JP2005178438A - Vehicle vibration attenuation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle vibration attenuation device capable of suppressing the deterioration of the ground contact property of a tire and riding comfort due to an increase in unsprung mass. <P>SOLUTION: The vehicle vibration attenuation device 1 includes an electric motor 22 suspended by a bracket 14, which is an unsprung member, in a vertically oscillatable manner by the use of a coil spring 23 and a damper 24, a reducer 21 reducing the rotational speed of the electric motor 22, and a power transmitting means 26 transmitting power between the electric motor 22 and the reducer 21. Since the electric motor 22 is suspended in the vertically oscillatable manner by the coil spring 23 and the damper 24, the electric motor 22, the coil spring 23, and the damper 24 function as a dynamic damper reducing the vibration of the unsprung member. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle vibration reduction device.

Patent Document 1 below discloses an electric wheel driving device in which an electric motor and a wedge roller type friction roller type speed reducer are integrally combined and installed on the inner diameter side of a wheel constituting the wheel.
Japanese Patent Laid-Open No. 2003-28254 (page 3-5, FIG. 1)

  When an electric motor or a friction roller type speed reducer is mounted on the inner diameter side of the wheel, the unsprung mass increases with the addition of the electric motor or the like. Therefore, the unsprung vibration of the vehicle becomes large, and there is a problem that the grounding property and riding comfort of the tire are deteriorated.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle vibration reduction device capable of suppressing deterioration of tire grounding property and riding comfort due to an increase in unsprung mass. To do.

  The vehicle vibration reduction device according to the present invention is a vehicle vibration reduction device equipped with electric drive means for driving wheels, and is disposed between the electric drive means and the unsprung member to reduce vibration of the electric drive means. The first vibration damping member is provided, and the electric driving means is swingably suspended from the unsprung member by the first vibration damping member.

  According to the vehicle vibration reducing device of the present invention, since the electric drive means suspended from the unsprung member and the first damping member function as a so-called dynamic damper, vibration of the unsprung member, that is, unsprung vibration is reduced. can do.

  In the vehicle vibration reducing device according to the present invention, the electric drive means has an electric motor and a speed reduction means for reducing the rotational speed of the electric motor, and the electric motor swings on the unsprung member by the first vibration damping member. It is preferably suspended and the speed reduction means are attached to the wheels.

  In this case, since the electric motor suspended by the unsprung member and the first damping member function as a dynamic damper, unsprung vibration can be reduced.

  The electric drive means includes an electric motor and a speed reducing means for reducing the rotational speed of the electric motor, the electric motor is attached to the sprung member, and the speed reducing means is the unsprung member by the first damping member. It is good also as a structure suspended so that rocking | fluctuation was possible.

  In this case, since the speed reducing means suspended from the unsprung member and the first damping member function as a dynamic damper, unsprung vibration can be reduced.

  Further, a second vibration damping member is provided between the electric motor and the sprung member to reduce the vibration of the electric motor, and the electric motor can swing on the sprung member by the second vibration damping member. It is preferably suspended.

  In this case, the electric motor and the second damping member suspended on the sprung member function as a dynamic damper, so that the vibration of the sprung member can be reduced.

  In the vehicle vibration reducing device according to the present invention, it is preferable that the first damping member includes a first elastic member having a predetermined elastic coefficient and a first vibration damping member that attenuates vibration.

  In this case, the first elastic member and the first vibration damping member function as a first damping member that constitutes a dynamic damper that reduces unsprung vibration.

  Furthermore, in the vehicle vibration reducing device according to the present invention, it is preferable that the second vibration damping member includes a second elastic member having a predetermined elastic coefficient and a second vibration damping member that attenuates vibration.

  In this case, the second elastic member and the second vibration damping member function as a second damping member that constitutes a dynamic damper that reduces sprung vibration.

  The vehicle vibration reducing device according to the present invention further includes first damping force varying means for changing the damping force of the first vibration damping member according to at least one of a steering angle, a lateral acceleration of the vehicle, a yaw rate, and a vertical acceleration. It is preferable.

  In this case, the damping force of the first vibration damping member is changed by the first damping force varying means in accordance with the motion state of the vehicle. Therefore, it becomes possible to change the vibration characteristic of the dynamic damper that reduces the unsprung vibration according to the motion state of the vehicle.

