Vehicle body attitude control method and vehicle body attitude control device

Abstract

To provide a vehicle body attitude control method and a vehicle body attitude control device capable of suppressing the behavior of an occupant caused by acceleration and deceleration of a vehicle.SOLUTION: A vehicle body attitude control method acquires the acceleration of a vehicle and controls the attitude of the vehicle body by means of front and rear motors and / or an active suspension such that the vehicle body of the vehicle becomes perpendicular to the direction of the composite acceleration obtained by combining the inertial acceleration of an occupant of the vehicle estimated from the acceleration with the gravitational acceleration.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle body attitude control method and a vehicle body attitude control device. [Background technology]

[0002] A known technology is to provide a control valve for adjusting the fluid pressure of the fluid pressure spring means in a control device for the body angle of an automobile equipped with a fluid pressure spring means between the chassis and the body, and to control the opening and closing of the control valve so that the direction of gravity is perpendicular to the floor surface of the body (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 2934371 Summary of the Invention [Problem to be solved by the invention]

[0004] However, although the technology disclosed in Patent Document 1 is a technology for controlling the vehicle body angle to keep the vehicle body horizontal, it has a problem in that it cannot suppress the behavior of the occupant caused by the acceleration and deceleration of the vehicle.

[0005] The problem to be solved by the present invention is to provide a vehicle body attitude control method and a vehicle body attitude control device that can suppress the behavior of occupants caused by acceleration and deceleration of the vehicle. [Means for solving the problem]

[0006] The present invention solves the above problem by controlling the posture of the vehicle body using motors and / or active suspensions at the front and rear of the vehicle so that the vehicle body is perpendicular to the direction of the resultant acceleration, which is the combination of the inertial acceleration of the vehicle's occupants and the acceleration of gravity. [Effects of the Invention]

[0007] According to the present invention, it is possible to suppress the behavior of the occupant caused by acceleration and deceleration of the vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of a vehicle body attitude control device according to this embodiment. [Figure 2] FIG. 2 is a diagram for explaining an example of vehicle body attitude control according to this embodiment. [Figure 3] FIG. 3 is a diagram showing an example of a flowchart of a vehicle body attitude control method executed by the vehicle body attitude control device according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle body attitude control device and a vehicle body attitude control method according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0010] A vehicle body attitude control device according to an embodiment of the present invention will be described using Figure 1. Figure 1 is a block diagram showing the configuration of the vehicle body attitude control device according to this embodiment. A vehicle 2 includes a vehicle body attitude control device 10, an on-board sensor 20, a front wheel motor 30, a rear wheel motor 40, an active suspension 50, and an output device 60. These devices are connected via CAN communication or other on-board LAN, and can transmit and receive information to and from each other. The front wheel motor 30 and the rear wheel motor 40 are examples of the "front and rear motors" set forth in the claims.

[0011] The vehicle 2 is a vehicle that travels under autonomous driving control. A vehicle controller (not shown) autonomously controls both speed control and steering control, and can also be applied to cases where one of speed control and steering control is autonomously controlled and the other is manually controlled. Note that the vehicle 2 may travel not only under autonomous driving control, but also under manual driving by a driver.

[0012] The vehicle 2 is a four-wheel drive vehicle that transmits driving force to the front and rear wheels and uses them as drive wheels. The drive mechanism of the vehicle 2 is electronically controlled. The drive mechanism includes a motor as a driving source for traveling, a power transmission device including a drive shaft and an automatic transmission that transmits output from the driving source to the drive wheels, a drive device that controls the power transmission device, and a braking device that brakes the wheels. The vehicle controller calculates a driving force for controlling the traveling of the vehicle 2, generates a control signal for the drive mechanism according to the driving force, and executes traveling control including acceleration and deceleration of the vehicle 2. In addition, in this embodiment, as will be described later, when the vehicle 2 accelerates or decelerates, information on the calculated driving force may be output from the vehicle controller to the vehicle body attitude control device 10 so that the vehicle body attitude control device 10 can set the distribution of driving force between the front and rear motors.

