Vehicle attitude control device

A vehicle attitude control device comprising:

• an actuator configured to actively act on roll of a vehicle;
• a roll angle acceleration sensor configured to measure a roll angle acceleration of the vehicle;
• a speed sensor configured to measure a vehicle speed of the vehicle;
• and
• a controller including a low-pass filter, the controller being configured to calculate a manipulated variable of the actuator based on the roll angle acceleration and the vehicle speed, the manipulated variable being a manipulated variable that allows the roll of the vehicle to be suppressed, wherein
• the controller is configured
• to process the roll angle acceleration with the low-pass filter,
• to integrate the roll angle acceleration in which a high-frequency component has been removed by the low-pass filter, and
• to convert a roll angle velocity obtained by the integration, into the manipulated variable,
• the low-pass filter has a first vehicle speed-cutoff frequency characteristic in which a cutoff frequency becomes higher with increase in the vehicle speed, and
• the first vehicle speed-cutoff frequency characteristic is designed such that a peak frequency in roll vibration coincides with a local minimum roll frequency in wheelbase filtering, the roll vibration being amplified by a dead time and a phase delay in control by the controller.