  The vehicle vibration reducing device according to the present invention further includes second damping force varying means for changing the damping force of the second vibration damping member according to at least one of the steering angle, the lateral acceleration of the vehicle, the yaw rate, and the vertical acceleration. Furthermore, it is preferable to have.

  In this case, the damping force of the second vibration damping member is changed by the second damping force varying means in accordance with the motion state of the vehicle. Therefore, it becomes possible to change the vibration characteristic of the dynamic damper that reduces the sprung vibration according to the motion state of the vehicle.

  The unsprung member is preferably a member constituting a suspension.

  In the present specification, the vehicle body side is referred to as a sprung and the wheel side is referred to as an unsprung as viewed from the suspension that connects the vehicle body and the wheel. Further, the vehicle component disposed on the spring is referred to as a sprung member, and the vehicle component disposed below the spring is referred to as an unsprung member.

  According to the present invention, since the electric drive means suspended from the unsprung member and the first damping member function as a dynamic damper, it is possible to reduce unsprung vibration and to ground the tire due to an increase in unsprung mass. It becomes possible to suppress the deterioration of performance and ride comfort.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In the figure, the same reference numerals are used for the same or corresponding parts.

(First embodiment)
First, the configuration of the vehicle vibration reduction device 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a vertical sectional view parallel to the axle direction of the right front wheel on which the vehicle vibration reducing device 1 is mounted. In addition, about the structure of the vehicle vibration reduction apparatus 1, it demonstrates about the case where it mounts in the right front wheel of a vehicle. Since the left front wheel, the left rear wheel, and the right rear wheel are the same as or similar to the case of the right front wheel, description thereof is omitted. Further, in this specification, the forward direction when the vehicle is moving forward is defined as “front”, and words indicating directions such as front and rear, left and right, and up and down are used.

  A vehicle equipped with the vehicle vibration reduction device 1 employs a strut suspension. However, the type of suspension is not limited to this, and may be, for example, a double wishbone type.

  A steering knuckle 12 is attached to the lower arm 10 via a ball joint 11. A lower end of a strut 13 having a coil spring and a shock absorber is coupled to an upper portion of the steering knuckle 12 by a bracket 14 and a bolt 15 or the like. The upper end of the strut 13 is connected to the vehicle body via an upper mount insulator.

  An axle hub 16 is rotatably supported on the steering knuckle 12 via an axle bearing unit 17. A double row angular ball bearing 18 is used for the axle bearing unit 17.

  A brake disc and a disc wheel (not shown) are fixed to the outer side of the axle hub 16 by a hub bolt 19. An axle 20 is fastened to the axle hub 16 by a fastening nut 28. As described above, the axle 20 and the disc wheel are coupled via the axle hub 16 supported by bearings, so that the disc wheel, that is, the wheel is driven by the axle 20 being driven to rotate.

  The end of the axle 20 on the vehicle side is connected to a speed reducer 21 disposed on the vehicle side of the axle hub 16. The speed reducer 21 includes a plurality of gears and the like, and reduces the rotational speed of an electric motor 22 described later. That is, the speed reducer 21 functions as a speed reduction unit.

  In the present embodiment, a compact, lightweight, and highly efficient AC synchronous motor is employed as the electric motor 22. However, the type of the electric motor is not limited to this, and various types can be used.

  The electric motor 22 is swingably suspended from the bracket 14 via a coil spring 23 as an elastic element having a predetermined elastic coefficient and a damper 24 as a vibration damping element. That is, the coil spring 23 functions as a first elastic member, and the damper 24 functions as a first vibration damping member. Further, the coil spring 23 and the damper 24 function as a first damping member. The suspension position of the electric motor 22 is not limited to the bracket 14 as long as it is an unsprung member such as a suspension.

  The electric motor 22 is suspended from the bracket 14 by the coil spring 23 and the damper 24 so that the electric motor 22 can swing up and down, so that the electric motor 22, the coil spring 23, and the damper 24 vibrate the suspension member disposed under the spring. Functions as a dynamic damper. Here, the dynamic damper achieves a damping effect by vibrating in the opposite phase to the unsprung member to be damped.