[0013] The vehicle 2 includes a vehicle body and a vehicle body attitude adjustment mechanism that adjusts the attitude of the vehicle body. The vehicle body is the body portion of the vehicle 2, and seats are arranged on the floor of the vehicle body. The vehicle body attitude adjustment mechanism is a mechanism interposed between the vehicle body and the front and rear wheels. The front wheel motor 30, the rear wheel motor 40, and the active suspension 50 are examples of a vehicle body attitude adjustment mechanism. The front wheel motor 30 and the rear wheel motor 40 generate driving force, which is transmitted to the driving wheels via a power transmission device. In this embodiment, when a control signal including the distribution of driving force of each motor is output from the vehicle body attitude control device 10, the front wheel motor 30 and the rear wheel motor 40 transmit the driving force to the front and rear driving wheels respectively in accordance with the distribution of driving force, thereby adjusting the body attitude of the vehicle 2. The active suspension 50 is a suspension connected to the front and rear wheels. The active suspension 50 includes an actuator for each of the front and rear wheels. The actuator operates by adjusting pressure such as hydraulic pressure or air pressure. When a control signal including the control pressures of the front and rear actuators is output from the vehicle body posture control device 10, the active suspension 50 adjusts the body posture of the vehicle 2 by controlling the control pressure of each actuator according to the control pressure of the front and rear actuators.

[0014] The vehicle body attitude control device 10 includes a controller 100. The controller 100 controls the body attitude of the vehicle 2 using a front wheel motor 30, a rear wheel motor 40, and an active suspension 50. The controller 100 includes a computer having hardware and software, including a ROM 12 storing a program, a CPU 11 executing the program stored in the ROM 12, and a RAM 13 functioning as an accessible storage device. The controller 100 includes, as functional blocks, an acquisition unit 101, a calculation unit 102, and a control unit 103. The controller 100 of this embodiment executes each function through cooperation between the software for realizing each function or executing each process and the hardware described above. Note that in this embodiment, the functions of the controller 100 are divided into three blocks, and the functions of each functional block are described. However, the functions of the controller 100 do not necessarily have to be divided into three blocks; they may be divided into two or less functional blocks, or four or more functional blocks.

[0015] The acquisition unit 101 executes an acquisition process to acquire the acceleration of the vehicle 2. In the acquisition process, the acquisition unit 101 acquires the acceleration from the on-board sensor 20. The acquisition process is executed at regular intervals while the vehicle 2 is traveling.

[0016] The calculation unit 102 executes a calculation process to calculate the body angle of the vehicle 2. The body angle is the angle formed by the ground and the floor surface of the vehicle body, and is the angle of the floor surface of the vehicle body in the pitch direction with respect to the ground (horizontal plane). More specifically, the body angle is the inclination angle of the floor surface of the vehicle body with respect to the ground about the pitch axis, which is an axis passing through the center of gravity of the floor surface of the vehicle body and extending in the vehicle width direction. The body angle calculated by the calculation process is also referred to as the target body angle. In this embodiment, the calculation unit 102 determines whether the vehicle 2 will accelerate or decelerate based on the acceleration acquired by the acquisition unit 101, and starts the calculation process when it is determined that the vehicle 2 will accelerate or decelerate.

[0017] In the calculation process, the calculation unit 102 first calculates the inertial acceleration of the occupant riding in the vehicle 2 from the acceleration acquired by the acquisition unit 101. Next, the calculation unit 102 calculates a resultant acceleration by combining the inertial acceleration and the gravitational acceleration. The gravitational acceleration is an acceleration in the vertical direction, and is, for example, 9.8 [m / s 2 ] or any other commonly used value. Then, the calculation unit 102 calculates the vehicle body angle (target vehicle body angle) so that the vehicle body is perpendicular to the direction of the resultant acceleration. The vehicle body being perpendicular to the direction of the resultant acceleration means that the angle formed by the direction of the resultant acceleration and the floor surface of the vehicle body is a right angle. For example, the calculation unit 102 calculates the angle of the floor surface of the vehicle body in the pitch direction with respect to the ground (horizontal plane) as the target vehicle body angle, assuming that the floor surface of the vehicle body is perpendicular to the direction of the resultant acceleration.

