Started 2.6 million years ago so anything happening in that time period happened in the last, and technically current, ice age.
What happened 110,000 years ago was not a new ice age it was just the most recent glaciation of the current ice age.
"Scientists have recorded five significant ice ages throughout the Earth's history: the Huronian (2.4-2.1 billion years ago), Cryogenian (850-635 million years ago), Andean-Saharan (460-430 mya), Karoo (360-260 mya) and Quaternary (2.6 mya-present)."
https://www.history.com/topics/pre-history/ice-age