JPS6259112A - Suspension controller for vehicle - Google Patents

Abstract

PURPOSE:To permit the suspension control suitable for an operator by permitting the control sensitivity for judging the operation state quantity or the control algorithm to be set in variable ways by the manual operation. CONSTITUTION:The captioned apparatus is equipped with an operation-state judging means B which compares the operation state quantity of a car which is detected by an operation-state detecting means A with a judgment level and judges the operation state. A suspension characteristic setting means C sets at least one among the damping force of a damping force varying shock absorber in a suspension apparatus D, spring constant of a spring-constant varying spring device, and the roll rigidity of a roll rigidity varying stabilizer at least to one out of two stages of soft and hard sides, according to the result of the above-described judgment. In this case,a setting means E which manually sets either the control sensitivity for judging the operation state quantity and the control algorithm is installed.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is capable of controlling vehicle driving state quantities such as the vehicle height value of the vehicle body, the steering angle value of the steering wheel, the vehicle speed value, and the acceleration/deceleration value of the engine. , by changing the suspension characteristics such as the damping force of the variable damping force texture absorber, the spring constant of the variable spring constant spring device, or the roll stiffness of the variable roll stiffness stabilizer device included in the suspension device, to reduce the bouncing vibration and pitching vibration of the vehicle body. In a vehicle suspension control system that suppresses vehicle body roll during turning, vehicle body scut and nose dive during vehicle acceleration/deceleration, or vehicle body nose dive and rollback during braking, these driving state quantities are determined. The present invention relates to a suspension control device for a vehicle, in which the control sensitivity and control algorithm can be arbitrarily set according to the driver's preference, and control can be performed in accordance with the driver's preference.

[Conventional technology]

As a conventional vehicle suspension control device, for example, “Automotive Technology Voj!, 39. No. 2゜1985
J. Published by the Society of Automotive Engineers of Japan on February 1, 1985.
The one disclosed on pages 199 to 203 is known.

This conventional device has a suspension device that can change the damping force of the variable damping force shock absorber into three stages: normal (relatively low), sport (relatively high), and hard (high). The damping force is set to one of the three levels mentioned above depending on the driving state quantity such as the opening value or throttle opening speed value, the steering angle value, the stop lamp switch signal, or the neutral start switch signal. Controls nose dive, roll, etc.

The control modes include a normal mode that fixes the damping force to normal, a sports mode that fixes the damping force to sport, and a mode that automatically switches the damping force to normal or hard at low to medium speeds and changes the damping force to sport or hard at high speeds. It has four modes: a normal auto mode in which the damping force is automatically switched to sport or hard, and a sports auto mode in which the damping force is automatically switched to sport or hard, and the driver can select this control mode as desired.

[Problem that the invention seeks to solve]

However, with such conventional devices, although it is possible to select four control modes and change the damping force in three stages, this only changes the range of change in the damping force,
In other words, it is possible to change the control amount, and in any control mode, the control sensitivity (i.e., the size of the judgment level) and the control algorithm (the size of the driving state quantity) for determining the vehicle speed value and other driving conditions are changed. (selections, combinations, etc.) are set in advance to a certain judgment level or control algorithm to be average or suitable for everyone, and these control sensitivities and control algorithms cannot be changed.

In recent years, there has been a demand for suspension systems that can control specific phenomena or perform control that suits the driver's preferences by arbitrarily setting the control sensitivity and control algorithm depending on the vehicle's driving conditions and the driver's preferences. However, conventional devices such as those described above cannot meet such demands.

The present invention was made by focusing on these conventional problems, and provides a vehicle that allows the driver to set the control sensitivity or control algorithm as desired, and therefore allows control to be performed in accordance with the driver's preferences. The object of the present invention is to provide a suspension control device.

[Means for solving problems]

Therefore, as shown in FIG. 1, the vehicle suspension control device according to the present invention includes a driving state detection means for detecting the driving state of the vehicle; and a driving state by comparing the detected driving state amount with a judgment level. A driving state determining means for determining; and each suspension characteristic including the damping force of the variable damping force shock absorber, the spring constant of the variable spring constant spring device, and the roll stiffness of the variable roll stiffness stabilizer device included in the suspension device, according to the judgment result. a suspension control device for a vehicle, comprising: a suspension characteristic setting means for setting at least one of the characteristics to at least one of two levels, a soft side and a hard side; The present invention is characterized by comprising control sensitivity or control algorithm manual setting means for manually setting at least one of the control algorithms.

