VEHICLE BODY INCLINATION CONTROL DEVICE, AND VEHICLE BODY INCLINATION CONTROL METHOD

PROBLEM TO BE SOLVED: To compensate wheel load variation when inclining a vehicle body and to further improve stability in turning traveling.SOLUTION: A lateral wheel load variation is estimated by a lateral wheel load variation estimation unit 43 in accordance with the turning traveling state and the target inclination angle of a vehicle, and a limit value correction amount for a physical limit wheel load during a lateral wheel load variation is calculated by a limit value correction calculation unit 44 in accordance with the turning traveling state of the vehicle. A control limit wheel load is calculated by an inclination angle control unit 45 by subtracting the limit value correction amount from the physical limit wheel load, and the target inclination angle is limited to prevent the lateral wheel load variation from exceeding the control limit wheel load. The lateral wheel load variation is predicted by the lateral wheel load variation estimation unit 43 according to a vehicle dynamics model and an actuator dynamics model.