| 摘要 |
In this vehicle control device, a sprung mass state is estimated based on information in a predetermined frequency region of wheel speed detected by a wheel speed sensor, an actuator is controlled so as to bring the estimated sprung mass state to a target sprung mass state, and a reference wheel speed for each wheel is calculated based on a vehicle body plan view model. When a differential among reference wheel speeds of the wheels to the low-frequency side from the predetermined frequency region in which sprung mass behavior appears is equal to or greater than a prescribed value, the sprung mass state estimation accuracy is detected to have been lowered, and control performed by an actuator orientation control means is implemented in a more limited fashion than when estimation accuracy has not deteriorated. |