[Effect]

The operation of the vehicle suspension control device according to the present invention is such that the control sensitivity or control algorithm for determining the driving state quantity is variably set manually by the control sensitivity or control algorithm manual setting means, and the control sensitivity or control algorithm for determining the driving state quantity is variably set by manual operation. The amount of suspension is determined by this control sensitivity or control algorithm, and the suspension characteristics are changed according to the determination result, thereby performing control that matches the driver's preference.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 2 shows a first embodiment of the present invention.
The present invention is applied to the vehicle suspension control device described in the specification, and controls to suppress bouncing vibration of the vehicle body by changing the damping force of a variable damping force shock absorber. be.

First, to explain the configuration, in FIG. 2, an output signal DH representing a vehicle height value from a vehicle height sensor 1 using ultrasonic waves, which is attached to the front lower part of the vehicle body, is generated at a sprung resonance frequency (for example, 1 to 2 The signal is passed through a low frequency band pass filter 2 that passes signals near the unsprung resonance frequency (for example, 12 to 13 Hz), and is output from the low frequency band pass filter 2. The low frequency signal component LF output from the high frequency band pass filter 3 and the high frequency signal component HF output from the high frequency band pass filter 3
are converted into DC level signals LV and HV by AC-DC conversion circuits 4 and 5, respectively, and these DC level signals LV and HV are inputted to comparison circuits 6 and 7 as comparison signals.

Reference numeral 8 denotes a judgment level setting circuit which supplies a judgment level signal LL for judging the magnitude of the low frequency DC level signal LV to the comparator circuit 6 as a reference signal. A series circuit of a diode D and a resistor R1 connected between the output terminal of the level setting circuit 8 and a diode D2 connected between the output side of the inverter 12 and the output terminal of the judgment level setting circuit 8, which will be described later. and a series circuit of a resistor R2.

9 is a sensitivity adjustment volume attached to an instrument panel, for example, and this sensitivity adjustment volume 9 has a resistor R1 connected between a DC power source and ground, and a contact that moves along the resistor R8. , (+)V and a variable resistor that can set an arbitrary voltage value between 0 and 0.

The output terminal of this sensitivity adjustment volume 9 is connected to the output terminal of the judgment level setting circuit 8.

Reference numeral 10 denotes a judgment level setting circuit which supplies a judgment level signal HL for judging the magnitude of the high frequency DC level signal HV to the comparator circuit 7 as a reference signal;
0 is a voltage dividing resistor R connected between the DC power supply and ground
4 and R6, a diode D connected between the connection point thereof and the inverter 12, and a series circuit of a resistor R6.

The comparator circuit 6 outputs an output signal LC which has a logic value "1" when the value of the low frequency DC level signal LV is greater than or equal to the value of the judgment level signal LL, and has a logic value "O" when it is smaller. outputs a signal HC which has a logic value of "1" when the value of the high frequency DC level signal HV is greater than or equal to the value of the judgment level signal HL, and has a logic value of "0" when it is smaller.

The output signal LC of the comparison circuit 6 is supplied as a control signal to the drive circuit 11 and also to the inverter 12, and the output side of the inverter 12 is connected to the diode D2 of the judgment level setting circuit 8 and the diode of the judgment level setting circuit 10. Connected to the cathode side of D3.

A variable damping force shock absorber 14 is installed in the suspension device interposed between the vehicle body and each front, rear, left and right wheel.
a to 14d are included. Then, when the output signal LC of logical value "O" is supplied from the comparator circuit 6 to the drive circuit 11,
The drive circuit 11 does not supply excitation current to the actuators 24 of the variable damping force shock absorbers 14a to 14d, and when the comparator circuit 6 supplies the output signal LC of logical value "1" to the drive circuit 11, the drive circuit 11 supplies an excitation current of a predetermined value to the actuator 24 of the variable damping force shock absorber 14a-14d.

FIG. 3 shows an example of variable damping force shock absorbers 14a to 14d used in the present invention, in which the damping force can be changed to two levels: soft side and hard side.

