Suspension control device

A suspension control device includes a wheel grip state estimation means (M1-M10;Fig.16) for estimating grip state of vehicle wheels based on variations of aligning torque of wheels to be steered, a vehicle rolling control means (SPxx,FT,RT) for controlling vehicle rolling, and a control parameter setting means (B1-B6;Fig.5) for setting a control parameter of the vehicle rolling control means based on at least estimated grip state of the wheel grip state estimation means.