low-friction condition or the high-friction condition. calculate a reference waveform that represents a waveform of a predicted oscillation that is predicted to occur in rotation of the at least one wheel based on the oscillation command; calculate a first attenuation rate of a waveform of the oscillation obtained by the oscillation obtainer , and a second attenuation rate of the reference waveform; and compare the first attenuation rate with the second attenuation rate to accordingly determine whether the condition of the road surface is the low-friction condition or the high-friction condition. <EOS>