JP2010195323A - Vehicular state estimating device, vehicular state estimating method, vehicular suspension control device, and automobile - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To more accurately estimate the state of a suspension. <P>SOLUTION: The vehicular suspension control device 1A includes: a vehicle behavior prediction part 201; a vehicle behavior estimation part 202; and a suspension control part 203. The vehicle behavior prediction part 201 predicts a vehicle behavior with respect to disturbance (road surface profile) added to the vehicle in the future. The vehicle behavior estimation part 202 corrects a gain of a Kalman filter used for estimating the vehicle behavior in the future based on the prediction result of the vehicle behavior in the future. The vehicle behavior estimation part 202 estimates the present vehicle behavior using the Kalman filter which has been corrected in gain. The suspension control part 203 controls the movement of the active suspension device based on the estimation result. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle state estimation device that estimates a vehicle state, a vehicle state estimation method, a vehicle suspension control device, and an automobile.

Conventionally, as a technique for estimating a state quantity of a suspension device (suspension) provided in a vehicle, a technique using a Kalman filter which is one of state quantity estimation methods is known (see Patent Document 1).
This technology measures state quantities such as acceleration and stroke on a spring using sensors mounted on the vehicle, and estimates the state by applying a Kalman filter to a vehicle model that models the characteristics of vehicle components including the suspension. Is to do.

Japanese Patent No. 3098425

However, when state estimation is performed using the Kalman filter, the target of state estimation is limited to the one whose response to the input is expressed as a linear transfer function. Therefore, when the Kalman filter is applied to a suspension in which friction, a spring, a damper, or the like has nonlinearity, the accuracy of state estimation may be reduced.
An object of the present invention is to perform suspension state estimation with higher accuracy.

  In order to solve the above-described problem, in the vehicle state estimation device according to the present invention, the vehicle behavior estimation means estimates the current behavior of the vehicle based on a physical quantity indicating the behavior of the vehicle. Further, the vehicle behavior predicting means predicts the future behavior of the vehicle based on the information of the disturbance scheduled to be added to the vehicle in the future and the information indicating the current behavior estimated by the vehicle behavior estimating means. And the vehicle behavior information correcting means is based on the information indicating the predicted future behavior, and the estimated vehicle at the same timing as the timing at which the disturbance corresponding to the disturbance information is scheduled to be applied to the vehicle or at a timing preceding this. Correct the information indicating the current behavior of.

  According to the present invention, a behavior of a vehicle at that time (hereinafter referred to as a vehicle behavior) is predicted in advance with respect to an input of a disturbance in which an active suspension device operates in a non-linear operating region, and Based on this, it is possible to correct the current vehicle behavior estimation information used for controlling the active suspension system. As a result, it is possible to more accurately estimate the behavior of the vehicle including the active suspension device having a non-linear operation region with respect to the disturbance.

1 is a diagram illustrating a schematic configuration of an automobile 1 including a vehicle suspension control device 1A according to a first embodiment of the present invention. 1 is a schematic diagram illustrating a configuration example of an electric suspension 100. FIG. It is a block diagram which shows the function structure of 1 A of suspension control apparatuses for vehicles. It is a block diagram which shows the control logic of 1 A of suspension control apparatuses for vehicles. It is a schematic diagram which shows the vehicle model used in the control logic of the vehicle behavior estimation part 202. FIG. It is a figure which shows the control logic of the vehicle behavior estimation part 202. FIG. It is a figure which shows the structural example of the Kalman filter which the vehicle behavior estimation part 202 has. It is a figure which shows an example of the estimation result by the method of the past and this embodiment with respect to the road surface vibration as a disturbance. It is a figure which shows the control logic of the vehicle behavior estimation part 202 of this embodiment.

[First Embodiment]
Hereinafter, a vehicle state estimation device, a vehicle state estimation method, a vehicle suspension control device, and a vehicle according to a first embodiment of the present invention will be described with reference to the drawings. FIGS. 1-8 is a figure which shows 1st Embodiment of the vehicle state estimation apparatus, vehicle state estimation method, vehicle suspension control apparatus, and motor vehicle which concern on this invention.

(Constitution)
(Configuration of car 1)
FIG. 1 is a diagram showing a schematic configuration of an automobile 1 provided with a vehicle suspension control apparatus 1A according to a first embodiment of the present invention.
In FIG. 1, an automobile 1 includes a preview sensor 10 installed at the front end of a vehicle body, an actuator 20 installed in an electric suspension 100 (described later) for front and rear wheels, and an in-vehicle sensor 30 installed near a center console. .
Further, the automobile 1 includes a vehicle body vertical acceleration sensor 40 installed in the vicinity of the electric suspension connection portion (for example, a damper connection portion) of the vehicle body, and a wheel vertical acceleration sensor 50 installed in a suspension link (for example, a knuckle) connected to the hub. The controller 60 is provided.

Among these, the preview sensor 10, the vehicle-mounted sensor 30, the vehicle body vertical acceleration sensor 40, the wheel vertical acceleration sensor 50, and the controller 60 constitute the vehicle suspension control device 1A.
The preview sensor 10 detects the uneven shape of the road surface in front of the vehicle body using an ultrasonic wave or a laser. The unevenness of the road surface in front of the vehicle body becomes a disturbance to be applied to the wheels in the future when the automobile 1 is traveling forward. Note that the preview sensor 10 may be configured to capture a road surface image with a camera and detect the uneven shape of the road surface from the captured image.

Then, the preview sensor 10 outputs information indicating the detected road surface unevenness (hereinafter referred to as “road surface shape information”) to the controller 60.
The actuator 20 is a linear motor that generates thrust in the vertical direction (the direction of expansion and contraction of the damper) in the electric suspension 100. The actuator 20 controls the position of the damper according to a command from the controller 60. Further, the actuator 20 changes the spring characteristic and the damper characteristic of the electric suspension 100 by controlling the thrust according to a command from the controller 60.

The in-vehicle sensor 30 detects a physical quantity (for example, yaw rate, roll angle, pitch angle, etc.) indicating the vehicle state (vehicle behavior) of the automobile 1.
The vehicle body vertical acceleration sensor 40 is installed at an attachment position of the electric suspension 100 that connects each wheel and the vehicle body, and the vehicle body vertical acceleration at each installation position (hereinafter referred to as “sprung acceleration” as appropriate). To detect. The vehicle body vertical acceleration sensor 40 outputs the detected sprung acceleration to the controller 60.
The wheel vertical acceleration sensor 50 is installed in a portion that does not rotate integrally with the wheel (for example, a portion fixed by a knuckle or a lower arm) in a hub that rotatably holds each wheel, and the vertical acceleration ( Hereinafter, it is appropriately referred to as “unsprung acceleration”). Further, the wheel vertical acceleration sensor 50 outputs the detected unsprung acceleration to the controller 60.

