Control apparatus for vehicle and control method for vehicle

1. A control apparatus for a vehicle comprising:

a plurality of actuators configured to perform sprung vibration suppression control by suppressing a bounce movement, a pitch movement and a roll movement of a vehicle body,

a vertical acceleration sensor configured to detect a sprung vertical acceleration, and

a plurality of actuator attitude control units configured to control the respective actuators such that the vertical acceleration detected by the vertical acceleration sensor becomes a vertical acceleration corresponding to a target sprung state, wherein

the plurality of actuators are a driving power source, a friction brake, and a damping force variable shock absorber of the vehicle, and

the plurality of actuator attitude control units are a driving power source attitude control unit, a friction brake attitude control unit, and a damping force control unit, and

the driving power source attitude control unit suppresses only the bounce movement and the pitch movement, and

the damping force control unit suppresses only the roll movement, a control of the driving power source, a control of the friction brake, and a control of the damping force variable shock absorber are performed in parallel to suppress a damping force control amount of the damping force variable shock absorber.

2. The control apparatus for a vehicle according to claim 1 , wherein the driving power source attitude control unit has a limit value for limiting a driving power source attitude control amount to a predetermined value.

3. The control apparatus for a vehicle according to claim 1 , wherein the friction brake attitude control unit suppresses the pitch movement of the vehicle body.

4. The control apparatus for a vehicle according to claim 1 , wherein the friction brake attitude control unit has a limit value for limiting a brake attitude control amount to a predetermined value such that a change rate of deceleration of the vehicle body becomes a predetermined value or less.

5. A control method for a vehicle which includes a sensor configured to detect sprung vertical acceleration, comprising:

a step of controlling, by a controller, a plurality of actuators configured to perform sprung vibration suppression control by suppressing a bounce movement, a pitch movement and a roll movement of a vehicle body, such that a vertical acceleration detected by the sensor becomes a vertical acceleration corresponding to a target sprung state, the plurality of actuators are a driving power source, a friction brake, and a damping force variable shock absorber of the vehicle, and

a step of controlling, by the controller, the driving power source configured to suppress only the bounce movement and the pitch movement, and the damping force variable shock absorber configured to suppress only the roll movement, in which a control of the driving power source, a control of the friction brake, and a control of the damping force variable shock absorber are performed in parallel to suppress a damping force control amount of the damping force variable shock absorber.

6. The control apparatus for a vehicle according to claim 1 , wherein suppression of the bounce movement and the pitch movement by the driving power source and the friction brake is performed prior to the suppression of the roll movement by the damping force variable shock absorber.

7. The method according to claim 5 , wherein suppression of the bounce movement and the pitch movement by the driving power source and the friction brake is performed prior to the suppression of the roll movement by the damping force variable shock absorber.