Vehicle control device

An electric suspension control, in a vehicle including an electric suspension apparatus driven with a motor, short-circuits the motor and limits a vehicle speed to a predetermined speed or less, in a case where an abnormality occurs in the electric suspension apparatus.

INCORPORATION BY REFERENCE

The present application claims priority under 35 U.S.C. § 119 to Japanese Patent Application No. 2021-051515 filed on Mar. 25, 2021. The content of the application is incorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a vehicle control device.

Description of the Related Art

Heretofore, a technology concerning an electric suspension apparatus mounted in a vehicle and driven with a motor has been known.

For example, in an electric suspension apparatus described in Japanese Patent Laid-Open No. 2016-13794, when a vehicle speed is equal to or less than a predetermined vehicle speed, for example, at the time of starting or decelerating, a motor is short-circuited to generate a damping force.

However, in an electric suspension apparatus described in Japanese Patent Laid-Open No. 2016-13794, damping force characteristics in a case of short-circuiting a coil are different from damping force characteristics of a general hydraulic damper in that a damping force decreases in a region where a suspension stroke speed is high, and the apparatus has a problem of making a driver feel uncomfortable with tire vibration damping properties.

The present invention is intended to provide a vehicle control device effectively using a damping force obtained by short-circuiting a motor in an electric suspension apparatus.

SUMMARY OF THE INVENTION

An aspect of the present invention is a vehicle control device which, in a vehicle including an electric suspension apparatus driven with a motor, short-circuits the motor and limits a vehicle speed to a predetermined speed or less, in a case where an abnormality occurs in the electric suspension apparatus.

According to another aspect of the present invention, the electric suspension apparatus includes an electric actuator provided for each of a plurality of wheels, and the vehicle control device lowers the predetermined speed, as the number of electric actuators which become abnormal increases.

According to still another aspect of the present invention, the electric suspension apparatus includes an electric actuator provided for each of a plurality of wheels, and the vehicle control device lowers the predetermined speed, in a case where the electric actuator provided for a rear wheel becomes abnormal, as compared with a case where the electric actuator provided for a front wheel becomes abnormal.

According to a further aspect of the present invention, the predetermined speed is equal to or more than 1 km/hour.

According to an aspect of the present invention, a damping force obtained by short-circuiting a motor in an electric suspension apparatus can be effectively used.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

1. Configuration of Electric Suspension Apparatus

FIG.1is a perspective view showing an example of arrangement of an electric suspension apparatus10.FIG.2is a diagram showing an example of a configuration of the electric suspension apparatus10.

Description will be made as to the electric suspension apparatus10with reference toFIGS.1and2.

As shown inFIG.1, a vehicle1includes a vehicle body BD, four wheels TRs, and the electric suspension apparatus10. The electric suspension apparatus10includes an electric actuator12, and an electric suspension control ECU20.

The electric actuator12includes a first electric actuator12A, a second electric actuator12B, a third electric actuator12C, and a fourth electric actuator12D. The first electric actuator12A is disposed between the vehicle body BD and a right front wheel. The second electric actuator12B is disposed between the vehicle body BD and a left front wheel. The third electric actuator12C is disposed between the vehicle body BD and a right rear wheel. The fourth electric actuator12D is disposed between the vehicle body BD and a left rear wheel.

The electric suspension control electronic control unit (ECU)20controls each of the first electric actuator12A to the fourth electric actuator12D. The electric suspension control ECU20is connected to each of the first electric actuator12A to the fourth electric actuator12D via a power line13and a signal line14.

The power line13supplies power from a battery16shown inFIG.2to each of the first electric actuator12A to the fourth electric actuator12D. The signal line14transmits detection signals of a sensor S1to a sensor S3shown inFIG.2to the electric suspension control ECU20.

Description will be made as to the sensor S1to the sensor S3with reference toFIG.2.

In the following description, the electric suspension control ECU20may be described as the control ECU20for convenience.

The first electric actuator12A to the fourth electric actuator12D include about the same configuration, and hence in a case where each of the first electric actuator12A to the fourth electric actuator12D is not distinguished, each of the first electric actuator12A to the fourth electric actuator12D may be described below simply as the electric actuator12.

Next, description will be made as to a configuration of the electric actuator12with reference toFIG.2.