(Configuration of the electric suspension 100)
FIG. 2 is a schematic diagram illustrating a configuration example of the electric suspension 100.
An electric suspension 100 shown in FIG. 2 is a linear motor type electric active suspension capable of changing the spring characteristics and damper characteristics of each wheel by an actuator 20. In FIG. 2, the electric suspension 100 is shown as a schematic link mechanism.
In FIG. 2, the electric suspension 100 includes an upper arm 101, a lower arm 102, a knuckle 103, a hub 104, and a damper 105, and constitutes a double wishbone type suspension.

Among these, the damper 105 includes the actuator 20 described above, and the actuator 20 realizes a function as a damper and a function as a spring.
That is, when the controller 60 inputs command values according to the detection results of various sensors, the actuator 20 generates a thrust according to the command values, and realizes a spring characteristic and a damper characteristic according to the command of the controller 60.
With such a configuration, the electric suspension 100 suppresses vibration from the road surface, changes the behavior of the vehicle body with respect to the unsprung state, or controls the ground contact performance of the wheel.

(Functional configuration of vehicle suspension control apparatus 1A)
FIG. 3 is a block diagram showing a functional configuration of the vehicle suspension control apparatus 1A.
In FIG. 3, the vehicle suspension control apparatus 1 </ b> A includes a vehicle behavior prediction unit 201, a vehicle behavior estimation unit 202, and a suspension control unit 203.
Note that the remaining components including the sensor and the like excluding the suspension control unit 203 from the functional configuration of the vehicle suspension control device 1A constitute a vehicle state estimation device.
The vehicle behavior prediction unit 201, the vehicle behavior estimation unit 202, and the suspension control unit 203 are realized as functions in the controller 60.

In addition, these functions can be configured to realize the functions by software by executing a dedicated program by the computer. In addition, the function can be realized by controlling hardware by software. Each of the above functions can be configured by any one or a combination thereof.
The above functions can also be configured to realize the functions by hardware such as an electric circuit.

Road surface shape information is input from the preview sensor 10 to the vehicle behavior prediction unit 201 as information indicating future disturbance applied to the vehicle body. In addition, information indicating the current vehicle behavior estimated by the vehicle behavior estimation unit 202 (for example, sprung acceleration, sprung displacement, etc.) is input to the vehicle behavior prediction unit 201.
Then, the vehicle behavior prediction unit 201 refers to a vehicle model obtained by modeling vehicle characteristics from suspension characteristics and the like, and based on parameters indicating current vehicle behavior and road surface shape information (information indicating future disturbance), Predict vehicle behavior at the moment of future disturbance. Further, the vehicle behavior prediction unit 201 outputs information indicating the predicted future vehicle behavior (for example, sprung acceleration, sprung displacement, etc.) to the vehicle behavior estimation unit 202.

Further, the vehicle behavior prediction unit 201 predicts the vehicle behavior at the moment when a future disturbance is input based on the dynamic characteristics of the actuator 20. That is, the future vehicle behavior is predicted based on the delay characteristic when the actuator 20 generates thrust according to the command value.
The vehicle behavior estimation unit 202 estimates the current vehicle behavior with reference to the vehicle model based on various sensor outputs input by the in-vehicle sensor 30, the vehicle body vertical acceleration sensor 40, and the wheel vertical acceleration sensor 50, and the estimated current The vehicle behavior is output to the suspension control unit 203. At this time, the vehicle behavior estimation unit 202 applies a Kalman filter to estimate the current vehicle behavior.

  Further, the vehicle behavior estimation unit 202, based on the information indicating the future vehicle behavior inputted by the vehicle behavior prediction unit 201, adjusts the characteristics of the Kalman filter (each Kalman filter (Gain) is corrected. At this time, even if the future vehicle behavior becomes nonlinear, the vehicle behavior estimation unit 202 identifies a vehicle model that approximates linearity at that moment, and determines the characteristics of the Kalman filter for the vehicle model. To do.

Then, when the vehicle behavior estimation unit 202 reaches the future, the vehicle behavior at that time (the “current vehicle behavior” in the future) is estimated using the Kalman filter whose characteristics have been changed, and the estimated vehicle behavior (Suspension behavior in each wheel)) is output to the suspension control unit 203.
The vehicle behavior estimation unit 202 determines whether or not the vehicle behavior is nonlinear based on the information indicating the future vehicle behavior input by the vehicle behavior prediction unit 201. When it is determined that the vehicle behavior is nonlinear, it is used for estimation. Change each gain. Further, when the vehicle behavior estimation unit 202 determines that the vehicle behavior is linear rather than nonlinear, the vehicle behavior estimation unit 202 performs estimation using gains prepared in advance for linear behavior without changing each gain.

That is, only when it is determined that the vehicle behavior estimation unit 202 operates in the non-linear motion region, the vehicle behavior estimation unit 202 changes the gain corresponding to the non-linear motion, and when it is determined that it operates in the linear motion region, the linear behavior gain Is used.
The suspension control unit 203 outputs a command value for the actuator 20 of each electric suspension 100 based on the current vehicle behavior input by the vehicle behavior estimation unit 202.
At this time, the suspension control unit 203 instructs the actuator 20 so that the electric suspension 100 has suspension characteristics (spring characteristics, damper characteristics) set in advance.

FIG. 4 is a block diagram showing the control logic of the vehicle suspension control apparatus 1A.
In FIG. 4, in the vehicle suspension control apparatus 1 </ b> A, the vehicle behavior prediction unit 201 uses the road surface shape information detected by the preview sensor 10 and information indicating the current vehicle behavior estimated by the vehicle behavior estimation unit 202 to Predicts vehicle behavior.
Then, based on the future vehicle behavior predicted by the vehicle behavior prediction unit 201, a vehicle model having linearity is specified, and the characteristics of the Kalman filter in the vehicle behavior estimation unit 202 are corrected according to the vehicle model.
The vehicle behavior estimation unit 202 receives various sensor outputs input from the in-vehicle sensor 30, the vehicle body vertical acceleration sensor 40, and the wheel vertical acceleration sensor 50 as input, and performs calculations using a Kalman filter to estimate the current vehicle behavior.

The vehicle behavior estimation unit 202 outputs the estimation result to the suspension control unit 203, and the suspension control unit 203 outputs a command value for the actuator 20 of each electric suspension 100 so that the suspension characteristics are set in advance.
Thereby, even in a region where the vehicle exhibits nonlinear characteristics, it is possible to estimate the vehicle state more accurately using the Kalman filter, and to control the automobile 1 more appropriately.

(Control logic of vehicle behavior estimation unit 202)
FIG. 5 is a schematic diagram showing a vehicle model used in the control logic of the vehicle behavior estimation unit 202.
FIG. 6 is a diagram illustrating the control logic of the vehicle behavior estimation unit 202.
As shown in FIG. 5, a two-wheel model is assumed as a vehicle model used in the present embodiment. In FIG. 5, l _f is the distance between the center of gravity of the vehicle body and the front suspension acting point on the vehicle body, x _0f is the road surface displacement, K _1f is the tire spring constant, and m _1f is the unsprung mass.
In FIG. 5, x _1f is the unsprung displacement, C _2f is the damper damping coefficient, K _2f is the spring constant of the suspension, F _f is the friction of the damper, and x _2f is the sprung displacement (front wheel displacement). Yes.

