JP4421985B2 - Road surface condition judgment method - Google Patents

Description

  The present invention relates to a road surface state determination method for determining a road surface state based on a sprung vertical acceleration of a suspension device.

Band difference filter processing is performed on the speed difference signal obtained by subtracting the estimated vehicle speed from the wheel speed for the sprung and unsprung parts. Japanese Patent Application Laid-Open No. 2004-151867 discloses a method for improving the riding comfort of a vehicle by determining the state and controlling the damping force of the damper according to the determined road surface state.
JP-A-5-229328

  However, the above-described conventional apparatus determines the road surface state based on vibration in the sprung resonance frequency region and vibration in the unsprung resonance frequency region. Since the vibration in the intermediate frequency range is not taken into consideration, there remains room for further improving the road surface state determination accuracy.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to accurately determine the road surface state based on the sprung vertical acceleration of the suspension device.

To achieve the above object, according to the first aspect of the present invention, the step of detecting the sprung vertical acceleration of the suspension device and the vibration of the sprung resonance frequency region by filtering the detected sprung vertical acceleration. Calculating the effective value of the spring, filtering the detected sprung vertical acceleration to calculate the effective value of vibration in the unsprung resonance frequency region, and filtering the detected sprung vertical acceleration to the sprung resonance frequency region And calculating the effective value of the vibration in the intermediate frequency region in the middle of the unsprung resonance frequency region and the road surface condition based on the ratio of the effective value of the vibration in the sprung resonance frequency region and the effective value of the vibration in the intermediate frequency region. look including a determining step, a road surface condition judging method characterized in that the effective value of the vibration of the unsprung resonance frequency domain to determine the road surface condition is taken into account is The draft.

According to the configuration of claim 1, the sprung vertical acceleration of the suspension device is filtered to obtain the effective value of the vibration in the sprung resonance frequency region and the intermediate frequency region between the sprung resonance frequency region and the unsprung resonance frequency region. calculating the effective value of the vibration, which based on the ratio of the effective value of the vibration of the effective value and the intermediate frequency range of the vibration of the sprung resonance frequency domain observed including the step of determining the road surface condition, the determination of road surface conditions Since the effective value of the vibration in the unsprung resonance frequency region is taken into account , the road surface condition determination accuracy can be improved.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples of the present invention shown in the accompanying drawings.

  1 to 7 show an embodiment of the present invention. FIG. 1 is a front view of a vehicle suspension device, FIG. 2 is an enlarged sectional view of a variable damping force damper, and FIG. FIG. 4 is a diagram illustrating a method for obtaining effective values of vibrations in the resonance frequency region, the intermediate frequency region, and the unsprung resonance frequency region, FIG. 4 is a graph showing effective values of vibrations in each frequency region of the simple pavement, and FIG. FIG. 6 is a graph showing the effective value of vibration in each frequency region of the road, FIG. 6 is a graph showing the effective value of vibration in each frequency region of the wavy road, bumpy road, good road and simple paved road, and FIG. It is a graph which shows the change of the vertical acceleration with respect to the change of the gain of a damper in a field.

  As shown in FIG. 1, a suspension device S that suspends a wheel W of a four-wheeled vehicle has a suspension arm 13 that supports a knuckle 12 in a vertically movable manner on a vehicle body 11, and a variable damping that connects the suspension arm 13 and the vehicle body 11. A force damper 14 and a coil spring 15 connecting the suspension arm 13 and the vehicle body 11 are provided. The electronic control unit U that controls the damping force of the damper 14 includes a signal from the sprung vertical acceleration sensor Sa that detects the sprung vertical acceleration and a signal from the damper displacement sensor Sb that detects the displacement (stroke) of the damper 14. And a signal from the lateral acceleration sensor Sc that detects the lateral acceleration of the vehicle and a signal from the longitudinal acceleration sensor Sd that detects the longitudinal acceleration of the vehicle.

  As shown in FIG. 2, the damper 14 includes a cylinder 21 whose lower end is connected to the suspension arm 13, a piston 22 that is slidably fitted into the cylinder 21, and an upper wall of the cylinder 21 that extends upward from the piston 22. And a free piston 24 that is slidably fitted to the lower part of the cylinder, and is partitioned by the piston 22 inside the cylinder 21. An upper first fluid chamber 25 and a lower second fluid chamber 26 are partitioned, and a gas chamber 27 in which a compressed gas is sealed in a lower portion of the free piston 24 is partitioned.

  A plurality of fluid passages 22a are formed in the piston 22 so that the upper and lower surfaces thereof communicate with each other, and the first and second fluid chambers 25 and 26 communicate with each other through these fluid passages 22a. The magnetorheological fluid sealed in the first and second fluid chambers 25 and 26 and the fluid passages 22a is a dispersion of magnetic fine particles such as iron powder in a viscous fluid such as oil. By aligning the magnetic fine particles along the magnetic field lines, it is difficult for the viscous fluid to flow, and the apparent viscosity increases. A coil 28 is provided inside the piston 22, and energization of the coil 28 is controlled by the electronic control unit U. When the coil 28 is energized, a magnetic flux is generated as indicated by an arrow, and the viscosity of the magnetorheological fluid changes due to the magnetic flux passing through the fluid passages 22a.

