Suspension apparatus

A suspension apparatus for a vehicle comprising an actuator disposed between a sprung member of the vehicle and an unsprung member connected to a wheel and adapted to change the distance between the sprung member and the unsprung member through expansion and contraction thereof;

• an undulation information acquisition apparatus which acquires undulation information of a road surface ahead of the vehicle when the vehicle is traveling;
• and an actuator control apparatus which controls the actuator on the basis of the undulation information acquired by the undulation information acquisition apparatus, wherein
• the actuator control apparatus includes a convex portion ride-on control section for controlling the actuator when the undulation information acquisition apparatus acquires undulation information regarding a convex portion of the road surface;
• and
• the convex portion ride-on control section controls the actuator during a predetermined period of time between a point at which the undulation information acquisition apparatus acquires the undulation information regarding the convex portion and a point immediately before the wheel rides on the convex portion, such that ascending velocity of the sprung member increases as a result of expansion of the actuator during the predetermined period of time, and reaches a predetermined ascending velocity before the wheel rides on the convex portion.