In FIG. 5, θ represents the rotation angle around the center of gravity of the vehicle body, x ₂ represents the vertical displacement of the vehicle body, m ₂ represents the vehicle body mass, I ₂ represents the inertia moment of the vehicle body, and V represents the vehicle body speed.
Further, in FIG. 5, l _r is the distance between the rear suspension point of action in the body center of gravity and the vehicle body, x _0r road surface displacement, K _1r is a spring constant of the tire, m _1r is unsprung mass, x _1r is unsprung displacement (Rear wheel displacement).
In FIG. 5, C _2r represents a damper damping coefficient, K _2r represents a suspension spring constant, F _r represents damper friction, and x _2r represents a sprung displacement.
The subscript “f” at the end of the symbol indicates a parameter on the front side (front wheel side) of the vehicle, and “r” indicates a parameter on the rear side (rear wheel side) of the vehicle. Show.

  Then, as shown in FIG. 6, the vehicle behavior estimation unit 202 targets the vehicle model shown in FIG. 5, the future front wheel suspension speed and displacement predicted by the vehicle behavior prediction unit 201, and the future rear wheel suspension speed. And displacement as inputs. And based on these input information, the damping coefficient of the damper installed in each wheel and the spring constant of the suspension installed in each wheel are calculated. Furthermore, the gain of the Kalman filter (each parameter for specifying the Kalman filter) is set based on these calculated values.

  Specifically, from the suspension speed and displacement of each wheel in the future, the suspension characteristic map that registered the data indicating the characteristics of the suspension prepared in advance, the damping coefficient of the damper installed on each wheel, and the suspension installed on each wheel The spring constant of is calculated. In this suspension characteristics map, data indicating the characteristics of the suspension, data indicating the damper characteristics of each wheel with respect to sprung acceleration, sprung displacement, etc., data indicating the spring characteristics of the suspension of each wheel, etc. are registered. is there. For example, damper coefficient data, spring constant data, and the like that are appropriate for absorbing vibration caused by disturbance from the road surface with respect to sprung acceleration, sprung displacement, and the like are registered. Based on these characteristic data, the damping coefficient of each wheel damper and the spring constant of each wheel suspension are calculated, and the characteristics of the vehicle model at the moment when a future disturbance is applied are linearized. Further, based on this calculation result, the gain of the Kalman filter is calculated, and the current gain value of the Kalman filter is changed to this calculated value.

That is, the vehicle behavior estimation unit 202 changes the gain of the Kalman filter to a value corresponding to the vehicle behavior at the timing of the future vehicle behavior predicted by the vehicle behavior prediction unit 201. Note that the gain may be changed at a timing prior to the predicted future vehicle behavior.
Then, the vehicle behavior estimation unit 202 estimates the vehicle behavior using a Kalman filter whose gain is changed according to the vehicle behavior, and sends the estimated vehicle behavior (specifically, the behavior of each suspension) to the suspension control unit 203. Output.

Here, the electric suspension 100 corresponds to “active suspension device”, the in-vehicle sensor 30, the vehicle body vertical acceleration sensor 40, and the wheel vertical acceleration sensor 50 correspond to “physical quantity detection means”, and the preview sensor 10 includes “ Corresponds to “disturbance information detection means”.
The vehicle behavior prediction unit 201 corresponds to “vehicle behavior prediction unit”, the vehicle behavior estimation unit 202 corresponds to “vehicle behavior estimation unit” and “vehicle behavior information correction unit”, and the suspension control unit 203 Corresponds to "suspension control means".
The information indicating the current vehicle behavior estimated by the vehicle behavior estimation unit 202 corresponds to “first vehicle behavior information”, and the information indicating the future vehicle behavior predicted by the vehicle behavior prediction unit 201 is “ 2 vehicle behavior information ”.

(Operation)
Next, the operation of this embodiment will be described with reference to FIGS.
Here, FIG. 7 is a diagram illustrating a configuration example of a Kalman filter included in the vehicle behavior estimation unit 202.
Moreover, FIG. 8 is a figure which shows an example of the estimation result by the method of the prior art and this embodiment with respect to the road surface excitation as a disturbance.
When the engine is started and the automobile 1 starts running, the preview sensor 10 starts detecting the uneven shape of the road surface in front of the vehicle body. On the other hand, the vehicle-mounted sensor 30 starts detection of the yaw rate, roll angle, pitch angle, etc. of the automobile 1, the vehicle body vertical acceleration sensor 40 starts detection of sprung acceleration, and the wheel vertical acceleration sensor 50 detects unsprung acceleration. Start detecting. Each of these sensors outputs a detection result to the controller 60.

The vehicle behavior estimation unit 202 receives various sensor outputs as input, performs a calculation using a Kalman filter, and estimates the current vehicle state.
Hereinafter, the operation of the vehicle behavior estimation unit 202 will be specifically described with reference to examples of motion equations and observation equations to which the Kalman filter is applied.
Here, it is assumed that the equation of motion defining the coefficient of the Kalman filter is represented by the following equation (1), and the observation equation is represented by the following equation (2).

  In the above equations (1) and (2), A to D are gains of the Kalman filter, and are determinants represented by the following equations (3) to (6).

  Further, in the above formulas (1) and (2), x (t) is a state variable and is a determinant represented by the following formula (7). Moreover, y (t) is an observation output and becomes a determinant represented by the following equation (8). U (t) is an input to the vehicle system and is a determinant represented by the following equation (9).

From the above equation (7), the state variable x (t) is the unsprung displacement x _1f , x _1r , the vehicle body vertical displacement x ₂ , the rotation angle θ around the vehicle body center of gravity, and a differential value thereof. From the above equation (8), the observed output is the sprung displacement x _2f , x _2r , and from the above equation (9), the input to the vehicle system is the damper friction F _f , F _r .
In the above formula (3), a51 to a58 and a61 to a68 are represented by the following formula (10) and the following formula (11).
a51 = (− K _1f −K _2f ) / m _1f
a52 = 0
a53 = K _2f / m _{1f
a54 = -K 2f * l f /} m 1f
a55 = −C _2f / m _1f
a56 = 0
a57 = C _2f / m _1f
a58 = −C _2f * l _f / m _1f (10)

a61 = 0
a62 = (− K _1r −K _2r ) / m _1r
a63 = K _2r / m _1r
a64 = K _2r * l _r / m _1r
a65 = 0
a66 = (− C _2r ) / m _1r
a67 = (C _2r ) / m _1r
a68 = C _2r * l _r / m _1r (11)

In the above formulas (3) and (5), a71 to a78 are represented by the following formula (12).
a71 = K _2f / m ₂
a72 = K _2r / m ₂
a73 = (− K _2f −K _2r ) / m ₂
a74 = (K _2f * l _f −K _2r * l _r ) / m ₂
a75 = C _2f / m ₂
a76 = C _2r / m _{2
a77 = (- C 2f -C 2r} ) / m 2
_{a78 = (C 2f * l f} -C 2r * l r) / m 2 ··· (12)

