JP2012071630A - 車体姿勢制御装置 - Google Patents
車体姿勢制御装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60G—VEHICLE SUSPENSION ARRANGEMENTS
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- B60G2400/41—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/22—Suspension systems
- B60W2710/226—Damping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/16—Pitch
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- Vehicle Body Suspensions (AREA)
Abstract
【解決手段】 車両走行時のタイヤが常用領域にある間は、ロールレイトに応じて目標ピッチレイトを算出するピッチ制御部23の方をロール抑制部18よりも優先させる。この場合、ピッチ制御部23で算出した目標減衰力に重みを与え、前記目標ピッチレイトとなるように各ダンパ6,9の減衰力特性を制御する。タイヤの路面グリップ状態が悪い限界領域では、ピッチ制御部23よりもロール抑制部18の方を優先させ、ロール抑制部18で算出した目標減衰力に重みを与える。これにより、ロール抑制制御量を大きくするように各ダンパ6,9の減衰力特性を制御する。
【選択図】 図2
Description
2 前輪
3 後輪
4,7 サスペンション装置
5,8 ばね
6,9 減衰力可変ダンパ(ピッチモーメント発生手段,ロール抑制手段)
10 ロールレイトセンサ(ロールレイト検出手段)
11 ピッチレイトセンサ(ピッチレイト検出手段)
12 ヨーレイトセンサ(ヨーレイト検出手段)
13 操舵角センサ
14 車速センサ
15,41,71,81 コントローラ(制御手段)
18 ロール抑制部
19 ゲイン乗算部(目標ピッチレイト算出手段)
20 積分部(目標ピッチレイト算出手段)
21 符号判別部(目標ピッチレイト算出手段)
22 乗算部(目標ピッチレイト算出手段)
23,49,75,82 ピッチ制御部
29,84 限界領域判断部(車両運動判断手段)
35,76 第1の重み係数乗算部
36,77 第2の重み係数乗算部
37 加算部
38 減衰力マップ演算部
39 電流ドライバ
46 絶対値演算部(目標ピッチレイト算出手段)
47 微分部(目標ピッチレイト算出手段)
48 ゲイン乗算部(目標ピッチレイト算出手段)
51 走行状態判断部(車両運動判断手段)
79 電磁ダンパ(ピッチモーメント発生手段,ロール抑制手段)
85 重み係数乗算部
87 駆動力制御部(ピッチモーメント発生手段,ロール抑制手段)
Claims (10)
- 車両の車体の姿勢を制御する車体姿勢制御装置であって、
ロール感向上制御手段と安定性向上制御手段と車両運動判断手段とを有し、
前記ロール感向上制御手段は、
前記車体のロールレイトの大きさに応じて増大するように前記車体のピッチレイトの目標値である目標ピッチレイトを算出する目標ピッチレイト算出手段と、
前記車体のピッチレイトが前記目標ピッチレイトに近づくように前記車体に対してピッチモーメントを発生するピッチモーメント発生手段とを含んで構成し、
前記安定性向上制御手段は、ロールを抑制する力を発生するロール抑制手段により構成し、
前記車両運動判断手段は、車両運動に応じて前記ロール感向上制御手段と前記安定性向上制御手段の制御割合を切替える構成としてなる車体姿勢制御装置。 - 前記車両運動判断手段は、車両運動状態に応じてタイヤが滑り出す限界状態か否かを判断するタイヤ限界判断手段を有し、前記タイヤ限界判断手段が限界状態と判断したときは、前記ロール感向上制御手段による制御割合を強くし、前記タイヤ限界判断手段が限界状態と判断しないときには、前記限界状態と判断したときよりも前記安定性向上制御手段による制御割合を強くすることを特徴とする請求項1に記載の車体姿勢制御装置。
- 前記タイヤ限界判断手段は、タイヤのコーナリングパワーが線形領域から非線形領域になるか否かを判断する領域判断手段を備え、前記領域判断手段により前記線形領域と判断したときには、前記非線形領域のときよりも前記ロール感向上制御手段による制御割合を強くし、前記領域判断手段により前記非線形領域になると判断したときには、前記線形領域のときよりも前記安定性向上制御手段による制御割合を強くすることを特徴とする請求項2に記載の車体姿勢制御装置。
- 前記タイヤ限界判断手段は、車速が予め決められた閾値を越えたときに限界と判断することを特徴とする請求項2に記載の車体姿勢制御装置。
- 前記ピッチモーメント発生手段は、前記目標ピッチレイトから車両モデルにより目標ピッチモーメントを算出する目標ピッチモーメント算出手段と、前記車体のピッチモーメントが前記目標ピッチモーメントに近づくように前記ピッチモーメントを発生するピッチモーメント発生機構と、からなることを特徴とする請求項1乃至4の何れかに記載の車体姿勢制御装置。
- 前記車体のピッチレイトを検出するピッチレイト検出手段と、検出された前記ピッチレイトと前記目標ピッチレイトとの差が小さくなるように前記車体に対してピッチモーメントを発生するピッチモーメント発生手段と、からなることを特徴とする請求項1乃至5の何れかに記載の車体姿勢制御装置。
- 前記車両は少なくとも4つの車輪を有し、前記ピッチモーメント発生手段は、前記各車輪側にそれぞれ設けられ、減衰特性が調整可能な減衰力調整式ショックアブソーバであり、前記減衰特性を調整することにより前記車体に対するピッチモーメントを調整することを特徴とする請求項1乃至6の何れかに記載の車体姿勢制御装置。
- 前記車両は少なくとも4つの車輪を有し、前記ピッチモーメント発生手段は、前記各車輪側にそれぞれ設けられ、前記車体と車輪とに対して上,下方向の力を加えるアクティブサスペンションであり、前記上,下方向の力を調整することにより前記車体にピッチモーメントを加えることを特徴とする請求項1乃至6の何れかに記載の車体姿勢制御装置。