As shown in the right side ofFIG.2, the electric actuator12includes a coupling part30, an inner tube32and a nut34as members on a wheel TR side. Also, the electric actuator12includes an outer tube40, a screw shaft42, a bearing44, and the motor46as members on a vehicle body BD side. The outer tube40, the screw shaft42, the bearing44and the motor46are fixed to a chassis48disposed in a lower part of the vehicle body BD.

Description will be made as to a configuration of the motor46with reference toFIG.3.

The screw shaft42is supported by the bearing44and the nut34. The nut34has an inner surface screwed into a screw groove formed in an outer surface of the screw shaft42via a bearing.

When the motor46rotates the screw shaft42, the nut34is moved in an up-down direction. When moving the nut34downward, the inner tube32is moved downward. When moving the nut34upward, the inner tube32is moved upward.

Consequently, a position of the inner tube32in the up-down direction to the outer tube40fixed to the chassis48of the vehicle body BD can be adjusted.

The coupling part30is fixed to a knuckle (not shown) of the suspension apparatus, and is accordingly coupled to the wheel TR. When inputting vibration from the wheel TR side into the coupling part30and applying, for example, an upward acceleration α to the coupling part30, the inner tube32and the nut34are raised integrally with the outer tube40. In this case, the motor46rotates the screw shaft42to move the inner tube32in a direction to absorb the upward acceleration, i.e., in an upward direction, so that vibration from the wheel TR to the vehicle body BD can be attenuated.

In the electric actuator12, an acceleration sensor S1, a stroke sensor S2and a rotation angle sensor S3are arranged.

The acceleration sensor S1is fixed to, for example, an outer circumferential surface of the inner tube32, to detect the acceleration α applied from the wheel TR side to the coupling part30. Note that the acceleration sensor S1may be disposed, for example, in or in the vicinity of the chassis48of the vehicle body BD or the motor46.

The stroke sensor S2is disposed at a position facing the screw shaft42of the inner tube32, to detect a stroke ST indicating a downward moving amount of the nut34. The stroke sensor S2is composed of a distance measurement sensor or the like.

The rotation angle sensor S3is composed of a so-called resolver or the like, to detect a rotation angle θ of the motor46.

The acceleration α, the stroke ST and the rotation angle θ are outputted to the control ECU20.

2. Configuration of Electric Suspension Control ECU

The control ECU20controls the motor46through an inverter22, based on detection results of the acceleration sensor S1, the stroke sensor S2and the rotation angle sensor S3.

The control ECU20includes a memory21A and a processor21B.

The memory21A is a storage device which stores, in a nonvolatile manner, a program to be executed by the processor21B and data. The memory21A is composed of a magnetic storage device, a semiconductor storage element such as a flash read only memory (ROM), or another type of nonvolatile storage device. Also, the memory21A may include a random-access memory (RAM) included in a work area of the processor21B. The memory21A stores data to be processed by the control ECU20, and a control program to be executed by the processor21B.

The electric suspension control ECU20corresponds to an example of “a vehicle control device”.

The processor21B may be composed of a single processor, or a plurality of processors which function as the processor21B. The processor21B executes the control program to control each part of the electric suspension apparatus10.

The control ECU20includes an abnormality detection unit211, a short circuit instruction unit212, and a speed instruction unit213. Specifically, the processor21B of the control ECU20executes the control program, to function as the abnormality detection unit211, the short circuit instruction unit212, and the speed instruction unit213.

The abnormality detection unit211determines whether an abnormality occurs in the electric suspension apparatus10.

The abnormality detection unit211determines whether the abnormality occurs in the electric suspension apparatus10, for example, based on detection results of the acceleration sensor S1, the stroke sensor S2, and the rotation angle sensor S3.

For example, in a case where an S/N ratio of the detection signal of each of the acceleration sensor S1, the stroke sensor S2and the rotation angle sensor S3is equal to or less than a predetermined S/N ratio, the abnormality detection unit211determines that the abnormality occurs in the electric suspension apparatus10. Also, in a case where the detection signal of each of the acceleration sensor S1, the stroke sensor S2and the rotation angle sensor S3is equal to or more than a predetermined upper limit value or is equal to or less than a predetermined lower limit value, the abnormality detection unit211determines that the abnormality occurs in the electric suspension apparatus10.

Further, for example, in a case where each of the first electric actuator12A to the fourth electric actuator12D is not normally operated, the abnormality detection unit211determines that the abnormality occurs in the electric suspension apparatus10.