In the figure, the upper end of the piston rod 15 is fixed to the vehicle body side, and the lower end of the tube 16 is fixed to the wheel side. A piston 17 is fixed to the lower end of the piston rod 15,
A piston upper chamber K is formed above the piston 17, and a piston lower chamber K is formed below.

These variable damping force shock absorbers 14a to 14d are
In the extension stroke, the extension pulp 18 opens, and the upper piston chamber and lower piston chamber communicate through the extension orifice 19, and the compression valve 20 closes the compression orifice 21. In addition, in the contraction stroke, the contraction side valve 20 opens, the piston upper chamber and the piston lower chamber communicate through the contraction side orifice 21, and the expansion side orifice 19 is closed by the expansion side valve 18. .

Further, when the drive circuit 11 does not supply the excitation current to the solenoid 22 of the actuator 24 consisting of the solenoid 22 and the plunger 23, the solenoid 22 is de-energized and the plunger 23 is activated by the return spring 25.
The lower end of the plunger 23 is pushed upward in the drawing (in the E direction) by the restoring force, and the lower end of the plunger 23 is removed from the bypass passage 26, and the piston upper chamber and the piston lower chamber become in communication via the bypass passage 26. Therefore, the damping force is reduced. The damping force of the variable shock absorbers 14a to 14d is set to the soft side.

Further, when the excitation current for planting is supplied from the drive circuit 11 to the solenoid 22 of the actuator 24, the solenoid 22 becomes excited, and the electromagnetic force of the solenoid 22 causes the plunger 23 to resist the restoring force of the return spring 25. The lower end of the plunger 23 enters the bypass passage 26, and the communication between the piston upper chamber and the piston lower chamber is cut off, and therefore, the variable damping force shock absorber 14a A damping force of ~14d is set on the hard side.

Returning to FIG. 2, the driver determines the set voltage value arbitrarily set by manually operating the sensitivity adjustment volume 9 as AV%, the value of the output signal IN of the inverter 12 as C1, the value of the output signal HCO of the comparison circuit 7 as D, If the constant determined by the value of the resistor R2 of the level setting circuit 8 is α1, and the constant determined by the value of the resistor R is α2, then the voltage applied from the output terminal of the judgment level setting circuit 8 to the reference voltage terminal of the comparator circuit 6 is The value A of the judgment level signal LL to be determined is A = A v - αIC + αz D (
t).

In addition, in the judgment level setting circuit 10, if the voltage value at the connection point of the DC power supply voltage ■ divided by the voltage dividing resistors R4 and R1 is a constant determined by the value of the BO1 resistor R6, then the judgment level is set. The value B of the judgment level signal HL applied from the output terminal of the circuit 10 to the reference voltage terminal of the comparator circuit 7 is given by B=B, -βC(2).

That is, the value of the judgment level signal HL output from the judgment level setting circuit 10 is 0 (in other words, the damping force is on the soft side), as shown in FIG. ), then B=B in equation (2), and when the output signal LC is "1" (that is, the damping force is on the hard side), B=B, -βC in equation (2). .

Furthermore, the value of the judgment level LL output from the judgment level setting circuit 8 is as shown in FIG. High frequency DC level signal H extracted from the detection signal
When the value of V is the judgment level of the judgment level setting circuit 10) (is greater than the value of L), it becomes as shown by a broken line. In this case, when the damping force is on the soft side, in (1) 2, A = AV + α2D, and when the damping force is on the hard side, (in formula 11, A = A v - α
1 C+α2D. Furthermore, the output signal H of the comparator circuit 7
When C is "0" (that is, the value of the high frequency DC level signal HV is smaller than the judgment level HLO value), it becomes as shown by a solid line, and in this case, when the damping force is on the soft side, (in Equation 11) , A = A v, and when the damping force is on the hard side, in equation (1), A =
A v −α1 C.

Therefore, according to the vehicle suspension control device shown in FIG. Set judgment level signal LL
In the above case, when the damping force is set to the hard side and the low frequency DC level signal LV is smaller than the judgment level LL,
The damping force is configured to be set to the soft side.

Next, to explain the operation of this first embodiment, when the driver manually operates the sensitivity adjustment volume 9, the set voltage Av
The value of is arbitrarily set within the range of (+)V to 0.