  When the damper 14 contracts and the piston 22 moves downward with respect to the cylinder 21, the volume of the first fluid chamber 25 increases and the volume of the second fluid chamber 26 decreases. Passes through the fluid passage 22a of the piston 22 and flows into the first fluid chamber 25. Conversely, when the damper 14 extends and the piston 22 moves upward relative to the cylinder 21, the volume of the second fluid chamber 26 increases. Since the volume of the first fluid chamber 25 decreases, the magnetorheological fluid in the first fluid chamber 25 passes through the fluid passage 22a ... of the piston 22 and flows into the second fluid chamber 26, and at that time, the fluid passage 22a The damper 14 generates a damping force due to the viscous resistance of the magnetorheological fluid passing through.

  At this time, if the coil 28 is energized to generate a magnetic field, the apparent viscosity of the magnetorheological fluid existing in the fluid passage 22a of the piston 22 increases and it becomes difficult to pass through the fluid passage 22a. Damping force increases. The increase amount of the damping force can be arbitrarily controlled by the magnitude of the current supplied to the coil 28.

  When a shocking compressive load is applied to the damper 14 to reduce the volume of the second fluid chamber 26, the free piston 24 descends while the gas chamber 27 is contracted to absorb the impact. Further, when a shocking tensile load is applied to the damper 14 to increase the volume of the second fluid chamber 26, the impact is absorbed by the free piston 24 rising while the gas chamber 27 is expanded. Further, when the piston 22 descends and the volume of the piston rod 23 accommodated in the cylinder 21 increases, the free piston 24 descends so as to absorb the increase in the volume.

  Thus, the electronic control unit U detects the sprung vertical acceleration detected by the sprung vertical acceleration sensor Sa, the damper displacement detected by the damper displacement sensor Sb, the lateral acceleration detected by the lateral acceleration sensor Sc, and the longitudinal acceleration sensor Sd. Based on the longitudinal acceleration, the damping force of each of the four dampers 14 of each wheel W is individually controlled, so that the vehicle can be prevented from shaking when getting over the road surface unevenness and the ride comfort can be improved. Rolling during turning can be suppressed to improve steering performance, and pitching during sudden acceleration or deceleration of the vehicle can be suppressed to improve steering performance.

  By the way, if the damping force of the damper 14 is controlled according to the state of the road surface, it is possible to perform a suitable control for each of a plurality of road surfaces in different states to enhance the riding comfort. Therefore, in this embodiment, the road surface state is determined based on the sprung vertical acceleration detected by the sprung vertical acceleration sensor Sa.

  As shown in FIG. 3, the sprung vertical acceleration detected by the sprung vertical acceleration sensor Sa is filtered by three band pass filters to extract vibrations in a specific frequency region. The first band-pass filter passes vibration having a frequency of 0.7 Hz to 2.0 Hz, and detects vibration in the sprung resonance frequency region. The third bandpass filter passes vibrations having a frequency of 10 Hz to 20 Hz, and detects vibrations in the unsprung resonance frequency region. The second band-pass filter passes vibrations having a frequency of 3.0 Hz to 8.0 Hz, and detects vibrations in an intermediate frequency region between the sprung resonance frequency region and the unsprung resonance frequency region.

  The detected vibrations in the sprung resonance frequency region, the intermediate frequency region, and the unsprung resonance frequency region are each subjected to absolute value processing, filtered by a low-pass filter, and then subjected to effective value processing. An effective value of vibration in the unsprung resonance frequency region is obtained.

  Vibration in the sprung resonance frequency range is felt as a “fluffy feeling” to the driver, vibration in the intermediate frequency range is felt as a “feeling hunchiness” to the driver, and vibration in the unsprung resonance frequency range is felt as a “feeling buzz” It will damage any riding comfort performance.

  The road surfaces to be judged include, for example, bounce roads, stability roads, good roads, simple paved roads, etc.Bounce roads are roads with a continuous sine wave surface, and stability roads are corners. It means a road with randomly bumpy bumpy road surfaces that are randomly connected, good road means a road with almost no irregularities on the road surface, and a simple pavement means that the road surface is bumpy and the asphalt has collapsed It means a road whose surface is repaired with asphalt coating. Hereinafter, the bounce road is called a wave-like road, and the stability road is called a bump-like road.

  The graph of FIG. 4 shows the effective value A of the vibration in the sprung resonance frequency region, the effective value B of the vibration in the intermediate frequency region, and the effective vibration in the unsprung resonance frequency region when traveling on a simple paved road at 50 km / h. The graph of FIG. 5 shows the value C, and the graph of FIG. 5 shows the effective value A of vibration in the sprung resonance frequency region, the effective value B of vibration in the intermediate frequency region, and the spring when traveling on a good road at 80 km / h. From this graph, which shows the effective value C of vibration in the lower resonance frequency region, characteristics appear in the effective values of vibration in the sprung resonance frequency region, the intermediate frequency region, and the unsprung resonance frequency region according to the road surface condition. I understand that.