In the above equation (3), a81 to a88 are those represented by the following equation (13).
a81 = −l _f * K _2f / I ₂
a82 = l _r * K _2r / I ₂
a83 = (l _f * K _2f −l _r * K _2r ) / I ₂
a84 = (− K _2f * l _f ² −K _2r * l _r ² ) / I ₂
a85 = −l _f * C _2f / I ₂
a86 = l _r * C _2r / I ₂
a87 = (l _f * C _2f −l _r * C _2r ) / I ₂
a88 = (− C _2f * l _f ² −C _2r * l _r ² ) / I ₂
... (13)

In the above formulas (1) and (7), the same symbol having a dot “•” above indicates a differential value of a symbol without a dot.
Then, a Kalman filter configured in consideration of disturbance (road surface shape information), observation noise, output feedback, etc. in the equations of motion and observation equations shown in the above equations (1) and (2) is as shown in FIG. .
As shown in FIG. 7, the Kalman filter constituting the vehicle behavior estimation unit 202 has gains A to D represented by the above equations (3) to (6). In addition, it has a feedback gain “L” for feeding back an error between the output of the Kalman filter and the output from the actual vehicle system.

Here, the vehicle system shown in FIG. 7 includes the electric suspension 100 corresponding to each wheel of the automobile 1 driven in accordance with the command value from the actuator control unit 203, and related components (vehicle model in FIG. 5). It is a system composed of components corresponding to
In FIG. 7, “1 / s” is an integral term in Laplace transform, and “−F” is a transfer function of the actuator control unit 203. “W” is a disturbance, “G” is a transfer function for the disturbance “w” (for example, necessary when conversion to road surface shape information is required), and “v” is an output of the vehicle system. It is an observation noise mixed in “y”.

The vehicle behavior estimation unit 202 of the present embodiment changes the gains A to D and L in the Kalman filter having the above configuration based on the future vehicle behavior predicted by the vehicle behavior prediction unit 201.
Specifically, first, in the vehicle behavior prediction unit 201, based on the road surface shape information detected by the preview sensor 10 and the current vehicle behavior (sprung acceleration, sprung displacement, etc.) input by the vehicle behavior estimation unit 202. Predict future vehicle behavior (sprung acceleration, sprung displacement, etc.). That is, assuming that a disturbance detected by the preview sensor 10 will be applied to the automobile 1 in the future, a future vehicle behavior with respect to this disturbance is predicted in advance.

At this time, the future vehicle behavior is predicted in consideration of the dynamic characteristics of the actuator 20 of the electric suspension 100 of each wheel. Thereby, the generation delay of the thrust of the actuator 20 as a control system including state estimation can be reduced.
Next, the vehicle behavior estimation unit 202 determines whether or not the electric suspension 100 operates in the linear motion region based on the predicted future vehicle behavior. Here, the information indicating the future vehicle behavior such as the predicted future sprung acceleration and sprung displacement is compared with a threshold prepared in advance, and if it is less than the threshold, it is determined to operate in the linear motion region. On the other hand, if it is equal to or greater than the threshold value, it is determined that the operation is performed in the nonlinear operation region.

When it is determined that the electric suspension 100 operates in the linear motion region, the vehicle behavior estimation unit 202 uses a linear motion region gain prepared in advance for estimating the vehicle behavior at the timing when the future disturbance is applied.
On the other hand, when it is determined that the vehicle behavior estimation unit 202 operates in the nonlinear motion region, the damper damping coefficient and suspension corresponding to the nonlinear motion are determined from the predicted future vehicle behavior such as sprung acceleration and sprung displacement. A value relating to a gain such as a spring constant of the is calculated.

Specifically, a damper damping coefficient related to the gain of the Kalman filter, a spring constant of the suspension, and the like are calculated based on the suspension characteristic map data to linearize the predicted nonlinear vehicle behavior at that moment.
Further, the vehicle behavior estimation unit 202 uses the calculated damper damping coefficients C _2f and C _2r , suspension spring constants K _2f and K _{2r, and the} like to obtain gains A to (E) expressed by the above equations (3) to (6). D and a feedback gain L are calculated.
Then, at the timing when the future disturbance is applied, the values of the Kalman filter gains A to D and L used for estimation are changed to the calculated values.

  Next, the vehicle behavior estimation unit 202 uses the Kalman filter to calculate the current vehicle behavior based on the sensor outputs of the in-vehicle sensor 30, the vehicle body vertical acceleration sensor 40, and the wheel vertical acceleration sensor 50, and the set gain. presume. Then, this estimation result is output to suspension control section 203 and vehicle behavior prediction section 201, respectively.

The suspension control unit 203 generates a command value to the actuator 20 of the electric suspension 100 of each wheel based on the input estimated value of the current vehicle behavior, and outputs the generated command value to each actuator 20. Thereby, the actuator 20 operates according to the command value, and suppresses vibration from the road surface, for example. The suspension control unit 203 generates a command value to the actuator 20 using a control method such as skyhook control.
On the other hand, similarly to the above, the vehicle behavior prediction unit 201 predicts a future vehicle behavior based on the input estimated value of the current vehicle behavior and the detection information of the preview sensor 10.
Thereafter, the above series of operations is repeated until the automobile 1 stops or the engine stops.

Next, the effect of the vehicle suspension control apparatus 1A of the present embodiment will be described with reference to FIG.
FIG. 8 is a graph showing the result when the displacement on the spring is estimated as the vehicle behavior by the Kalman filter, the broken line is the actual value of the displacement on the spring, and the solid line is the suspension control device for the vehicle according to the present embodiment. It is an estimated value of the sprung displacement when 1A is applied. In FIG. 8, the horizontal axis of each graph is time [sec], and the vertical axis is sprung displacement [mm].
The example of FIG. 8 shows the displacement before and after (right and left figures) before changing the damper damping characteristic of the vehicle model applied to the Kalman filter to one corresponding to the non-linear operation, and when the road surface is excited as a disturbance. Is changed to 10 [mm] (upper figure) and 2 [mm] (lower figure).

Here, when the road surface vibration frequency is relatively low and the amplitude is relatively large, the influence of friction or the like is small, and therefore, as shown in the upper right diagram of FIG. The estimated value using the corresponding Kalman filter gain deviates from the directly measured value.
In addition, when the road surface vibration frequency is relatively high and the amplitude is relatively small, the influence of friction or the like is large, and therefore, as shown in the lower right diagram of FIG. The estimated value using the corresponding Kalman filter gain greatly deviates from the directly measured value.

As described above, when a Kalman filter corresponding to a linear system is applied to a suspension having strong non-linearity, high-precision estimation cannot always be realized under all conditions.
Therefore, in the present embodiment, the disturbance that causes the situation in which the suspension operates in the nonlinear operation region is predicted in advance, and the damper attenuation coefficient of the vehicle model is changed to the damper attenuation coefficient corresponding to the nonlinear operation region. change.