As a result, as shown in FIG. 4(a), the value of the judgment level signal LL output from the judgment level setting circuit 8 changes as shown by the arrow in the figure by changing the set voltage AvO value. If the value of the low frequency DC level signal LV extracted from the detection signal DH of the vehicle height sensor l is smaller than the value of this judgment level signal LL, the damping force is set to the soft side, and the low frequency DC level signal LVO value If the value is greater than or equal to the value of the judgment level signal LL, the damping force is set to the hard side, and the bouncing vibration of the vehicle body is damped and suppressed.

If the value of the set voltage Av is set large, the value of the judgment level signal LL becomes large and the control sensitivity becomes dull. If the set voltage value AV is set small, the value of the judgment level signal LL becomes small and the control sensitivity becomes dull. Become sharp.

Furthermore, when the set voltage value Av”O is set, it becomes equivalent to not determining whether the high frequency DC level signal HVO value is equal to or higher than the judgment level I (L), and this is equivalent to changing the control algorithm. .

In addition, in the conventional device described in ψ Special Specification No. 59-8199, the sensitivity adjustment volume 9 is not used, but the voltage is set to a constant voltage value by the voltage dividing resistor. , the control sensitivity is not set arbitrarily, but the control sensitivity is always constant.

The first embodiment described above is constructed by an electronic circuit, but in FIG. It is also possible to configure using .

Next, a second embodiment will be described.

This second embodiment is based on the patent application filed in 1983, related to the applicant's earlier application.
This invention is applied to the vehicle suspension control device described in the specification of -138567,
Control is performed to suppress bouncing vibrations of the vehicle body by changing the damping force of the variable damping force shock absorber.

First, to explain the configuration, in FIG.
Components that are the same as those in the embodiment are given the same reference numerals, and description thereof will be omitted.

In the figure, 28 is an amplitude sensitivity adjustment volume for manually setting an amplitude judgment level av for judging the amplitude value a of the bouncing vibration, and 29 is a bandwidth judgment level bv for judging the frequency f of the bouncing vibration. Bandwidth sensitivity adjustment volume 30 is manually set, and numeral 30 is a repetition number sensitivity adjustment volume that is used to manually set a repetition number judgment level rlv for determining the number n of times the bouncing vibration has repeatedly occurred.
-30 are configured with variable resistors similar to the sensitivity adjustment volume 9 in the first embodiment.

31 is a controller, and this controller 31 is
A microcomputer 32, A/D converters 33 to 36 that convert analog signals from the vehicle height sensor 1 and the volumes 28 to 30 into digital signals, and actuators 2 of the variable damping force shock absorbers 4a to 14d.
4, and a drive circuit 11 for driving the drive circuit 4.

The microcomputer 32 includes at least an interface circuit 37, an arithmetic processing unit 38, and a RAM.

The interface circuit 37 includes a storage device 39 such as a ROM, and the A/D converters 33 to 36 and the drive circuit 11 are connected to the interface circuit 37 .

The arithmetic processing unit 38 reads the detection signal of the vehicle height sensor 1 and the signals of the respective volumes 28 to 30 converted into digital signals by the A/D converters 33 to 36 via the interface circuit 37, and based on these, Performs calculations and other processing that will be described later.

Further, the storage device i39 stores a predetermined program necessary for executing the processing, and the arithmetic processing device 38
The processing results etc. are stored.

Next, the operation of this second embodiment will be explained.

When the ignition switch is turned on and the controller 31 is powered on, the detection signal representing the vehicle height value from the vehicle height sensor 1 is converted from an analog quantity to a digital quantity by the A/D converter 33 and then sent to the microcomputer. 32
A voltage signal representing the amplitude judgment level av is supplied to the interface circuit 37 of and is also supplied from the amplitude sensitivity adjustment volume 28.

A voltage signal representing the bandwidth judgment level b from the bandwidth sensitivity adjustment volume 29 and a repetition rate sensitivity adjustment volume 3
The voltage signal representing the repetition number judgment level nv from 0 is A/
The analog quantity is converted into a digital quantity by the D converters 34, 35 and 36, and then supplied to the interface circuit 37.

FIG. 6 shows the procedure of a process that is executed by the microcomputer 32, and this process is preferably carried out by, for example, 2 o
It is executed as a timer interrupt for each ru.

First, in step (2), the vehicle height signal from the vehicle height sensor l is read.