  The graph of FIG. 6 shows typical patterns of effective values of vibrations in the sprung resonance frequency region, the intermediate frequency region, and the unsprung resonance frequency region with respect to the wavy road, the bumpy road, the good road, and the simple paved road. is there.

  For all of the wavy road, bumpy road, good road and simple paved road, the effective value of vibration in the sprung resonance frequency region is the largest, followed by the effective value of vibration in the unsprung resonance frequency region, and in the intermediate frequency region. The effective value of vibration is the smallest, but the ratio varies depending on the type of road surface. What should be noted here is the ratio of the effective value of the vibration in the sprung resonance frequency region and the effective value of the vibration in the intermediate frequency region, which is characteristically different depending on the type of road surface.

  That is, the ratio R expressed by (effective value of vibration in the sprung resonance frequency region) / (effective value of vibration in the intermediate frequency region) is about 6.0 for the wavy path, and about 2.1 for the hump-shaped path. It is about 1.5 on the simple paved road and about 1.0 on the good road. Accordingly, the ratio R is provided with first to third threshold values, and when the ratio R is equal to or greater than the first threshold value, a wavy path, when the ratio R is less than the first threshold value, the bumpy path, less than the second threshold value, and third When it is above the threshold, it can be determined as a simple pavement, and when it is below the third threshold, it can be determined as a good road.

Incidentally, the effective value of the vibration of the unsprung resonance frequency region, because it has the property of decreasing in the order of the simple pavement → humped path → uneven road → good road, in the present invention, the vibration of the unsprung resonance frequency domain the combined effective value has to so that consider, thereby further increasing the accuracy of determining the road surface.

  As can be seen from FIG. 7, when the gain (damping force) of the damper 14 is increased, the vertical acceleration in the sprung resonance frequency region of 0.7 Hz to 2.0 Hz and the intermediate frequency region of 3.0 Hz to 8.0 Hz. However, the absolute value of the vertical acceleration in the unsprung resonance frequency region of 10 Hz to 20 Hz increases and the damping effect becomes low.

  Therefore, when the wavy path in which the vibration in the sprung resonance frequency region is the largest is determined (see FIG. 6), the damping force of the damper 14 is increased by a command from the electronic control unit U to increase the vibration in the sprung resonance frequency region. The ride comfort can be enhanced by effectively suppressing vibration. When a simple paved road or a bumpy road where vibration in the unsprung resonance frequency region increases is determined (see FIG. 6), the unsprung resonance is reduced by reducing the damping force of the damper 14 in response to a command from the electronic control unit U. The ride comfort can be enhanced by effectively suppressing vibration in the frequency domain.

  In this way, by accurately determining the road surface and controlling the damping force of the damper 14 according to the determined road surface state, it is possible to achieve both riding comfort on a plurality of road surfaces having different properties.

  Although the embodiments of the present invention have been described above, various design changes can be made without departing from the scope of the present invention.

  For example, in the embodiment, four types of road surface states such as a wavy road, a bumpy road, a good road, and a simple paved road are illustrated, but the types of road surface states are not limited to these.

  In the embodiment, the suspension device S including the damper 14 using the magnetorheological fluid has been described. However, the present invention is also applicable to a suspension device including a damper using a general viscous fluid that is not a magnetorheological fluid. Can do.

Front view of vehicle suspension system Expanded sectional view of variable damping force damper The figure explaining the technique which calculates | requires the effective value of the vibration of a sprung resonance frequency area | region, an intermediate | middle frequency area | region, and an unsprung resonance frequency area | region from a sprung vertical acceleration Graph showing the effective value of vibration in each frequency range of simple paved road Graph showing the effective value of vibration in each frequency region of the good road Graph showing the effective value of vibration in each frequency region of wavy road, bumpy road, good road and simple paved road Graph showing changes in vertical acceleration with respect to changes in damper gain in each frequency range

14 damper S suspension device Sa sprung vertical acceleration sensor U electronic control unit

Claims (1)

Detecting the vertical acceleration on the spring of the suspension device;
Filtering the detected sprung vertical acceleration to calculate the effective value of vibration in the sprung resonance frequency region; and
Filtering the detected sprung vertical acceleration to calculate the effective value of vibration in the unsprung resonance frequency region;
Filtering the detected sprung vertical acceleration to calculate an effective value of vibration in an intermediate frequency region between the sprung resonance frequency region and the unsprung resonance frequency region;
Based on the ratio of the effective value of the vibration of the effective value and the intermediate frequency range of the vibration of the sprung resonance frequency domain observed including the step of determining the road surface condition, the determination of the road surface state of the vibration of the unsprung resonance frequency domain A road surface state determination method characterized in that an effective value is taken into account .

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