  Specifically, when the frequency at the time of road surface excitation is relatively low and the amplitude is relatively large, the damper attenuation coefficient is made smaller than that used in normal times. Then, the gain of the Kalman filter is calculated from the reduced damper attenuation coefficient, and this calculated value is set as a gain used for estimation. As a result, as shown in the upper left diagram of FIG. 8, the estimated value is close to the directly measured value as compared with the case of estimation using the linear operation gain shown in the upper right diagram of FIG. 8. It becomes.

  In addition, when the road surface vibration frequency is relatively high and the amplitude is relatively small, the damper attenuation coefficient is made larger than that used during normal operation. Then, the gain of the Kalman filter is calculated from the increased damper attenuation coefficient, and this calculated value is set as a gain used for estimation. As a result, as shown in the lower left diagram of FIG. 8, the estimated value becomes a directly measured value as compared with the case of using the linear operation gain shown in the lower right diagram of FIG. 8. A close value.

As described above, the vehicle suspension control apparatus 1A according to the present embodiment has the influence of the disturbance from the road surface that is scheduled to be added to the vehicle in the future when the situation in which the vehicle behavior becomes a nonlinear operation region occurs due to the disturbance. Based on the vehicle behavior, the vehicle behavior at that time can be predicted in advance. Further, based on the predicted vehicle behavior, the characteristics of the vehicle model in the future can be linearly approximated by the suspension characteristic map. Furthermore, it is possible to adjust the gain of the Kalman filter from each characteristic value of the suspension corresponding to this non-linear operation to realize an appropriate state estimation. As a result, the behavior of the vehicle including the suspension having the non-linear operation region can be estimated with high accuracy.
(effect)
(1) The physical quantity detection means detects a physical quantity indicating the behavior of the vehicle. Vehicle behavior estimation means estimates the current behavior of the vehicle based on the physical quantity detected by the physical quantity detection means. A disturbance information detecting means detects disturbance information which is information of a disturbance scheduled to be added to the vehicle in the future. Based on the disturbance information detected by the disturbance information detecting means and the first vehicle behavior information which is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimating means, the vehicle behavior predicting means Predict the future behavior of Based on the second vehicle behavior information, which is information indicating the future behavior of the vehicle predicted by the vehicle behavior prediction unit, the vehicle behavior information correction unit is the same as the timing at which the disturbance corresponding to the disturbance information is applied to the vehicle. Alternatively, the first vehicle behavior information is corrected at a preceding timing.

  As a result, when the active suspension system performs non-linear motion due to disturbance, it is possible to predict in advance and correct the first vehicle behavior information used for operation control of the active suspension system in advance. Therefore, an effect is obtained that the current vehicle behavior can be estimated with higher accuracy with respect to a vehicle model including an active suspension device having strong nonlinearity.

(2) When the vehicle behavior information correcting unit determines that the active suspension device operates in a non-linear operation region due to a disturbance to be applied to the vehicle in the future, the first vehicle behavior information is converted into the non-linear operation region. Is corrected to the content estimated by linear approximation.
As a result, it is possible to estimate the current vehicle behavior when the active suspension device operates in a non-linear operation region by linearly approximating the non-linear operation region with high accuracy.

(3) The vehicle behavior estimation means is means for estimating the current behavior of the vehicle by a Kalman filter. Vehicle behavior information correction means corrects the first vehicle behavior information by correcting the gain of the Kalman filter at the same timing as or prior to the timing at which the disturbance is scheduled based on the second vehicle behavior information. .
As a result, the gain of the Kalman filter corresponding to the linear model can be changed to a value suitable for this nonlinear vehicle characteristic based on the previously known nonlinear vehicle characteristic. Therefore, an effect is obtained that the current vehicle behavior can be estimated with higher accuracy with respect to a vehicle system including an active suspension device or the like with strong nonlinearity.

(4) The disturbance scheduled to be applied to the vehicle in the future includes a road disturbance that is a disturbance applied to the vehicle depending on the road surface condition, and the disturbance information detection means includes the disturbance information including the information on the road disturbance scheduled to be added to the vehicle in the future. To detect.
It is possible to detect in advance information on a disturbance scheduled to be added to the vehicle in the future depending on the road surface condition, predict a future vehicle behavior with respect to the disturbance, and correct the first vehicle behavior information based on the prediction result. Therefore, the effect that the vehicle behavior according to the disturbance applied to the wheels (front and rear wheels) of the vehicle can be estimated with higher accuracy is obtained.

(5) The vehicle behavior predicting means predicts the second vehicle behavior information based on the dynamic characteristics of the actuator of the active suspension and the detected disturbance information.
As a result, the future vehicle behavior can be predicted in consideration of the dynamic characteristics of the actuator, so that the effect of reducing thrust generation delay as a control system including state estimation can be obtained.

(6) The physical quantity detection means detects a physical quantity indicating the behavior of the vehicle. Vehicle behavior estimation means estimates the current behavior of the vehicle based on the physical quantity detected by the physical quantity detection means. A disturbance information detecting means detects disturbance information which is information of a disturbance scheduled to be added to the vehicle in the future. Based on the disturbance information detected by the disturbance information detecting means and the first vehicle behavior information which is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimating means, the vehicle behavior predicting means Predict the future behavior of Based on the second vehicle behavior information, which is information indicating the future behavior of the vehicle predicted by the vehicle behavior prediction unit, the vehicle behavior information correction unit is the same as the timing at which the disturbance corresponding to the disturbance information is applied to the vehicle. Alternatively, the first vehicle behavior information is corrected at a preceding timing.

  As a result, when the active suspension system performs non-linear motion due to disturbance, it is possible to predict in advance and correct the first vehicle behavior information used for operation control of the active suspension system in advance. Therefore, it is possible to provide a vehicle state estimation method capable of estimating the current vehicle behavior with higher accuracy with respect to a vehicle model including an active suspension device or the like having strong nonlinearity.

(7) The physical quantity detection means detects a physical quantity indicating the behavior of the vehicle. Vehicle behavior estimation means estimates the current behavior of the vehicle based on the physical quantity detected by the physical quantity detection means. The suspension control means controls the operation of the active suspension based on the first vehicle behavior information that is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimation means. A disturbance information detecting means detects disturbance information which is information of a disturbance scheduled to be added to the vehicle in the future. Based on the disturbance information detected by the disturbance information detecting means and the first vehicle behavior information which is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimating means, the vehicle behavior predicting means Predict the future behavior of Based on the second vehicle behavior information, which is information indicating the future behavior of the vehicle predicted by the vehicle behavior prediction unit, the vehicle behavior information correction unit is the same as the timing at which the disturbance corresponding to the disturbance information is applied to the vehicle. Alternatively, the first vehicle behavior information is corrected at a preceding timing.

  As a result, when the active suspension system performs a nonlinear operation due to a disturbance, it can be predicted in advance and corrected in advance. The operation of the active suspension device can be controlled based on the corrected first vehicle behavior information. Therefore, an effect that the operation of the active suspension apparatus having strong nonlinearity can be controlled with higher accuracy can be obtained.