It is assumed that, as the abnormality of the electric suspension apparatus10, for example, an abnormality of a drive supply power source to the electric suspension control ECU20is detected by a voltage sensor, generation of excessive heat in the electric suspension control ECU20is detected by a temperature sensor, or generation of excessive current is detected by a current sensor.

The short circuit instruction unit212short-circuits the motor46of each of the first electric actuator12A to the fourth electric actuator12D, in a case where the abnormality detection unit211determines that the abnormality occurs in the electric suspension apparatus10.

Specifically, in a case where the abnormality detection unit211determines that an abnormality occurs in one of the first electric actuator12A to the fourth electric actuator12D, the short circuit instruction unit212short-circuits the motor46of each of the first electric actuator12A to the fourth electric actuator12D.

Also, the short circuit instruction unit212short-circuits the motor46of each of the first electric actuator12A to the fourth electric actuator12D through a short circuit24to be described with reference toFIG.3.

The speed instruction unit213instructs a speed control ECU50to limit a vehicle speed V to a predetermined speed VM or less, in the case where the abnormality detection unit211determines that the abnormality occurs in the electric suspension apparatus10.

For example, the speed instruction unit213lowers the predetermined speed VM, as a number NE of electric actuators12which become abnormal increases. The number NE is the number of the electric actuators12determined to be abnormal by the abnormality detection unit211, in the first electric actuator12A to the fourth electric actuator12D. Description will be made as to this method (hereinafter referred to as “a first method” as the case may be) with reference toFIG.4.

Also, for example, the speed instruction unit213lowers the predetermined speed VM in a case where the electric actuator12provided for the rear wheel becomes abnormal, as compared with a case where the electric actuator12provided for the front wheel becomes abnormal. Description will be made as to this method (hereinafter referred to as “a second method” as the case may be) with reference toFIG.5.

Further, the speed instruction unit213sets the predetermined speed VM to 1 km/hour or more.

The speed control ECU50controls at least one of a drive mechanism, a drive force transmitting mechanism and a braking mechanism, following an instruction from the speed instruction unit213, in such a manner that the vehicle speed V of the vehicle1is equal to or less than the predetermined speed VM.

The drive mechanism includes at least one of an engine and a drive motor. The speed control ECU50regulates the vehicle speed V, for example, by decreasing a rotation speed of the engine. Also, the speed control ECU50regulates the vehicle speed V, for example, by decreasing a rotation speed of the drive motor.

The drive force transmitting mechanism transmits a drive force of the engine to a drive wheel. The drive force transmitting mechanism includes a plurality of gears having a gear ratio. The speed control ECU50regulates the vehicle speed V, for example, by increasing the gear ratio.

The braking mechanism includes a disk brake. The speed control ECU50regulates the vehicle speed V by pressing a brake rotor from opposite sides with brake pads.

3. Configuration of Short Circuit

As shown inFIG.2, the control ECU20controls the inverter22and the short circuit24. The control ECU20controls a rotation direction and a rotation speed of the motor46through the inverter22. Also, the control ECU20short-circuits the motor46through the short circuit24.

FIG.3is a diagram showing an example of a configuration of the short circuit24.

As shown inFIG.3, the short circuit24includes a switch60a, a switch60b, and a switch60cwhich turn on and off following an instruction from the control ECU20, and a resistor62a, a resistor62b, and a resistor62c.

FIG.3shows an example where the short circuit24includes three switches60a,60b, and60c, but the short circuit24may include, for example, a circuit configuration only including two switches60aand60bto short-circuit three phases of the motor46by the switches60aand60b. Alternatively, the short circuit24may include a circuit configuration from which the mounted resistors62ato62care omitted depending on properties of the motor46.

The motor46is, for example, a three-phase AC brushless motor, and includes three motor coils50u,50v, and50was shown inFIG.3.

The motor46rotationally drives the screw shaft42with the power supplied from the battery16through the inverter22.

Furthermore, the motor46generates regenerative power based on an external force inputted from the wheel TR side into the screw shaft42, and outputs the generated power to the battery16.

The switch60ashort-circuits a power line64uand a power line64vcorresponding to the motor coil50uand the motor coil50v, respectively, following the instruction from the short circuit instruction unit212. The resistor62aadjusts current flowing through the motor coil50uand the motor coil50v, in a case where the switch60ashort-circuits the power lines64uand64v.

