Control device for vehicle

A control device for a vehicle, comprising:

• a carrier installed on a vehicle and on which an occupant or an object to be conveyed is placed;
• an active suspension disposed between the carrier and a body of the vehicle and capable of controlling a force that acts between the carrier and the vehicle body;
• a vibration detector configured to detect a vibration state of the vehicle body;
• and
• a controller configured to calculate, based on a detection result of the vibration detector, a corresponding-position state amount indicating the vibration state of a portion of the vehicle body corresponding to a position where the carrier is disposed and control the active suspension based on the corresponding-position state amount,
• wherein the vibration detector includes three acceleration sensors each configured to detect acceleration in an up-down direction of the vehicle,
• wherein the three acceleration sensors are disposed on the vehicle body so as to be spaced apart from each other,
• wherein the controller is configured to calculate acceleration in the up-down direction at the center of gravity of the vehicle body, roll acceleration at the center of gravity of the vehicle body, and pitch acceleration at the center of gravity of the vehicle body, based on positions and detection results of the respective three acceleration sensors, and
• wherein the controller is configured to calculate, as the corresponding-position state amount, acceleration in the up-down direction of the portion of the vehicle body corresponding to the position where the carrier is disposed, based on the acceleration in the up-down direction at the center of gravity of the vehicle body, the roll acceleration at the center of gravity of the vehicle body, the pitch acceleration at the center of gravity of the vehicle body, a position of the carrier, and a position of the center of gravity of the vehicle body.