[0018] Here, an example of calculation of the vehicle body angle according to this embodiment will be described using FIG. 2. FIG. 2 is a diagram for explaining an example of vehicle body attitude control according to this embodiment. The diagram on the left side of FIG. 2 shows a scene where the vehicle 2 starts to accelerate or decelerate. An arrow pointing forward of the vehicle 2 indicates acceleration of the vehicle 2, and an arrow pointing backward of the vehicle 2 indicates deceleration of the vehicle 2. The diagram in the center of FIG. 2 shows an example of calculation of the vehicle body angle of the vehicle 2. The diagram on the right side of FIG. 2 shows an example of vehicle body attitude control when accelerating or decelerating the vehicle 2. In the scene shown in the diagram on the left side of FIG. 2, the on-board sensor 20 detects the acceleration of the vehicle 2 and outputs it to the controller 100. As shown in the diagram in the center of FIG. 2, the controller 100 calculates the inertial acceleration Ai acting on the occupant with respect to the acceleration Av of the vehicle 2. The inertial acceleration Ai can be expressed as, for example, X [m / s 2 ]. The gravitational acceleration Ag is 9.8 [m / s 2 ]. The controller 100 calculates the resultant acceleration Ac by combining the inertial acceleration Ai and the gravitational acceleration Ag. In FIG. 2, the floor surface F of the vehicle body is inclined so as to be perpendicular to the resultant acceleration Ac. In this case, the vehicle body angle θ formed by the floor surface F of the vehicle body and the ground (horizontal plane) H is expressed as tan -1 (X / 9.8).

[0019] The control unit 103 executes a control process to control the attitude of the body of the vehicle 2 while the vehicle 2 is accelerating or decelerating. When the vehicle 2 is accelerating, the control unit 103 executes a control process to tilt the front side of the body downward from the horizontal. When the vehicle 2 is decelerating, the control unit 103 executes a control process to tilt the front side of the body upward from the horizontal.

[0020] In the control processing, the control unit 103 controls the attitude of the vehicle body using the front wheel motor 30 and the rear wheel motor 40 so that the vehicle body is perpendicular to the direction of the resultant acceleration. That is, the control unit 103 outputs control signals to the front wheel motor 30 and the rear wheel motor 40 so that the vehicle body angle becomes the target vehicle body angle calculated by the calculation unit 102. The control unit 103 also controls the attitude of the vehicle body using the active suspension 50 so that the vehicle body angle becomes the target vehicle body angle calculated by the calculation unit 102. In this embodiment, the attitude of the vehicle body may be controlled using the front wheel motor 30 and the rear wheel motor 40, or the active suspension 50, or both.

[0021] Here, vehicle body attitude control using the front and rear motors will be described. The control unit 103 sets the distribution of driving force between the front wheel motor 30 and the rear wheel motor 40 so that the vehicle body angle becomes the target vehicle body angle. The relationship between the distribution of driving force between the front and rear motors and the vehicle body angle is obtained in advance through experiments, etc. The control unit 103 then controls the front wheel motor 30 and the rear wheel motor 40 according to the set driving force of the front wheel motor 30 and the rear wheel motor 40. Specifically, the control unit 103 outputs control signals including the driving force of the front wheel motor 30 and the driving force of the rear wheel motor 40 to the front wheel motor 30 and the rear wheel motor 40, respectively.

[0022] For example, when the vehicle 2 accelerates, the control unit 103 sets the driving force of the front wheel motor 30 and the driving force of the rear wheel motor 40 in accordance with the target body angle so that the driving force of the front wheel motor 30 is greater than the driving force of the rear wheel motor 40. When the vehicle 2 decelerates, the control unit 103 sets the driving force of the front wheel motor 30 and the driving force of the rear wheel motor 40 in accordance with the target body angle so that the driving force of the front wheel motor 30 is smaller than the driving force of the rear wheel motor 40.

[0023] Next, vehicle body attitude control using the active suspension 50 will be described. The control unit 103 sets the distribution of the control pressures of the front actuators and the rear actuators so that the vehicle body angle becomes the target vehicle body angle. The relationship between the distribution of the control pressures of the front actuators and the rear actuators and the vehicle body angle is obtained in advance through experiments, etc. Then, the control unit 103 controls the active suspension 50 according to the set control pressures of the front actuators and the rear actuators. Specifically, the control unit 103 outputs a control signal including the control pressures of the front actuators and the control pressures of the rear actuators to the active suspension 50.

[0024] For example, when the vehicle 2 accelerates, the control unit 103 sets the control pressures of the front actuators and the rear actuators in accordance with the target vehicle body angle so that the control pressure of the front actuators is lower than the control pressure of the rear actuators. Also, when the vehicle 2 decelerates, the control unit 103 sets the control pressures of the front actuators and the rear actuators in accordance with the target vehicle body angle so that the control pressure of the front actuators is higher than the control pressure of the rear actuators.

