Attitude change suppressive control system for active suspension system for automotive vehicle

Claim 1

An active suspension system for a vehicular body, comprising: a plurality of fluid pressure operated actuators each having a working chamber and disposed between the vehicular body and front and rear, left and right, road wheels at respective suspension systems provided thereat; vehicular height monitoring means for monitoring a vehicular height at respective ones of the suspension systems, for providing vehicular height indicative data; means for performing height regulation, in which a single front height adjustment command for both of the front-left and front-right suspension systems is derived on the basis of a difference between a predetermined target vehicle height and an average height data at the two front suspension systems, and a single rear height adjustment command for both of rear-left and rear-right suspension systems is derived on the basis of a difference between the target vehicle height and an average height data at the two rear suspension systems, so as to adjust the vehicle height through a group control with said single front and rear height adjustment commands output to the respective actuators associated with said front and rear suspension systems; means for performing anti-roll control by deriving a vehicular rolling magnitude on the basis of said vehicular height indicative data of the front and back right and the front and back left suspension systems and deriving anti-rolling control commands in such a manner as to be applied in opposite phases to each other to said front and back right and front and back left suspension systems so as to reduce said rolling magnitude through an independent control with said anti-rolling control commands having opposite signs to each other with regard to said actuators associated with said front and back right and front and back left suspension systems; and means for outputting final control commands to each of said actuators so as to achieve said height regulation and said anti-roll control in response to vehicle driving conditions, said outputting means deriving said final control commands by adding or subtracting said anti-rolling control command to or from the respective of said front and rear height adjustment commands.