(8) The physical quantity detection means detects a physical quantity indicating the behavior of the vehicle. Vehicle behavior estimation means estimates the current behavior of the vehicle based on the physical quantity detected by the physical quantity detection means. The suspension control means controls the operation of the active suspension based on the first vehicle behavior information that is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimation means. A disturbance information detecting means detects disturbance information which is information of a disturbance scheduled to be added to the vehicle in the future. Based on the disturbance information detected by the disturbance information detecting means and the first vehicle behavior information which is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimating means, the vehicle behavior predicting means Predict the future behavior of Based on the second vehicle behavior information, which is information indicating the future behavior of the vehicle predicted by the vehicle behavior prediction unit, the vehicle behavior information correction unit is the same as the timing at which the disturbance corresponding to the disturbance information is applied to the vehicle. Alternatively, the first vehicle behavior information is corrected at a preceding timing.

  As a result, when the active suspension system performs non-linear motion due to disturbance, it is possible to predict in advance and correct the first vehicle behavior information used for operation control of the active suspension system in advance. The operation of the active suspension device can be controlled based on the corrected first vehicle behavior information. Therefore, it can be set as the motor vehicle which can control the operation | movement of an active suspension apparatus with strong nonlinearity with higher precision.

(Application examples)
(1) In the first embodiment, the present invention is applied to the electric active suspension. However, the present invention is not limited to this configuration. For example, it can be applied to any device that can change its characteristics by controlling the actuator, such as semi-active pension that can change thrust according to speed, and device that can change the rigidity of the stabilizer. It is.
(2) In the first embodiment, the vehicle behavior estimation unit 202 is configured to estimate the current vehicle behavior using a Kalman filter. However, the present invention is not limited to this configuration, and a Wiener filter, a hidden Markov model, a genetic algorithm, or the like. It is good also as a structure using the other estimation method using.

(3) In the first embodiment, the equation of motion and the observation equation to which the Kalman filter is applied are represented by the above equations (1) to (13). However, the present invention is not limited to this, and other configurations may be employed.
(4) In the first embodiment, the information indicating the current vehicle behavior is indirectly corrected by correcting the gain of the Kalman filter. However, the present invention is not limited thereto, and the information indicating the current vehicle behavior is used. It is good also as a structure which correct | amends directly. For example, a correction table is prepared in advance, and information indicating the current vehicle behavior is corrected with a correction amount corresponding to the predicted vehicle behavior.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to the drawings. FIG. 9 is a diagram showing a second embodiment of the vehicle state estimation device, the vehicle suspension control device, the vehicle state estimation method, and the automobile according to the present invention.
(Constitution)
In the first embodiment, future vehicle behavior is predicted based on disturbance information detected by the preview sensor 10 and to be added to the vehicle in the future, and the Kalman filter gain is corrected based on the predicted vehicle behavior. It was. On the other hand, in the present embodiment, a future vehicle behavior on the rear wheel side is predicted based on the vehicle behavior with respect to the disturbance applied to the front wheel side, and parameter identification of the vehicle model is performed using the predicted vehicle behavior. . Further, the Kalman filter gain is corrected when estimating the vehicle behavior on the rear wheel side using the identified parameters.

Note that the configuration of the automobile of the present embodiment is the same as that of the automobile 1 of the first embodiment. However, in this embodiment, since the preview sensor 10 is not used, a configuration in which the preview sensor 10 is removed from the automobile 1 can be adopted.
Hereinafter, parts different from those of the first embodiment will be described in detail, and the same parts are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

(Function of vehicle behavior prediction unit 201)
In the present embodiment, the vehicle behavior predicting unit 201 receives various sensor outputs input from the vehicle body vertical acceleration sensor 40 and the wheel vertical acceleration sensor 50 as inputs, and uses the front wheel model (not shown) to convert the rear wheel from various sensor outputs. Predict the disturbances that will be added in the future. Specifically, a disturbance (hereinafter referred to as a road surface disturbance) due to road surface irregularities or the like to be applied to the rear wheel side in the future is predicted. This road surface disturbance is information indicating the displacement of the road surface, similarly to the road surface shape information of the first embodiment.

Further, the vehicle behavior prediction unit 201 uses the predicted road surface disturbance and the information indicating the current vehicle behavior with respect to the front wheel estimated by the vehicle behavior estimation unit 202 to cause the disturbance applied to the front wheel to Predict vehicle behavior when joining.
Then, the vehicle behavior prediction unit 201 outputs the predicted information indicating the road surface disturbance applied to the future rear wheel side and the information indicating the future rear wheel side vehicle behavior to the vehicle behavior estimation unit 202.

  In the present embodiment, the vehicle behavior prediction unit 201 is configured to predict a road surface disturbance to be applied to the future rear wheel side, but is not limited to this configuration. For example, a disturbance prediction unit is separately provided in the front stage of the vehicle behavior prediction unit 201, and a road surface disturbance is predicted using a front wheel model based on various sensor outputs of the vehicle body vertical acceleration sensor 40 and the wheel vertical acceleration sensor 50. It is good.

(Function of vehicle behavior estimation unit 202)
FIG. 9 is a diagram illustrating a control logic of the vehicle behavior estimation unit 202 of the present embodiment.
In the present embodiment, as shown in FIG. 9, the vehicle behavior estimation unit 202 is based on information indicating the future road surface disturbance and the future vehicle behavior (state) on the rear wheel side input by the vehicle behavior prediction unit 201. The parameters of the vehicle system (vehicle model in FIG. 5) are identified by the vehicle system identifier. This linearizes the dynamic characteristics of the vehicle system in real time. That is, the dynamic characteristic of the vehicle response to the road disturbance that becomes a non-linear motion region is approximated as a linear model by parameter identification. The vehicle behavior estimation unit 202 calculates a linear model state equation (linear vehicle characteristics) based on the linearized dynamic characteristics, and calculates a Kalman filter gain.

Further, the vehicle behavior estimation unit 202 configures a Kalman filter from the calculated state equation and the calculated gain at a future moment when the predicted road surface disturbance is applied. Estimate vehicle behavior.
Further, the vehicle behavior estimation unit 202 of the present embodiment differs between the future vehicle behavior on the rear wheel side predicted by the vehicle behavior prediction unit 201 and the actual vehicle response understood from the sensor output of the in-vehicle sensor 30 in the future. Based on the above, the gain of the Kalman filter is corrected. Specifically, the value of the parameter relating to the gain calculation is corrected according to the difference between the predicted value corresponding to the parameter of the vehicle model relating to the gain of the Kalman filter and the actually measured value. Thereby, the prediction error of the vehicle behavior prediction unit 201 can be compensated.
Here, the vehicle body vertical acceleration sensor 40 and the wheel vertical acceleration sensor 50 on the front wheel side and the road surface disturbance prediction function in the vehicle behavior prediction unit 201 correspond to “disturbance information detection means”.