- 前記車両は少なくとも4つの車輪を有し、前記ピッチモーメント発生手段は、前記車両に設けられた駆動手段とブレーキであり、前後加速度を調整することにより前記車体にピッチモーメントを加えることを特徴とする請求項1乃至6の何れかに記載の車体姿勢制御装置。
- 前記車体のロールレイトと前記車体のピッチレイトは、操舵角と車速から求めることを特徴とする請求項1に記載の車体姿勢制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010216068A JP5571519B2 (ja) | 2010-09-27 | 2010-09-27 | 車体姿勢制御装置 |
KR1020110094639A KR101872984B1 (ko) | 2010-09-27 | 2011-09-20 | 차체 자세 제어 장치 |
US13/240,355 US8718872B2 (en) | 2010-09-27 | 2011-09-22 | Vehicle attitude controller |
CN201110285319.XA CN102416951B (zh) | 2010-09-27 | 2011-09-23 | 车体姿势控制装置 |
DE102011083389.7A DE102011083389B4 (de) | 2010-09-27 | 2011-09-26 | Fahrzeuglagesteuereinheit |
Applications Claiming Priority (1)
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JP2010216068A JP5571519B2 (ja) | 2010-09-27 | 2010-09-27 | 車体姿勢制御装置 |
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JP2012071630A true JP2012071630A (ja) | 2012-04-12 |
JP5571519B2 JP5571519B2 (ja) | 2014-08-13 |
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JP2010216068A Active JP5571519B2 (ja) | 2010-09-27 | 2010-09-27 | 車体姿勢制御装置 |
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US (1) | US8718872B2 (ja) |
JP (1) | JP5571519B2 (ja) |
KR (1) | KR101872984B1 (ja) |
CN (1) | CN102416951B (ja) |
DE (1) | DE102011083389B4 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103909803A (zh) * | 2013-01-04 | 2014-07-09 | 福特环球技术公司 | 用于脉冲/滑行绿色巡航控制的悬架控制 |
DE102014217307A1 (de) | 2013-08-30 | 2015-03-05 | Hitachi Automotive Systems, Ltd. | Fahrzeugverhalten-Steuervorrichtung |
JP2020075582A (ja) * | 2018-11-06 | 2020-05-21 | 本田技研工業株式会社 | 車両のサスペンション制御装置 |
JP2021109515A (ja) * | 2020-01-09 | 2021-08-02 | 株式会社ショーワ | サスペンション制御装置及びサスペンション装置 |
DE112022004625T5 (de) | 2021-09-27 | 2024-08-29 | Hitachi Astemo, Ltd. | Fahrzeugsteuerungsvorrichtung und Fahrzeugsteuerungssystem |
Families Citing this family (53)
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---|---|---|---|---|
JP4882848B2 (ja) * | 2007-04-23 | 2012-02-22 | アイシン精機株式会社 | 統合車体挙動制御装置 |
US8839920B2 (en) | 2008-04-17 | 2014-09-23 | Levant Power Corporation | Hydraulic energy transfer |
KR101270352B1 (ko) * | 2009-02-23 | 2013-05-31 | 도요타지도샤가부시키가이샤 | 감쇠력 제어 장치 |
JP5700190B2 (ja) * | 2009-08-04 | 2015-04-15 | 日立オートモティブシステムズ株式会社 | サスペンション制御装置 |
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DE102011083389B4 (de) | 2024-08-01 |
JP5571519B2 (ja) | 2014-08-13 |
US8718872B2 (en) | 2014-05-06 |
CN102416951A (zh) | 2012-04-18 |
CN102416951B (zh) | 2016-01-20 |
US20120078470A1 (en) | 2012-03-29 |
KR101872984B1 (ko) | 2018-07-02 |
DE102011083389A1 (de) | 2012-03-29 |
KR20120031887A (ko) | 2012-04-04 |
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