[0025] Here, an example of vehicle body attitude control according to this embodiment will be described with reference to FIG. 2 . When the vehicle 2 is accelerating, the vehicle body attitude adjustment mechanism adjusts the vehicle body angle so that the front side of the vehicle body tilts downward from the horizontal. For example, as shown in the right diagram of FIG. 2 , when the vehicle 2 is accelerating, the front wheel motor 30 and the rear wheel motor 40 generate driving forces so that the driving force of the front wheel motor 30 is greater than the driving force of the rear wheel motor 40. This is because, normally, the front side of the vehicle 2 rises up when the vehicle 2 accelerates. On the other hand, when the vehicle 2 is decelerating, the vehicle body attitude adjustment mechanism adjusts the vehicle body angle so that the front side of the vehicle body tilts upward from the horizontal. For example, as shown in the right diagram of FIG. 2 , when the vehicle 2 is decelerating, the front wheel motor 30 and the rear wheel motor 40 generate driving forces so that the driving force of the front wheel motor 30 is smaller than the driving force of the rear wheel motor 40. This is because, normally, the front side of the vehicle 2 sinks down when the vehicle 2 decelerates. By performing vehicle body attitude control as described above, it is possible to reduce shaking of the occupant's head during acceleration and deceleration, leading to improved comfort for the occupant and reduced motion sickness.

[0026] Furthermore, the initial movement of the vehicle 2 during acceleration is such that the front of the vehicle body rises up, but after rising up once, the front of the vehicle body sinks down as a reaction to the initial movement, and so on, causing the vehicle body to sway back and forth. Furthermore, the initial movement of the vehicle 2 during deceleration is such that the front of the vehicle body sinks down, but after sinking down once, the front of the vehicle body rises up as a reaction to the initial movement, and so on, causing the vehicle body to sway back and forth. In this embodiment, the attitude of the vehicle body may also be adjusted in the opposite direction to counter such back and forth swaying of the vehicle body caused by acceleration and deceleration.

[0027] Furthermore, in this embodiment, the control unit 103 may notify the occupant of the resultant acceleration from when the vehicle 2 starts accelerating or decelerating until when the vehicle 2 finishes accelerating or decelerating. Specifically, the control unit 103 outputs a control signal for notifying the occupant of the resultant acceleration to the output device 60. Furthermore, the information to be notified to the occupant is not limited to the resultant acceleration, and may be any information related to vehicle body attitude control, such as information indicating that the vehicle body attitude control according to this embodiment is being executed.

[0028] In this embodiment, the control unit 103 may also control the attitude of the vehicle body so that the vehicle body is perpendicular to the direction of the resultant acceleration after a predetermined time has elapsed since the resultant acceleration was calculated. Since there is a time lag between when the vehicle 2 starts accelerating or decelerating and when a change in the occupant's behavior occurs due to the acceleration or deceleration, the control unit 103 executes vehicle body attitude control in accordance with the timing at which a change in the occupant's behavior occurs. The predetermined time is a time that takes into account the time lag between when the vehicle 2 starts accelerating or decelerating and when a change in the occupant's behavior occurs due to the acceleration or deceleration of the vehicle 2. The predetermined time is obtained in advance by experiment or the like.

[0029] Furthermore, in this embodiment, the control unit 103 may execute vehicle body attitude control in accordance with the congestion state of the road on which the vehicle 2 is traveling. Specifically, first, the control unit 103 acquires driving environment information of the vehicle 2 from the on-board sensor 20. Then, the control unit 103 determines the congestion state of the road on which the vehicle 2 is traveling based on the driving environment information, and when the road on which the vehicle 2 is traveling is congested, the control unit 103 prohibits controlling the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration. Furthermore, when the road on which the vehicle 2 is traveling is not congested, the control unit 103 controls the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration. Note that the control unit 103 is not limited to acquiring driving environment information from the on-board sensor 20, and may also acquire congestion information of the road on which the vehicle 2 is traveling as driving environment information from an external road traffic information and communication system or the like.

[0030] Furthermore, in this embodiment, the control unit 103 may execute vehicle body attitude control in accordance with the acceleration / deceleration of the vehicle 2. When the acceleration / deceleration of the vehicle 2 is equal to or less than a predetermined threshold, the control unit 103 prohibits controlling the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration. When the acceleration / deceleration of the vehicle 2 is greater than the predetermined threshold, the control unit 103 controls the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration.

[0031] The on-vehicle sensor 20 is a sensor mounted on the vehicle 2 and detects various types of information. For example, the on-vehicle sensor 20 detects the acceleration of the vehicle 2. The on-vehicle sensor 20 includes, for example, an acceleration sensor. The on-vehicle sensor 20 may also include a vehicle speed sensor that detects the vehicle speed, and estimate the acceleration from the amount of change in the vehicle speed detected by the vehicle speed sensor. The on-vehicle sensor 20 may also include a sensor that detects driving environment information of the vehicle 2. For example, the on-vehicle sensor 20 may include a camera that captures images of the external environment of the vehicle 2.