(Operation)
When the engine is started and the automobile 1 starts traveling forward, the vehicle body vertical acceleration sensor 40 starts detecting sprung acceleration, and the wheel vertical acceleration sensor 50 starts detecting unsprung acceleration. Each sensor outputs a detection result to the controller 60.
In the controller 60, the vehicle behavior prediction unit 201 uses each front wheel side sensor output as an input to predict a road surface disturbance scheduled to be applied to the rear wheel side in the future using the front wheel model. Here, as the road surface disturbance, a displacement amount indicating unevenness of the road surface is calculated.
Further, the vehicle behavior prediction unit 201 uses the predicted road surface disturbance and information indicating the current vehicle behavior with respect to the front wheel side estimated by the vehicle behavior estimation unit 202 to cause a disturbance applied to the front wheel side in the future to the rear wheel side. Predict vehicle behavior when joining.

Then, the vehicle behavior prediction unit 201 outputs the predicted road surface disturbance and information indicating the predicted rear wheel side vehicle behavior to the vehicle behavior estimation unit 202.
On the other hand, the vehicle behavior estimation unit 202 identifies parameters of the vehicle system (similar to the first embodiment) based on the road surface disturbance input by the vehicle behavior prediction unit 201 and information indicating the future vehicle behavior on the rear wheel side. To generate a linear model that approximates the dynamic characteristics of the vehicle system.

Specifically, the linear model is obtained by changing the parameter corresponding to the linear operation region of the vehicle model (front wheel side) shown in FIG. 5 of the first embodiment to a parameter whose operation characteristic is linear in the nonlinear operation region due to disturbance. It corresponds to the changed one.
Further, a state equation is calculated from the linear model, and a gain of the Kalman filter is calculated from the state equation. The state equation calculated in this way and the gain of the Kalman filter constitute each term of the Kalman filter shown in FIG. 7 of the first embodiment. In this embodiment, each term of the Kalman filter is sequentially updated in real time.

The vehicle behavior estimation unit 202 uses the sensor outputs of the vehicle-mounted sensor 30, the rear-wheel-side vehicle body vertical acceleration sensor 40, and the rear-wheel-side wheel vertical acceleration sensor 50, and the Kalman filter configured as described above, and Vehicle behavior is estimated. Then, this estimation result is output to suspension control section 203 and vehicle behavior prediction section 201, respectively.
Further, the vehicle behavior estimation unit 202 calculates a difference (for example, a difference) between various sensor outputs for the rear wheel side and information indicating the vehicle behavior predicted by the vehicle behavior prediction unit 201, and based on this difference, the Kalman filter Correct the gain.

On the other hand, the suspension control unit 203 generates a command value to the actuator 20 of the electric suspension 100 of each wheel based on the input estimated value of the current vehicle behavior, and outputs the generated command value to each actuator 20. . Thereby, the actuator 20 operates according to the command value, and suppresses vibration from the road surface, for example.
On the other hand, similarly to the above, the vehicle behavior prediction unit 201 is based on the input estimated value of the current vehicle behavior, and the sensor outputs of the front wheel side vertical acceleration sensor 40 and the front wheel side wheel vertical acceleration sensor 50. Predicting future disturbances and future vehicle behavior.
Thereafter, the above series of operations is repeated until the automobile 1 stops or the engine stops.

  As described above, the vehicle suspension control device 1A according to the present embodiment is configured so that the rear wheel side is based on the information on the disturbance applied to the front wheel side when a situation in which the vehicle behavior becomes a nonlinear operation region occurs due to the disturbance. It is possible to predict road disturbance that will be added to the future. Further, the future vehicle behavior on the rear wheel side can be predicted based on the predicted road surface disturbance and the current vehicle behavior on the rear wheel side. Furthermore, parameters of the vehicle system can be identified based on the predicted road surface disturbance and the predicted vehicle behavior, and a linear model that linearly approximates the dynamic characteristics of the vehicle system with respect to the road surface disturbance can be generated. Furthermore, the state equation can be calculated from the linear model, and the gain of the Kalman filter can be calculated from the state equation. Then, a Kalman filter is configured from these state equations and gains, and appropriate state estimation can be realized for disturbances that cause nonlinear operation. As a result, the vehicle behavior on the rear wheel side provided with the suspension having the non-linear operation region can be estimated with high accuracy.

In addition, by identifying the vehicle system in real time, it is possible to deal with real time changes in the case of changes in specific parameters due to temperature changes or aging degradation.
Further, the gain of the Kalman filter can be corrected based on the difference between the information indicating the predicted vehicle behavior and the actual measurement values obtained by various sensors. Thereby, the prediction error in the vehicle behavior prediction unit 201 can be corrected.

(effect)
(1) The vehicle behavior estimation means is means for estimating the current behavior of the vehicle by a Kalman filter. Vehicle behavior information correction means sequentially identifies characteristics of the vehicle behavior with respect to the disturbance to be added in the future based on the disturbance information and the second vehicle behavior information, and based on the identification result, determines the gain of the Kalman filter. calculate. Further, the vehicle behavior information correction means corrects the first vehicle behavior information by sequentially changing the gain of the Kalman filter to the calculated gain.

  That is, based on the predicted vehicle behavior information and the detected disturbance information, the vehicle behavior characteristics with respect to the future disturbance to be added to the vehicle are sequentially identified, and the optimum Kalman filter gain calculated based on the identification result is obtained. Change sequentially. As a result, even when the vehicle characteristics are not known in advance or when the vehicle characteristics change due to deterioration of parts or the like, it is possible to achieve an optimal state estimation.

(2) Physical quantity detection means detects the physical quantity (sprung acceleration, sprung displacement, etc.) when disturbance of disturbance information detected by the disturbance information detection means is applied to the vehicle. The vehicle behavior estimation means corrects the gain of the Kalman filter based on information on a difference between the detected physical quantity and a value corresponding to the physical quantity in the second vehicle behavior information, so that the first vehicle behavior is corrected. Correct the information.
That is, the gain of the Kalman filter is corrected based on information on the difference between the physical quantity indicating the behavior of the vehicle when a disturbance is applied and the value corresponding to the physical quantity in the second vehicle behavior information. As a result, even when the vehicle characteristics provided in the vehicle behavior predicting means have changed in advance, an effect that it is possible to realize highly accurate state estimation is obtained.

(3) Disturbance information detection means detects, as the disturbance information, disturbance information scheduled to be applied to the other part of the vehicle in the future based on information indicating the behavior of a part of the vehicle to which the disturbance first applies.
That is, information on a part of the vehicle (for example, the front wheels) to which the disturbance is applied first is used in the other part (for example, the rear wheels) of the vehicle to which the disturbance is applied later. As a result, for example, a measurement system such as a relatively expensive sensor that directly measures road surface information becomes unnecessary, and the estimation accuracy of the behavior of the other part (rear wheel) of the vehicle can be improved with an inexpensive configuration. Is obtained.

Each of the above embodiments is a preferable specific example of the present invention, and various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the above description. As long as there is no description, it is not restricted to these forms. In the drawings used in the above description, for convenience of illustration, the vertical and horizontal scales of members or parts are schematic views different from actual ones.
Further, the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within the scope that can achieve the object of the present invention are included in the present invention.