  The first elastic member is not limited to a spring coil as long as it has a predetermined elastic coefficient (or spring constant), and is made of a rubber material as well as a leaf spring, a torsion bar spring, and the like made of steel. It may be a thing. In general, the spring constant or the like of the dynamic damper is determined so that the vibration frequency to be damped matches the resonance frequency of the dynamic damper. However, it is not always necessary to match the resonance frequency of the dynamic damper with the resonance frequency to be damped.

  The damper 24 is provided with a damper actuator 25 that varies the damping force of the damper 24. The damper actuator 25 changes the damping force of the damper 24 by, for example, rotating a rotary valve in the damper 24 by a stepping motor or the like provided therein to change the oil flow path.

  The damper actuator 25 is connected to an electronic control unit (hereinafter referred to as “ECU”) 40. Based on the signal from the ECU 40, the stepping motor constituting the damper actuator 25 is driven.

  The electric motor 22 and the speed reducer 21 are connected by power transmission means 26 that transmits power between the electric motor 22 and the speed reducer 21. As the power transmission means 26, for example, a drive shaft that is a rod-shaped member provided with a universal joint 27 such as a constant velocity joint, a hook joint, or a flexible joint at both ends is used. Here, the universal joint 27 transmits a driving force from a certain rotation axis to a rotation axis having a different angle. According to the power transmission means 26, even when the electric motor 22 swings and the relative position between the electric motor 22 and the speed reducer 21 changes, the driving force can be smoothly transmitted.

  Next, the configuration of the control system in the vehicle V in which the vehicle vibration reduction device 1 is mounted on each wheel FWR, FWL, RWR, RWL will be described using FIG. 1 and FIG. FIG. 2 is an overall configuration diagram of a control system in the vehicle V in which the vehicle vibration reduction device 1 is mounted on each wheel FWR, FWL, RWR, RWL.

  As shown in FIG. 2, a vehicle vibration reduction device 1 is mounted on each wheel FWR, FWL, RWR, RWL of the vehicle V. In addition, the vehicle V includes a steering angle sensor 41 that detects the steering angle and the steering angular velocity of the steering wheel 30, a lateral acceleration sensor 42 that detects lateral acceleration of the vehicle V, a yaw rate sensor 43 that detects the yaw rate of the vehicle V, and A vertical acceleration sensor 44 for detecting the vertical acceleration of the vehicle V is attached. Each of the steering angle sensor 41, the lateral acceleration sensor 42, the yaw rate sensor 43, and the vertical acceleration sensor 44 is connected to the ECU 40.

  The ECU 40 includes a microprocessor that performs calculations, a ROM that stores a program for causing the microprocessor to execute each process, a RAM that stores various data such as calculation results, and a backup RAM in which the stored contents are held by a 12V battery. It is comprised by.

  Further, the ECU 40 includes a motor driver for driving a stepping motor that constitutes the damper actuator 25.

  The ECU 40 determines a vibration state, a motion state, and the like of the vehicle V based on signals from the steering angle sensor 41, the lateral acceleration sensor 42, the yaw rate sensor 43, the vertical acceleration sensor 44, and the like. Then, the ECU 40 outputs a drive signal for the stepping motor to the damper actuator 25 in order to change the damping force of the damper 24 in accordance with the vibration state, the motion state, etc. of the vehicle V. That is, the ECU 40 and the damper actuator 25 function as first damping force varying means.

  Next, the operation of the vehicle vibration reducing device 1 will be described. First, the basic operation of the vehicle vibration reducing device 1 will be described.

  In the vehicle vibration reduction device 1, when an undercarriage member disposed under a spring such as an axle 20 or a wheel vibrates in the vertical direction, an electric motor 22 suspended on the undercarriage member via a coil spring 23 and a damper 24. Oscillates in the vertical direction and cancels the vibration of the suspension member that is the vibrating body. That is, the electric motor 22, the coil spring 23, and the damper 24 function as an active damper, and reduce the vibration of the suspension member that is a vibrating body.

  Next, the damping force change control of the damper 24 in the vehicle vibration reducing device 1 will be described.

  In the ECU 40, the steering angle and steering angular velocity of the steering wheel 30, the vertical and horizontal accelerations and the yaw rate of the vehicle V are read at predetermined time intervals. Based on the read sensor information, the vibration state of the vehicle V is determined, and the motion state of the vehicle V, for example, whether or not the vehicle is turning is determined.