The switch60bshort-circuits the power line64vand a power line64wcorresponding to the motor coil50vand the motor coil50w, respectively, following the instruction from the short circuit instruction unit212. The resistor62badjusts current flowing through the motor coils50vand50w, in a case where the switch60bshort-circuits the power lines64vand64w.

The switch60cshort-circuits the power line64uand the power line64wcorresponding to the motor coil50uand the motor coil50w, respectively, following the instruction from the short circuit instruction unit212. The resistor62cadjusts current flowing through the motor coils50uand50w, in a case where the switch60cshort-circuits the power lines64uand64w.

4. Processing of Control ECU According to First Method

FIG.4is a flowchart showing an example of processing of the electric suspension control ECU20according to the first method. In the first method, the speed instruction unit213lowers the predetermined speed VM, as the number NE of the electric actuators12which become abnormal increases.

As shown inFIG.4, first, the abnormality detection unit211determines in step S101whether an abnormality occurs in the electric suspension apparatus10.

In a case where the abnormality detection unit211determines that the abnormality does not occur in the electric suspension apparatus10(NO in step S101), processing is in a standby state. In a case where the abnormality detection unit211determines that the abnormality occurs in the electric suspension apparatus10(YES in step S101), the processing advances to step S103.

Then, in the step S103, the short circuit instruction unit212short-circuits the motor46of each of the first electric actuator12A to the fourth electric actuator12D.

Next, the speed instruction unit213determines in step S105whether the number NE is four. The number NE is the number of the electric actuators12determined to be abnormal by the abnormality detection unit211, in the first electric actuator12A to the fourth electric actuator12D.

In a case where the speed instruction unit213determines that the number NE is not four (NO in step S105), the processing advances to step S107.

Then, in the step S107, the speed instruction unit213determines whether the number NE is three.

In a case where the speed instruction unit213determines that the number NE is not three (NO in step S107), the processing advances to step S109.

Then, in the step S109, the speed instruction unit213sets the predetermined speed VM to 90 km/hour. Afterward, the processing advances to step S115.

In a case where the speed instruction unit213determines that the number NE is three (YES in step S107), the processing advances to step S111.

Then, in the step S111, the speed instruction unit213sets the predetermined speed VM to 70 km/hour. Afterward, the processing advances to the step S115.

In a case where the speed instruction unit213determines that the number NE is four (YES in step S105), the processing advances to step S113.

Then, in the step S113, the speed instruction unit213sets the predetermined speed VM to 50 km/hour. Afterward, the processing advances to the step S115.

Next, in the step S115, the speed instruction unit213instructs the speed control ECU50to limit the vehicle speed V to the predetermined speed VM or less. Afterward, the processing ends.

As described with reference toFIG.4, the speed instruction unit213lowers the predetermined speed VM, as the number NE of the electric actuators12which become abnormal increases. Therefore, the predetermined speed VM can be set to an appropriate value.

5. Processing of Control ECU According to Second Method

FIG.5is a flowchart showing an example of processing of the electric suspension control ECU20according to the second method. In the second method, the speed instruction unit213lowers the predetermined speed VM in a case where the electric actuator12provided for the rear wheel becomes abnormal, as compared with a case where the electric actuator12provided for the front wheel becomes abnormal. Examples of the electric actuator12provided for the rear wheel include the third electric actuator12C and the fourth electric actuator12D shown inFIG.1. Examples of the electric actuator12provided for the front wheel include the first electric actuator12A and the second electric actuator12B shown inFIG.1.

As shown inFIG.5, first, the abnormality detection unit211determines in step S201whether the abnormality occurs in the electric suspension apparatus10.

In a case where the abnormality detection unit211determines that the abnormality does not occur in the electric suspension apparatus10(NO in step S201), processing is in a standby state. In a case where the abnormality detection unit211determines that the abnormality occurs in the electric suspension apparatus10(YES in step S201), the processing advances to step S203.

Then, in the step S203, the short circuit instruction unit212short-circuits the motor46of each of the first electric actuator12A to the fourth electric actuator12D.

Next, the speed instruction unit213determines in step S205whether the abnormality detection unit211determines that two electric actuators12provided for the rear wheels, i.e., the third electric actuator12C and the fourth electric actuator12D are abnormal.

In a case where the speed instruction unit213determines that the abnormality detection unit211does not determine that the two electric actuators12provided for the rear wheels are abnormal (NO in step S205), the processing advances to step S207.