[0032] The output device 60 is a device for outputting information and providing the information to the occupants. The output device 60 may be an in-vehicle device, or may be a device mounted on a portable mobile terminal such as a mobile phone or tablet terminal used by the driver. The output device 60 is a device for displaying image information and is configured by a liquid crystal display, a projector, or the like. For example, the display is a meter panel or a head-up display. The output device 60 may also be a device for outputting audio information. For example, the output device 60 is configured by a speaker. In this embodiment, when a control signal is output from the vehicle body attitude control device 10, the output device 60 notifies the occupants of information related to vehicle body attitude control, such as resultant acceleration.

[0033] Next, an example of a procedure for executing the vehicle body attitude control method according to this embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of a flowchart of the vehicle body attitude control method executed by the vehicle body attitude control device according to this embodiment. In step S101, the controller 100 acquires the acceleration of the vehicle 2. In step S102, the controller 100 calculates the vehicle body angle (target vehicle body angle) of the vehicle 2 so that the body of the vehicle 2 is perpendicular to the direction of a resultant acceleration obtained by combining the inertial acceleration of the occupant and the acceleration of gravity. In step S103, the controller 100 controls the vehicle body attitude using the front wheel motor 30, the rear wheel motor 40, and the active suspension 50 so that the vehicle body angle of the vehicle 2 becomes the target vehicle body angle.

[0034] As described above, in the vehicle body attitude control method and vehicle body attitude control device according to this embodiment, the controller acquires the acceleration of the vehicle, and controls the attitude of the vehicle body by the motors and / or active suspensions at the front and rear of the vehicle so that the vehicle body is perpendicular to the direction of a resultant acceleration obtained by combining the inertial acceleration of the vehicle occupant estimated from the acceleration and the acceleration of gravity. This makes it possible to suppress the behavior of the occupant caused by the acceleration and deceleration of the vehicle.

[0035] In the vehicle body attitude control method and vehicle body attitude control device according to this embodiment, the controller notifies the occupant of the resultant acceleration from when the vehicle starts accelerating or decelerating until when the vehicle finishes accelerating or decelerating, thereby enabling the occupant to grasp information related to the vehicle body attitude control.

[0036] In the vehicle body attitude control method and vehicle body attitude control device according to this embodiment, the controller sets the driving forces of the front wheel motors and the rear wheel motors so that the driving force of the front wheel motor is greater than the driving force of the rear wheel motor when the vehicle accelerates, and sets the driving forces of the front wheel motors and the rear wheel motors so that the driving force of the front wheel motor is smaller than the driving force of the rear wheel motor when the vehicle decelerates, and controls the front wheel motors and the rear wheel motors in accordance with the set driving forces of the front wheel motors and the rear wheel motors, thereby controlling the vehicle body attitude. This allows the vehicle body to be tilted so that it is perpendicular to the direction of the resultant acceleration.

[0037] Furthermore, in the vehicle body attitude control method and vehicle body attitude control device according to this embodiment, the controller sets the control pressures of the front actuators and the rear actuators of the active suspension so that the control pressure of the front actuators of the active suspension is smaller than the control pressure of the rear actuators of the active suspension when the vehicle accelerates, and sets the control pressures of the front actuators and the rear actuators so that the control pressure of the front actuators is larger than the control pressure of the rear actuators when the vehicle decelerates, and controls the active suspension in accordance with the set control pressures of the front actuators and the rear actuators, thereby controlling the attitude of the vehicle body. This allows the vehicle body to be tilted so that it is perpendicular to the direction of the resultant acceleration.

[0038] In the vehicle body attitude control method and vehicle body attitude control device according to this embodiment, the controller controls the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration after a predetermined time has elapsed since the resultant acceleration was calculated. This allows the vehicle body angle to be controlled in accordance with the occupant's behavior, which occurs with a delay from the vehicle body's behavior, thereby making it possible to more accurately minimize the occupant's behavior.

[0039] Furthermore, in the vehicle body attitude control method and vehicle body attitude control device according to this embodiment, the controller prohibits control of the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration when the road on which the vehicle is traveling is congested, and controls the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration when the road on which the vehicle is traveling is not congested. In this way, by not performing vehicle body attitude control for small accelerations and decelerations in congested traffic, it is possible to reduce energy consumption required for vehicle body attitude control.

