Suspension device according to the present invention (S), the back and forth four on the basis of the vertical displacement of the wheel, each moment in the roll and pitch of the vehicle body (B) of the vehicle pitch restraining force to eliminate the (M _P, M _R) (F seeking _P) and rolling-restraining force (F _R), by adding them to the target control force (F _TFR, obtain and _{F TFL, F TRR, F TRL} ), so as to control the actuator _{(a FR, a FL, a} RR, a RL) It is. The pitch restraining force (F _P) and rolling-restraining force (F _R) for the actuator (A _FR, A _FL, A _RR, A _RL), the actuator (A _FR, A _FL, A _RR, A _RL) if the output to the vehicle body the force acting on the (B) as the post can exert a control force to cancel in advance.