Then, the speed instruction unit213determines in the step S207whether the abnormality detection unit211determines that two electric actuators12provided for the front wheels, i.e., the first electric actuator12A and the second electric actuator12B are abnormal.

In a case where the speed instruction unit213determines that the abnormality detection unit211does not determine that the two electric actuators12provided for the front wheels are abnormal (NO in step S207), the processing advances to step S209.

Then, in the step S209, the speed instruction unit213sets the predetermined speed VM to 90 km/hour. Afterward, the processing advances to step S215.

In a case where the speed instruction unit213determines that the abnormality detection unit211determines that the two electric actuators12provided for the front wheels are abnormal (YES in step S207), the processing advances to step S211.

Then, in the step S211, the speed instruction unit213sets the predetermined speed VM to 80 km/hour. Afterward, the processing advances to the step S215.

In a case where the speed instruction unit213determines that the abnormality detection unit211determines that the two electric actuators12provided for the rear wheels are abnormal (YES in step S205), the processing advances to step S213.

Then, in the step S213, the speed instruction unit213sets the predetermined speed VM to 60 km/hour. Afterward, the processing advances to the step S215.

Next, in the step S215, the speed instruction unit213instructs the speed control ECU50to limit the vehicle speed V to the predetermined speed VM or less. Afterward, the processing ends.

As described with reference toFIG.5, the speed instruction unit213lowers the predetermined speed VM in a case where the electric actuator12provided for the rear wheel becomes abnormal, as compared with a case where the electric actuator12provided for the front wheel becomes abnormal. Therefore, the predetermined speed VM can be set to the appropriate value.

6. Configurations and Effects

As described above, an electric suspension control ECU20according to the present embodiment, in a vehicle1including an electric suspension apparatus10driven with a motor46, short-circuits the motor46and limits a vehicle speed V to a predetermined speed VM or less, in a case where an abnormality occurs in the electric suspension apparatus10.

According to this configuration, the motor46is short-circuited, to generate regenerative power in the motor46, so that the motor46can be provided with a braking force. Therefore, an operation of an electric actuator12included in the electric suspension apparatus10(in the present embodiment, a first electric actuator12A to a fourth electric actuator12D) can be regulated. Also, the vehicle speed V is limited to the predetermined speed VM or less, so that a behavior of the vehicle1can be stabilized.

Also, the electric suspension apparatus10includes an electric actuator12provided for each of a plurality of wheels TRs, and the electric suspension control ECU20lowers the predetermined speed VM, as the number NE of electric actuators12which become abnormal increases.

According to this configuration, as the number NE of the electric actuators12which become abnormal increases, the predetermined speed VM is lowered. Therefore, the behavior of the vehicle1can be stabilized.

Further, the electric suspension apparatus10includes an electric actuator12provided for each of a plurality of wheels TRs, and the electric suspension control ECU20lowers the predetermined speed VM, in a case where the electric actuator12provided for a rear wheel becomes abnormal, as compared with a case where the electric actuator12provided for a front wheel becomes abnormal.

According to this configuration, the predetermined speed VM is lowered, in the case where the electric actuator12provided for the rear wheel becomes abnormal, as compared with the case where the electric actuator12provided for the front wheel becomes abnormal. Therefore, the behavior of the vehicle1can be stabilized.

Additionally, the predetermined speed VM is equal to or more than 1 km/hour.

According to this configuration, even in the case where the abnormality occurs in the electric suspension apparatus10, the vehicle1can evacuate to a safe place.

7. Another Embodiment

Note that the present invention is not limited to the above configuration of the embodiment, and the invention can be implemented in various aspects without departing from the scope of the invention.

For example, the above embodiment describes, but is not limited to the case where the electric suspension apparatus10includes the first electric actuator12A to the fourth electric actuator12D. For example, the electric suspension apparatus10may include the third electric actuator12C and the fourth electric actuator12D, and the apparatus does not have to include the first electric actuator12A and the second electric actuator12B. Conversely, the electric suspension apparatus10may include the first electric actuator12A and the second electric actuator12B, and the apparatus does not have to include the third electric actuator12C and the fourth electric actuator12D.

For example, the above embodiment describes but is not limited to the case where the electric suspension control ECU20short-circuits the motor46through the short circuit24. The electric suspension control ECU20may short-circuit the motor46through the inverter22. Specifically, the electric suspension control ECU20may short-circuit the motor46, for example, by fixing the inverter22in an on state.

