| 摘要 |
PROBLEM TO BE SOLVED: To secure vertical force estimation accuracy from a road surface, which is calculated based on a wheel speed fluctuation regardless of vehicle type, in a disturbance input traveling scene in which the suspension is displaced.SOLUTION: A vehicle body vibration control device has an input conversion part 204, a vehicle body vibration estimation part 205 and a torque command value calculation part 206. In the vehicle body vibration control device, the input conversion part 204 has a vertical force calculation part 304 which calculates a vertical force applied to a tire from a road surface based on a wheel speed fluctuation from wheel speed sensors 103FR, 103FL, 103RR and 103RL using tire displacement characteristics according to suspension geometry. The vertical force calculation part 304 is provided with a wheel speed fluctuation correction part 303 which makes correction to remove noise included in the wheel speed fluctuation in accordance with suspension geometry coefficients KgeoF and KgeoR that are inclination coefficients of tire displacement characteristics. |
