Patent ID: 9643599
Date: 2017-05-09
CPC Classifications: B60G,B60T,B60W

Claim:
1. A vehicle control device comprising: a variable-damping force shock absorber capable of varying a damping force at which sprung mass vibration damping control is carried out; a wheel speed sensor that detects wheel speed; a sprung mass state estimating unit that estimates sprung mass state based on information in a prescribed frequency range of wheel speed detected by the wheel speed sensor; an actuator orientation control unit that controls the variable-damping force shock absorber so as to bring the estimated sprung mass state to a target sprung mass state; an estimation accuracy deterioration detection unit that detects deterioration in estimation accuracy performed by the sprung mass state estimating unit and that estimates an estimated wheel rim braking/drive torque to determine that the estimation accuracy has deteriorated when a rate of change of a stationary component extracted from components of wheel rim braking/drive torque acting on a wheel is detected to equal or exceed a prescribed value, with the stationary component of the estimated wheel rim braking/drive torque lying in a low-frequency end of a frequency region that includes a stroke speed and a sprung mass speed; and a limited control unit that implements control performed by the actuator orientation control unit to a more limited extent upon detecting deterioration of the estimation accuracy by the estimation accuracy deterioration detection unit as compared to when estimation accuracy has not deteriorated.