  In the ECU 40, the damping force of the damper 24 is set in accordance with the vibration state or motion state of the vehicle V. Then, the damper actuator 25 is driven according to the set damping force.

  For example, when it is determined that the vehicle V is not turning, the damping force of the damper 24 is reduced in accordance with the vibration state, that is, the damper 24 is softened to reduce the vertical vibration of the unsprung member. . On the other hand, when it is determined that the vehicle is turning, the damping force of the damper 24 is increased, that is, the damper 24 is hardened so that the electric motor 22 and the vehicle V move together.

  In the present embodiment, since the reduction gear 21 is attached to the axle hub 16, the mass of the unsprung member increases, so that the vibration in the high-frequency region of the unsprung member is reduced.

  Further, according to the present embodiment, the electric motor 22, the coil spring 23, and the damper 24 function as a dynamic damper that reduces vibration of the unsprung member, so that the vicinity of the resonance frequency of the unsprung member deteriorated due to an increase in mass. Vibration can be reduced.

  Furthermore, according to the present embodiment, the damping force of the damper 24 of the vehicle vibration reduction device 1 mounted on each wheel FWR, FWL, RWR, RWL is independently set according to the vibration state and motion state of the vehicle V. Alternatively, the unsprung vibrations of the wheels FWR, FWL, RWR, and RWL can be further reduced by changing them in cooperation. Thereby, the roll, pitch, and vertical vibration of the vehicle V can be suppressed.

  As described above, according to this embodiment, the unsprung vibration of the vehicle can be reduced, so that it is possible to suppress the deterioration of the ground contact property and riding comfort of the tire due to the increase of the unsprung mass.

(Second Embodiment)
Next, the configuration of the vehicle vibration reduction device 2 according to the second embodiment will be described with reference to FIG. FIG. 3 is a vertical sectional view parallel to the axle direction of the right front wheel on which the vehicle vibration reducing device 2 is mounted.

  As shown in FIG. 3, in the present embodiment, the speed reducer 21 is suspended from a bracket 14 that is an unsprung member instead of the electric motor 22, and the electric motor 22 is an elastic element having a predetermined elastic coefficient. The second embodiment is different from the first embodiment in that it is swingably suspended on a vehicle body 60 as a sprung member via a coil spring 51 and a damper 52 as a vibration damping element.

  Here, the coil spring 51 functions as a second elastic member, and the damper 52 functions as a second vibration damping member. Further, the coil spring 51 and the damper 52 function as a second vibration damping member. The second elastic member is not limited to a spring coil as long as it has a predetermined elastic coefficient (or spring constant), and is made of a rubber material as well as a plate spring, a torsion bar spring, and the like made of steel. It may be a thing.

  The speed reducer 21 is suspended from the bracket 14 by the coil spring 23 and the damper 24 so as to be able to swing up and down, so that the speed reducer 21, the coil spring 23 and the damper 24 are vibrated by the underbody member disposed under the spring. Functions as a dynamic damper.

  On the other hand, the electric motor 22 is suspended by the coil spring 51 and the damper 52 so as to be swingable up and down, so that the electric motor 22, the coil spring 51, and the damper 52 are dynamic dampers that reduce the vibration of the sprung member. Function as.

  The damper 52 is provided with a damper actuator 53 that varies the damping force of the damper 52. The damper actuator 53 changes the damping force of the damper 52 by, for example, rotating a rotary valve in the damper 52 with a stepping motor or the like provided therein to change the oil flow path.

  The damper actuator 53 is electrically connected to the ECU 40. Based on the signal from the ECU 40, the stepping motor constituting the damper actuator 53 is driven.

  Further, the present embodiment is different from the first embodiment in that the speed reducer 21 and the axle 20 are connected by power transmission means 54 that transmits power between the speed reducer 21 and the axle 20. Here, as the power transmission means 54, for example, a coupling which is a rod-shaped member provided with universal joints 55 such as a constant velocity joint, a hook joint or a flexible joint at both ends is used. Here, the universal joint 55 transmits a driving force from a certain rotation axis to a rotation axis having a different angle. According to the power transmission means 54, the driving force can be smoothly transmitted even when the speed reducer 21 swings and the relative position between the speed reducer 21 and the axle 20 changes.