[0040] In the vehicle body attitude control method and vehicle body attitude control device according to this embodiment, the controller prohibits control of the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration when the acceleration / deceleration of the vehicle is equal to or less than a predetermined threshold, and controls the vehicle body attitude so that the vehicle body is perpendicular to the direction of the resultant acceleration when the acceleration / deceleration is greater than the predetermined threshold. This prevents the vehicle body attitude control from being performed for small acceleration / deceleration, thereby reducing energy consumption required for vehicle body attitude control.

[0041] It should be noted that the above-described embodiments have been described to facilitate understanding of the present invention, and are not intended to limit the present invention. Therefore, each element disclosed in the above-described embodiments is intended to include all design modifications and equivalents that fall within the technical scope of the present invention. [Explanation of symbols]

[0042] 2...Vehicle 10...Vehicle attitude control device 100...Controller 101…Acquisition Department 102...Arithmetic section 103...Control unit 20...In-vehicle sensor 30...Front wheel motor 40...Rear wheel motor 50...Active suspension 60...Output device

Claims

1. A vehicle body attitude control method executed by a controller, The controller Obtain the vehicle acceleration; A vehicle body attitude control method for controlling the attitude of the vehicle body by motors and / or active suspensions at the front and rear of the vehicle so that the vehicle body is perpendicular to the direction of a resultant acceleration obtained by combining the inertial acceleration of the vehicle occupant estimated from the acceleration and the acceleration of gravity.

2. 2. The vehicle body attitude control method according to claim 1, The controller A vehicle body attitude control method that notifies the occupant of the resultant acceleration from when the vehicle starts accelerating or decelerating until when the vehicle finishes accelerating or decelerating.

3. 3. The vehicle body attitude control method according to claim 1 or 2, The controller When the vehicle accelerates, the driving force of the front wheel motor and the driving force of the rear wheel motor are set so that the driving force of the front wheel motor is greater than the driving force of the rear wheel motor; When the vehicle decelerates, the driving force of the front wheel motor and the driving force of the rear wheel motor are set so that the driving force of the front wheel motor is smaller than the driving force of the rear wheel motor; A vehicle body attitude control method for controlling the attitude of the vehicle body by controlling the front wheel motor and the rear wheel motor in accordance with the set driving force of the front wheel motor and the set driving force of the rear wheel motor.

4. 3. The vehicle body attitude control method according to claim 1 or 2, The controller when the vehicle accelerates, setting the control pressure of the front actuator and the control pressure of the rear actuator of the active suspension so that the control pressure of the front actuator of the active suspension is smaller than the control pressure of the rear actuator of the active suspension; when the vehicle decelerates, the control pressure of the front actuator and the control pressure of the rear actuator are set so that the control pressure of the front actuator is greater than the control pressure of the rear actuator; A vehicle body attitude control method for controlling the attitude of the vehicle body by controlling the active suspension in accordance with the set control pressures of the front actuator and the rear actuator.

5. 3. The vehicle body attitude control method according to claim 1 or 2, The controller A vehicle body attitude control method for controlling the attitude of the vehicle body so that the vehicle body is perpendicular to the direction of the resultant acceleration after a predetermined time has elapsed since the resultant acceleration was calculated.

6. 3. The vehicle body attitude control method according to claim 1 or 2, The controller prohibiting control of the attitude of the vehicle body so that the vehicle body is perpendicular to the direction of the resultant acceleration when the road on which the vehicle is traveling is congested; A vehicle body attitude control method for controlling the attitude of the vehicle body so that the vehicle body is perpendicular to the direction of the resultant acceleration when the road on which the vehicle is traveling is not congested.

7. 3. The vehicle body attitude control method according to claim 1 or 2, The controller prohibiting control of the attitude of the vehicle body so that the vehicle body is perpendicular to the direction of the resultant acceleration when the acceleration / deceleration of the vehicle is equal to or less than a predetermined threshold; A vehicle body attitude control method for controlling the attitude of the vehicle body so that the vehicle body is perpendicular to the direction of the resultant acceleration when the acceleration / deceleration is greater than the predetermined threshold value.

8. A vehicle body attitude control device including a controller, The controller Obtain the vehicle acceleration; A vehicle body attitude control device that controls the attitude of the vehicle body using motors and / or active suspensions at the front and rear of the vehicle so that the vehicle body is perpendicular to the direction of a resultant acceleration obtained by combining the inertial acceleration of the vehicle occupant estimated from the acceleration and the acceleration of gravity.

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