Control system for vehicle

A control system applied to a vehicle, the control system comprising:

• a sensor for each wheel configured to detect behavior of each wheel of the vehicle;
• an actuator for each wheel configured to control a suspension stroke of each wheel;
• and
• one or more processing circuits configured to perform vibration control of the vehicle by controlling the actuator based on a detection value of the sensor, wherein:
• the vibration control includes
• calculating a parameter related to vertical motion of each wheel based on the detection value of the sensor,
• setting a high-pass filter for cutting off components having frequencies equal to or lower than a predetermined frequency from the parameter, based on a result of comparing the parameter with a predetermined upper limit value, and
• calculating a control amount for the actuator of each wheel for controlling the suspension stroke based on the parameter from which the components having frequencies equal to or lower than the predetermined frequency have been cut off by filtering using the high-pass filter;
• the parameter includes a heave component in which four wheels of the vehicle perform the same vertical motion, a pitch component in which left and right wheels of the vehicle perform the same vertical motion and front and rear wheels of the vehicle perform different vertical motions, and a roll component in which the left and right wheels of the vehicle perform different vertical motions;
• the high-pass filter includes a first high-pass filter that is set when at least one of the heave component, the pitch component, and the roll component is equal to or greater than the predetermined upper limit value;
• the first high-pass filter includes a first heave filter, a first pitch filter that is weaker than the first heave filter, and a first roll filter that is weaker than the first pitch filter;
• and
• when the first high-pass filter is set in the setting of the high-pass filter, in the filtering, the first heave filter or the first pitch filter is applied to the heave component, a filter different from the filter applied to the heave component among the first pitch filter and the first roll filter is applied to the roll component, and the same filter as the filter applied to the heave component or the roll component, or a filter different from the filter applied to the heave component and the roll component among the first heave filter, the first pitch filter, and the first roll filter is applied to the pitch component.