  Since other configurations are the same as or similar to those of the first embodiment, description thereof is omitted here.

  Next, the configuration of the control system in the vehicle V in which the vehicle vibration reduction device 2 is mounted on each wheel FWR, FWL, RWR, RWL will be described with reference to FIGS. 3 and 4. FIG. 4 is an overall configuration diagram of a control system in the vehicle V in which the vehicle vibration reduction device 2 is mounted on each wheel FWR, FWL, RWR, RWL.

  As shown in FIG. 4, a vehicle vibration reduction device 2 is mounted on each wheel FWR, FWL, RWR, RWL of the vehicle V. Further, as in the first embodiment, a steering angle sensor 41, a lateral acceleration sensor 42, a yaw rate sensor 43, a vertical acceleration sensor 44, and the like are attached to the vehicle V. Each of the steering angle sensor 41, the lateral acceleration sensor 42, the yaw rate sensor 43, and the vertical acceleration sensor 44 is connected to the ECU 40.

  The ECU 40 determines a vibration state, a motion state, and the like of the vehicle V based on signals from the steering angle sensor 41, the lateral acceleration sensor 42, the yaw rate sensor 43, the vertical acceleration sensor 44, and the like. The ECU 40 outputs a driving signal for the stepping motor to the damper actuator 25 and the damper actuator 53, respectively, in order to change the damping force of the damper 24 and the damper 52 in accordance with the vibration state, movement state, etc. of the vehicle V. That is, the ECU 40 and the damper actuator 53 function as second damping force variable means.

  Next, the operation of the vehicle vibration reducing device 2 will be described. First, the basic operation of the vehicle vibration reducing device 2 will be described.

  In the vehicle vibration reduction device 2, when a suspension member disposed under a spring such as an axle 20 or a wheel vibrates in the vertical direction, a speed reducer 21 suspended on the suspension member via a coil spring 23 and a damper 24. Oscillates in the vertical direction and cancels the vibration of the suspension member that is the vibrating body. That is, the speed reducer 21, the coil spring 23, and the damper 24 function as an active damper, and reduce the vibration of the underbody member that is a vibrating body.

  In addition, when the vehicle body 60 that is a sprung member vibrates in the vertical direction, the electric motor 22 suspended on the vehicle body 60 via the coil spring 51 and the damper 52 swings in the vertical direction, and the vehicle body 60 that is a vibrating body. Cancel the vibration. That is, the electric motor 22, the coil spring 51, and the damper 52 function as an active damper, and reduce the vertical vibration of the vehicle body 60.

  Next, the damping force change control of the damper 24 and the damper 52 in the vehicle vibration reducing device 2 will be described.

  In the ECU 40, the steering angle and steering angular velocity of the steering wheel 30, the vertical and horizontal accelerations and the yaw rate of the vehicle V are read at predetermined time intervals. Based on the read sensor information, the vibration state of the vehicle V is determined, and the motion state of the vehicle V, for example, whether or not the vehicle is turning is determined.

  In the ECU 40, the damping force of the damper 24 and the damper 52 is set in accordance with the vibration state or motion state of the vehicle V. Then, the damper actuator 25 and the damper actuator 53 are driven according to the set damping force.

  For example, when it is determined that the vehicle V is not turning, the damping force of the damper 24 and the damper 52 is reduced according to the vibration state, that is, the damper 24 and the damper 52 are softened, so that the unsprung member and the vehicle body The vertical vibration of 60 is reduced. On the other hand, when it is determined that the vehicle is turning, the damping force of the damper 24 and the damper 52 is increased, that is, the damper 24 and the damper 52 are hardened so that the speed reducer 21 and the electric motor 22 are integrated with the vehicle V. Become set to exercise.

  According to the present embodiment, the reduction gear 21, the coil spring 23, and the damper 24 function as a dynamic damper that reduces the vibration of the unsprung member, so that the vibration near the resonance frequency of the unsprung member deteriorated due to the increase in mass. Can be reduced.

  Further, according to the present embodiment, the electric motor 22, the coil spring 51, and the damper 52 function as a dynamic damper that reduces the vibration of the sprung member, whereby the vibration of the vehicle body 60 can be reduced.

