Vehicle attitude controller

A vehicle attitude controller for controlling an attitude of a vehicle body of a vehicle, comprising:

• control means for improving a roll feeling;
• control means for improving stability;
• and
• vehicle-motion determining means,
• wherein, to perform pitch control for improving a roll feeling, the control means for improving the roll feeling includes:
• target pitch-rate calculating means for calculating a target pitch rate corresponding to a target value of a pitch rate of the vehicle body so that the pitch rate increases in accordance with a magnitude of a roll rate of the vehicle body;
• and
• pitch-moment generating means for generating a pitch moment for the vehicle body so that the pitch rate of the vehicle body becomes closer to the target pitch rate;
• wherein the control means for improving the stability includes roll suppression means for generating a force for suppressing roll;
• and
• wherein the vehicle-motion determining means is configured so that the vehicle-motion determining means can switch a control rate between the control means for improving the roll feeling and the control means for improving the stability in accordance with a vehicle motion, and, before the vehicle enters a critical condition where a tire starts sliding, the control rate is switched so that the control rate of the control means for improving the stability is increased.