Next, in step (2), the amplitude a of the bouncing vibration is detected from the value of the vehicle height signal. The amplitude a is detected by using, for example, the absolute value of the difference between the value H of the vehicle height signal read in step (2) and the value HN of the neutral position of the vehicle height obtained in advance. Next step ■
, the amplitude judgment level aVO value is read based on the set voltage signal of the amplitude sensitivity adjustment volume 28, and then the process proceeds to step ■, where the value of the amplitude a detected in step ■ and the amplitude read in step ■ are read. Compare the judgment level avO values. If a≧av, the process moves to step (2).

In step (2), the frequency f of the bouncing vibration is detected based on the vehicle height signal read in step (2). The method of detecting this frequency f is, for example, the time (
That is, the half period of the bouncing vibration) is measured, and the frequency f is calculated from this time. Next, the process proceeds to step (2), and the value of the bandwidth judgment level bv is read based on the set voltage signal of the bandwidth sensitivity adjustment volume 29. Next, the process proceeds to step (2), and the value of the frequency f detected in step (2). is the bandwidth judgment level bv read in step ■
Determine whether it is within the range. If the frequency f is within the bandwidth judgment level bv, the process moves to step (2).

In step ■, the number of repetitions n indicates how many times the bouncing vibration is repeated for which the amplitude a is equal to or higher than the amplitude judgment level ay.
Measure. Next, proceed to step ■, read the value of the repetition rate judgment level nν based on the set voltage signal of the repetition rate sensitivity adjustment volume 30, then proceed to step [phase], and proceed to the repetition rate measured in step ■. It is determined whether the value of the number n is greater than or equal to the value of the repetition number judgment level nv read in step (2).

When n≧nv in step [phase], that is, a≧aV in step ■+ f in step ■ is within the range of bv and n≧nv in step [phase]
If all three conditions are satisfied, the process proceeds to step (2), where a control signal with a logical value of "1" is supplied from the interface circuit 37 to the drive circuit 11, and the damping force of the variable damping force shock absorbers 14a to 14d is adjusted. Set to the hard side. Next, the process moves to step @, and from the point when any one of the above three conditions is no longer satisfied, a timer t is set to keep the damping force on the hard side for a predetermined time T. Set the corresponding predetermined value,
Return to the main program.

If a<ay in step ■, or f is outside the range of bv in step ■, or n<nv in step [phase], then step @
, determine whether the value of timer t is 0,
If timer t≠0, then the process moves to step (2), where the value of timer t is subtracted by 1, and the process returns to the main program.

In step 0, if timer t=Q, the damping force has been maintained for the predetermined time T, so the next step [phase] is entered, and the logic is transmitted from the interface circuit 37 of the microcomputer 32 to the drive circuit 11. Supplying a control signal with a value of “0” to the variable damping force shock absorber 14
Set the damping force of a-i4d to the soft side.

Therefore, the amplitude judgment level av can be arbitrarily set by manually operating the amplitude sensitivity adjustment volume 28, and if the avO value is set large, the control sensitivity of the amplitude a of the bouncing vibration becomes dull, and the value of ay becomes If it is set small, the control sensitivity of the amplitude a becomes sharp.

Similarly, by manually operating the bandwidth sensitivity adjustment volume 29, the width or cutoff frequency of the bandwidth judgment level bv can be arbitrarily set, and if the cutoff frequency is set high, the frequency range f becomes high. Therefore, if the cutoff frequency is set low, the range of the frequency f becomes low, or if the bandwidth is set wide (setting, the control sensitivity of the frequency f becomes sharp, and if the bandwidth is set narrowly, the control sensitivity becomes dull).

Furthermore, by manually operating the repetition rate sensitivity adjustment volume 30, the repetition rate judgment level n9 can be arbitrarily set.If the value of nv is set to a large value, the control sensitivity of the repetition rate n becomes dull, and the value of nv The control sensitivity will become sharper if the value is set smaller.

Also, the values of amplitude judgment level aV + bandwidth judgment level bv and repetition number judgment level nv are set to O.
If it is set to O, it is equivalent to not making a judgment regarding the judgment level set to O, and this is equivalent to changing the control algorithm.

Further, although the volumes 28 to 30 are shown as being provided individually, they may be set simultaneously using multi-volumes that are linked to each other.