  Furthermore, according to the present embodiment, the damping force of the damper 24 and the damper 52 of the vehicle vibration reduction device 2 mounted on each wheel FWR, FWL, RWR, RWL is changed according to the vibration state and motion state of the vehicle V. By doing so, the unsprung and sprung vibrations of the wheels FWR, FWL, RWR, RWL can be further reduced. Thereby, the roll, pitch, and vertical vibration of the vehicle V can be suppressed.

  As described above, according to the present embodiment, it is possible to suppress deterioration in tire ground contact and riding comfort due to an increase in unsprung mass.

  As mentioned above, although embodiment of this invention was described in detail, this invention is not limited to the said embodiment, A various deformation | transformation is possible. For example, in this embodiment, the vehicle vibration reduction devices 1 and 2 are mounted on the front and rear, left and right four wheels, but the vehicle vibration reduction devices 1 and 2 are mounted only on the pair of left and right front wheels or the pair of left and right rear wheels. Also good. Furthermore, the vehicle vibration reduction devices 1 and 2 can be applied to one wheel of the tricycle.

1 is a vertical sectional view of a vehicle vibration reduction device according to a first embodiment. It is a block diagram of the control system in the vehicle carrying the vehicle vibration reduction device which concerns on 1st Embodiment. It is a vertical sectional view of the vehicle vibration reducing device according to the second embodiment. It is a block diagram of the control system in the vehicle carrying the vehicle vibration reduction apparatus which concerns on 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1, 2 ... Vehicle vibration reduction device, 10 ... Lower arm, 11 ... Ball joint, 12 ... Steering knuckle, 13 ... Strut, 14 ... Bracket, 15 ... Bolt, 16 ... Axle hub, 17 ... Axle bearing unit, 18 ... Double row union Regular ball bearing, 19 ... hub bolt, 20 ... axle, 21 ... reduction gear, 22 ... electric motor, 23,51 ... coil spring, 24,52 ... damper, 25,53 ... damper actuator, 26,54 ... power transmission means, 27, 55 ... Universal joint, 40 ... ECU, 41 ... Steering angle sensor, 42 ... Lateral acceleration sensor, 43 ... Yaw rate sensor, 44 ... Vertical acceleration sensor.

Claims (9)

In a vehicle vibration reduction device equipped with electric drive means for driving wheels,
A first damping member disposed between the electric drive means and the unsprung member to reduce vibration of the electric drive means;
The vehicle vibration reduction device, wherein the electric drive means is swingably suspended from the unsprung member by the first damping member. The electric drive means includes an electric motor and a speed reduction means for reducing the rotational speed of the electric motor,
The electric motor is suspended swingably on the unsprung member by the first damping member,
The vehicle vibration reduction device according to claim 1, wherein the speed reduction unit is attached to the wheel. The electric drive means includes an electric motor and a speed reduction means for reducing the rotational speed of the electric motor,
The electric motor is attached to a sprung member,
2. The vehicle vibration reduction device according to claim 1, wherein the speed reducer is swingably suspended from the unsprung member by the first damping member. A second damping member disposed between the electric motor and the sprung member for reducing vibration of the electric motor;
The vehicle vibration reduction device according to claim 3, wherein the electric motor is swingably suspended from the sprung member by the second damping member.   The said 1st damping member has a 1st elastic member which has a predetermined elastic coefficient, and a 1st vibration damping member which attenuates a vibration, The any one of Claims 1-4 characterized by the above-mentioned. Vehicle vibration reduction device.   5. The vehicle vibration reduction device according to claim 4, wherein the second damping member includes a second elastic member having a predetermined elastic coefficient, and a second vibration damping member that attenuates vibration.   The first damping force varying means for changing the damping force of the first vibration damping member in accordance with at least one of a steering angle, a lateral acceleration of the vehicle, a yaw rate, and a vertical acceleration. The vehicle vibration reducing device described in 1.   7. The apparatus according to claim 6, further comprising second damping force variable means for changing a damping force of the second vibration damping member in accordance with at least one of a steering angle, a lateral acceleration of the vehicle, a yaw rate, and a vertical acceleration. The vehicle vibration reducing device described in 1.   The vehicle vibration reduction device according to claim 1, wherein the unsprung member is a member constituting a suspension.

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