Also, the above embodiment describes, with reference toFIG.4, but is not limited to the case where the electric suspension control ECU20lowers the predetermined speed VM, as the number NE of the electric actuators12which become abnormal increases. The predetermined speed VM may be set based on a position at which the electric actuator12becomes abnormal, and the number NE. In this case, the predetermined speed VM can be set further appropriately.

Further, the above embodiment describes, with reference toFIG.5, but is not limited to the case where the electric suspension control ECU20lowers the predetermined speed VM, in the case where two electric actuators12provided for rear wheels become abnormal, as compared with the case where two electric actuators12provided for front wheels become abnormal. For example, the predetermined speed VM may be lowered, in a case where one electric actuator12provided for the rear wheel becomes abnormal, as compared with a case where one electric actuator12provided for the front wheel becomes abnormal.

At least part of the respective functional blocks shown inFIG.2may be achieved in hardware, or in hardware and software, and is not limited to a configuration to arrange independent hardware resources as shown in the drawing.

The control program executed by the processor21B of the electric suspension control ECU20of the electric suspension apparatus10is stored in the memory21A, but the control program may be stored in an external HDD or the like.

The processing units of the flowchart shown in each ofFIGS.4and5are divided depending on main processing content, to facilitate understanding of the processing of the electric suspension control ECU20. The embodiment is not limited by a dividing method or name of the processing unit shown in the flowchart of each ofFIGS.4and5. The processing of the electric suspension control ECU20may be divided into much more processing units depending on processing content, and one processing unit may be divided to include further processing. The above processing order in the flowchart is not limited to the shown example.

A control method of the electric suspension control ECU20can be achieved by allowing the processor21B of the electric suspension control ECU20to execute a control program corresponding to the control method of the electric suspension control ECU20. The control program can be recorded in advance in a computer readable recording medium. As the recording medium, a magnetic or optical recording medium or a semiconductor memory device may be used. Specifically, examples of the recording medium include a portable recording medium such as a flexible disk, a compact disk read only memory (CD-ROM), a digital versatile disc (DVD), Blue-ray (registered trademark) disc, a magneto-optic disk, a flash memory, or a card recording medium, and a fixed recording medium. The recording medium may be a nonvolatile storage device such as RAM, ROM, HDD, or another internal storage device included in the electric suspension apparatus10. The control method of the electric suspension control ECU20may be achieved by storing the control program corresponding to the control method of the electric suspension control ECU20in a server device or the like, and by downloading the control program from the server device to the electric suspension control ECU20.

8. Configurations Supported by the Above Embodiment

The above embodiment supports the following configurations.

A vehicle control device which, in a vehicle including an electric suspension apparatus driven with a motor, short-circuits the motor and limits a vehicle speed to a predetermined speed or less, in a case where an abnormality occurs in the electric suspension apparatus.

According to the vehicle control device of configuration 1, the motor is short-circuited, to generate regenerative power in the motor, so that the motor can be provided with a braking force. Therefore, an operation of an electric actuator included in the electric suspension apparatus can be regulated. Also, the vehicle speed is limited to the predetermined speed or less, so that a behavior of the vehicle can be stabilized.

The vehicle control device according to configuration 1, wherein the electric suspension apparatus includes an electric actuator provided for each of a plurality of wheels, the vehicle control device lowering the predetermined speed, as the number of electric actuators which become abnormal increases.

According to the vehicle control device of configuration 2, as the number of the electric actuators which become abnormal increases, the predetermined speed is lowered. Therefore, the behavior of the vehicle can be stabilized.

The vehicle control device according to configuration 1 or 2, wherein the electric suspension apparatus includes an electric actuator provided for each of a plurality of wheels, the vehicle control device lowering the predetermined speed, in a case where the electric actuator provided for a rear wheel becomes abnormal, as compared with a case where the electric actuator provided for a front wheel becomes abnormal.

According to the vehicle control device of configuration 3, the predetermined speed is lowered, in the case where the electric actuator provided for the rear wheel becomes abnormal, as compared with the case where the electric actuator provided for the front wheel becomes abnormal. Therefore, the behavior of the vehicle can be stabilized.

The vehicle control device according to any one of configurations 1 to 3, wherein the predetermined speed is equal to or more than 1 km/hour.

According to the vehicle control device of configuration 4, even in the case where the abnormality occurs in the electric suspension apparatus10, the vehicle can evacuate to a safe place.

REFERENCE SIGNS LIST