DESCRIPTION OF SYMBOLS 1 ... Automobile, 1A ... Vehicle suspension control apparatus, 10 ... Preview sensor, 20 ... Actuator, 30 ... In-vehicle sensor, 40 ... Vehicle vertical acceleration sensor, 50 ... Wheel vertical acceleration sensor, 60 ... Controller, 100 ... Electric suspension, 101 DESCRIPTION OF SYMBOLS ... Upper arm, 102 ... Lower arm, 103 ... Knuckle, 104 ... Hub, 105 ... Damper, 201 ... Vehicle behavior prediction part, 202 ... Vehicle behavior estimation part, 203 ... Suspension control part

Claims (11)

A vehicle state estimation device used in a vehicle comprising an active suspension device and a suspension control means for controlling the operation of the active suspension device based on estimation information of the current behavior of the vehicle,
Physical quantity detection means for detecting a physical quantity indicating the behavior of the vehicle;
Vehicle behavior estimation means for estimating the current behavior of the vehicle based on the physical quantity detected by the physical quantity detection means;
Disturbance information detecting means for detecting disturbance information which is information of disturbance scheduled to be added to the vehicle in the future;
Predicting the future behavior of the vehicle based on the disturbance information detected by the disturbance information detection unit and the first vehicle behavior information that is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimation unit. Vehicle behavior predicting means,
Based on the second vehicle behavior information that is information indicating the future behavior of the vehicle predicted by the vehicle behavior prediction means, the timing corresponding to the disturbance information is the same as or prior to the timing when the disturbance is scheduled to be applied to the vehicle. Vehicular state estimation device comprising: vehicle behavior information correction means for correcting first vehicle behavior information.   The vehicle behavior information correcting means linearly converts the first vehicle behavior information into the non-linear operation region when it is determined that the active suspension device operates in a non-linear operation region due to a disturbance to be applied to the vehicle in the future. The vehicle state estimation device according to claim 1, wherein the vehicle state estimation device is corrected to the content estimated by approximation. The vehicle behavior estimation means is means for estimating a current behavior of the vehicle by a Kalman filter.
The vehicle behavior information correction unit corrects the first vehicle behavior information by correcting the gain of the Kalman filter at a timing that is the same as or prior to the timing at which the disturbance is to be applied, based on the second vehicle behavior information. The vehicle state estimation device according to claim 1 or 2, characterized by: The vehicle behavior estimation means is means for estimating a current behavior of the vehicle by a Kalman filter.
The vehicle behavior information correction means sequentially identifies characteristics of the vehicle behavior with respect to the disturbance to be added in the future based on the disturbance information and the second vehicle behavior information, and based on the identification result, gain of the Kalman filter 3. The vehicle state estimation according to claim 1, wherein the first vehicle behavior information is corrected by sequentially changing the gain of the Kalman filter to the calculated gain. apparatus.   The vehicle behavior estimation means uses the physical quantity when the disturbance of the disturbance information detected by the disturbance information detection means detected by the physical quantity detection means is applied to the vehicle and the physical quantity in the second vehicle behavior information. 5. The vehicle state estimation according to claim 3, wherein the first vehicle behavior information is corrected by correcting a gain of the Kalman filter based on information on a difference from a corresponding value. apparatus. The disturbance includes a road surface disturbance that is a disturbance applied to the vehicle depending on the state of the road surface,
The vehicle state estimation according to any one of claims 1 to 5, wherein the disturbance information detection means detects disturbance information including information of the road surface disturbance scheduled to be applied to the vehicle in the future. apparatus.   The disturbance information detecting means detects, as the disturbance information, disturbance information scheduled to be applied to the other part of the vehicle in the future based on information indicating a behavior of a part of the vehicle to which the disturbance is first applied. The vehicle state estimation device according to any one of claims 1 to 6.   8. The vehicle behavior prediction unit predicts the second vehicle behavior information based on a dynamic characteristic of an actuator included in the active suspension and the detected disturbance information. The vehicle state estimation device according to any one of the above. A vehicle state estimation method used in a vehicle comprising an active suspension device and a suspension control means for controlling the operation of the active suspension device based on estimation information of a current behavior of the vehicle,
A physical quantity detecting step in which a physical quantity detecting means detects a physical quantity indicating the behavior of the vehicle;
A vehicle behavior estimation means for estimating a current behavior of the vehicle based on the physical quantity detected in the physical quantity detection step; and
A disturbance information detecting means for detecting disturbance information, which is information of disturbance scheduled to be added to the vehicle in the future,
Based on the disturbance information detected in the disturbance information detection step and first vehicle behavior information which is information indicating the current behavior of the vehicle estimated in the vehicle behavior estimation step, the vehicle behavior prediction means Vehicle behavior prediction step for predicting future behavior of the vehicle,
Timing at which a disturbance corresponding to the disturbance information is scheduled to be applied to the vehicle based on second vehicle behavior information which is information indicating a future behavior of the vehicle predicted by the vehicle behavior information correction unit by the vehicle behavior information correction unit. And a vehicle behavior information correction step for correcting the first vehicle behavior information at the same timing or preceding timing. A vehicle suspension control device used in a vehicle equipped with an active suspension device,
Physical quantity detection means for detecting a physical quantity indicating the behavior of the vehicle;
Vehicle behavior estimation means for estimating the current behavior of the vehicle based on the physical quantity detected by the physical quantity detection means;
Suspension control means for controlling the operation of the active suspension based on first vehicle behavior information that is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimation means;
Disturbance information detecting means for detecting disturbance information which is information of disturbance scheduled to be added to the vehicle in the future;
Vehicle behavior prediction means for predicting future behavior of the vehicle based on the disturbance information detected by the disturbance information detection means and the first vehicle behavior information;
Based on the second vehicle behavior information that is information indicating the future behavior of the vehicle predicted by the vehicle behavior prediction means, the timing corresponding to the disturbance information is the same as or prior to the timing when the disturbance is scheduled to be applied to the vehicle. And a vehicle behavior information correcting unit that corrects the first vehicle behavior information. The car body,
A plurality of wheels installed on the vehicle body;
An active suspension device installed between the vehicle body and the plurality of wheels;
A physical quantity detection means for detecting a physical quantity indicating the behavior of itself;
Vehicle behavior estimation means for estimating the current behavior of the vehicle based on the physical quantity detected by the physical quantity detection means;
Suspension control means for controlling the operation of the active suspension based on first vehicle behavior information that is information indicating the current behavior of the vehicle estimated by the vehicle behavior estimation means;
Disturbance information detection means for detecting disturbance information that is information of disturbance that will be added to the future in the future,
Vehicle behavior prediction means for predicting the future behavior of the vehicle when the disturbance is applied to the vehicle based on the disturbance information detected by the disturbance information detection device and the first vehicle behavior information;
Based on the second vehicle behavior information that is information indicating the future behavior of the vehicle predicted by the vehicle behavior prediction means, the first timing is the same as or prior to the timing at which the disturbance corresponding to the disturbance information is scheduled to be applied to the vehicle. Vehicle behavior information correcting means for correcting the vehicle behavior information of the vehicle.

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