Furthermore, if the values of each volume 28 to 30 are appropriately set for the operation amount of this multi-volume, the driver can appropriately set the relationship of a V + b V + nv with one operation, and the driver can become skilled in the operation. It has the advantage that it is not required.

In addition, in FIGS. 1, 5, and 6, the vehicle height sensor 1 and the A/D converter 33 are shown in step (2).

A specific example of the operating state detection means is shown in the processing of (1) and (2) with the amplitude sensitivity adjustment volume 28. Bandwidth sensitivity adjustment volume 2
9. Repetition number sensitivity adjustment volume 30 and A/D converters 34, 35, 36 and step (■).

The processes in steps (1) and (2) represent a specific example of the control sensitivity or control algorithm manual setting means. Specific examples of the suspension characteristic setting means will be shown in terms of processing and processing.

Furthermore, in the second embodiment described above, a configuration using a microcomputer was shown as the controller, but instead of this, a subtraction circuit, an absolute value circuit, a counting circuit,
It is also possible to configure the controller by combining electronic circuits such as comparison circuits and logic circuits.

Furthermore, in the two embodiments described above, the damping force of the variable damping force shock absorber was exemplified as one in which the damping force can be changed in two stages, soft side and hard side, but the damping force can be changed in multiple stages of three or more stages. In this case, the present invention can be applied to any two stages out of three or more stages.

Furthermore, as an example of a suspension characteristic, the damping force of the variable damping force shock absorber is changed, but instead of or in addition to this, the present invention also provides a spring constant of a variable spring constant spring device and a roll of a variable roll stiffness stabilizer device. The same method can be applied to the case where the rigidity is changed.

Furthermore, although control for suppressing bouncing vibration of the vehicle body has been illustrated as a control item, the present invention can also be applied to roll control, acceleration/deceleration control, brake control, etc. instead of or in addition to this.

〔Effect of the invention〕

As explained above, according to the vehicle suspension control device according to the present invention, the control sensitivity and the control algorithm (both of which can be set arbitrarily by manual operation) can be controlled according to the driver's preference. The effect is that sensitivity and control algorithms can be set to provide fine-grained control that suits the driver's preferences.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the basic configuration of a vehicle suspension control device according to the present invention, Fig. 2 is a block diagram showing the first embodiment of the invention, and Fig. 3 is a variable damping force shock used in the present invention. A vertical cross-sectional view showing an example of an absorber,
FIG. 4(a) and crest) are diagrams showing the judgment level signals of the judgment level setting circuits 8 and 10 of FIG. 2, respectively, FIG. 5 is a block diagram showing a second embodiment of the present invention, and FIG. It is a flowchart which shows the procedure of the process performed by the microcomputer regarding the 2nd Example. 1...Vehicle height sensor, 2...Low frequency band pass filter, 3...High frequency band pass filter, 6.7...
Comparison circuit, 8.10... Judgment level setting circuit, 9...
・Sensitivity adjustment volume, 11...Drive circuit, 12...
- Inverter, 14a to 14d... Variable damping force shock absorber, 15... Piston rond, 16...
Tube, 17... Piston, 22... Solenoid, 23... Plunger, 24... Actuator,
25...Return spring, 26...Bypass i
l, 28... Amplitude window adjustment volume, 29... Bandwidth sensitivity adjustment volume, 30... Repetition number sensitivity adjustment volume, 31... Controller, 32... Microcomputer, 37... Interface circuit, 3
8... Arithmetic processing unit, 39... Storage device.

Claims (2)

[Claims] (1) driving state detection means for detecting the driving state of the vehicle;
a driving state determining means for determining the driving state by comparing the detected driving state amount with a determination level; and depending on the determination result,
At least one of the suspension characteristics of the damping force of the variable damping force shock absorber, the spring constant of the variable spring constant spring device, and the roll stiffness of the variable roll stiffness stabilizer device included in the suspension device is set to at least the soft side and the hard side. A suspension control device for a vehicle comprising a suspension characteristic setting means for setting one of two stages, the control sensitivity or control for manually setting at least one of the control sensitivity and the control algorithm for determining the driving state quantity. A suspension control device for a vehicle, comprising a manual algorithm setting means. (2) The vehicle suspension control device according to claim 1, which changes the control algorithm by setting the determination level of the driving state quantity as control sensitivity to zero.