JP2013224130A - Controller of vehicle and control method for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller of a vehicle which can control the position of the vehicle without giving an occupant a sense of discomfort.SOLUTION: A controller carries out power source posture control for suppressing a change in a behavior of an upper part of a spring of a vehicle and damping force control for controlling a damping force of a damping force variable shock absorber that suppresses the change in the behavior of the upper part of the spring. During the control, when a stroke speed is low, the saturation of the damping force variable shock absorber is determined to be smaller than the case that the stroke speed is higher.

Description

  The present invention relates to a control device that controls the state of a vehicle.

  As a technique related to a vehicle control device, a technique described in Patent Document 1 is disclosed. This publication discloses a technique for stabilizing the vehicle body posture by controlling the damping force of the variable damping force shock absorber in order to suppress the sprung behavior when the sprung behavior occurs.

Japanese Unexamined Patent Publication No. 7-117435

  However, as a result of intensive studies by the inventor, it has been found that the vehicle body posture may not be sufficiently stabilized even if the damping force control is performed according to the stroke speed range.

  The present invention has been made paying attention to the above problem, and an object of the present invention is to provide a vehicle control device capable of stabilizing the vehicle behavior regardless of the stroke speed range.

  In order to achieve the above object, in the present invention, when the stroke speed of the damping force variable shock absorber that performs damping force control that suppresses the change in the sprung behavior is equal to or less than a predetermined value, the saturation of the damping force variable region is the stroke. The damping force control is set to be lower than the saturation level when the speed is greater than a predetermined value, and the damping force control is performed within the range of the damping force variable region defined by the set saturation level.

  Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. When the stroke speed is greater than the predetermined value, the damping force variable region is widened. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range.

1 is a system schematic diagram illustrating a vehicle control apparatus according to a first embodiment. FIG. 2 is a control block diagram illustrating a control configuration of the vehicle control device according to the first embodiment. 1 is a conceptual diagram illustrating a configuration of a wheel speed feedback control system according to a first embodiment. FIG. 3 is a control block diagram illustrating a configuration of a traveling state estimation unit according to the first embodiment. It is a control block diagram showing the control content in the stroke speed calculating part of Example 1. FIG. 3 is a block diagram illustrating a configuration of a reference wheel speed calculation unit according to the first embodiment. It is the schematic showing a vehicle body vibration model. It is a control block diagram showing brake pitch control of Example 1. It is the figure which expressed simultaneously the wheel speed frequency characteristic detected by the wheel speed sensor, and the stroke frequency characteristic of the stroke sensor which is not mounted in the Example. It is a control block diagram showing the frequency sensitive control in the sprung mass damping control of the first embodiment. It is a correlation diagram showing the human sensory characteristic in each frequency domain. It is a characteristic view showing the relationship between the vibration mixing ratio of the wing area | region by the frequency sensitive control of Example 1, and damping force. It is a figure showing the wheel speed frequency characteristic detected by the wheel speed sensor in a certain running condition. FIG. 3 is a control block diagram illustrating a configuration of roll rate suppression control according to the first embodiment. 3 is a time chart illustrating an envelope waveform forming process of roll rate suppression control according to the first embodiment. FIG. 3 is a block diagram illustrating a control configuration of unsprung vibration suppression control according to the first embodiment. FIG. 3 is a control block diagram illustrating a control configuration of a damping force control unit according to the first embodiment. It is a figure showing the relationship between the saturation of Example 1, and the command electric current value to S / A3. 6 is a flowchart illustrating attenuation coefficient arbitration processing in a standard mode according to the first embodiment. 6 is a flowchart illustrating an attenuation coefficient arbitration process in the sport mode according to the first embodiment. 6 is a flowchart illustrating attenuation coefficient arbitration processing in the comfort mode according to the first embodiment. 6 is a flowchart illustrating attenuation coefficient arbitration processing in a highway mode according to the first exemplary embodiment. It is a time chart showing the attenuation coefficient change at the time of drive | working a wavy road surface and an uneven | corrugated road surface. 6 is a flowchart illustrating a mode selection process based on a running state in an attenuation coefficient arbitration unit according to the first embodiment. FIG. 6 is a characteristic diagram illustrating a relationship of control force with respect to stroke speed according to the first embodiment. It is a characteristic view showing the relationship of the gain with respect to the frequency of the stroke speed of a convex vehicle, and stroke speed amplitude. 2 is a saturation restriction map according to the first embodiment. It is a saturation restriction | limiting map in another Example. FIG. 6 is a control block diagram illustrating a control configuration of a vehicle control device according to a second embodiment. FIG. 12 is a control block diagram illustrating actuator control amount calculation processing when performing pitch control according to the second embodiment.

[Example 1]
FIG. 1 is a system schematic diagram illustrating a vehicle control apparatus according to the first embodiment. The vehicle includes an engine 1 that is a power source and a brake 20 that generates braking torque due to friction force on each wheel (hereinafter, when displaying brakes corresponding to individual wheels, right front wheel brake: 20FR, left front wheel brake: 20FL). Right rear wheel brake: 20RR, left rear wheel brake: 20RL), and shock absorber 3 (hereinafter referred to as S / A) provided between each wheel and the vehicle body and capable of variably controlling the damping force. When displaying S / A corresponding to an individual wheel, right front wheel S / A: 3FR, left front wheel S / A: 3FL, right rear wheel S / A: 3RR, left rear wheel S / A: 3RL And).

  The engine 1 includes an engine controller (hereinafter also referred to as an engine control unit, which corresponds to a power source control means) 1a that controls torque output from the engine 1, and the engine controller 1a includes a throttle valve opening degree of the engine 1, By controlling the fuel injection amount, ignition timing, etc., the desired engine operating state (engine speed and engine output torque) is controlled. Further, the brake 20 generates a braking torque based on the hydraulic pressure supplied from the brake control unit 2 that can control the brake hydraulic pressure of each wheel according to the traveling state. The brake control unit 2 includes a brake controller (hereinafter also referred to as a brake control unit) 2a for controlling a braking torque generated by the brake 20, and a master cylinder pressure generated by a driver's brake pedal operation or a built-in motor. A pump pressure generated by the drive pump is used as a hydraulic pressure source, and a desired hydraulic pressure is generated in the brake 20 of each wheel by opening and closing operations of a plurality of solenoid valves.

  S / A3 is a damping force generator that attenuates the elastic motion of a coil spring provided between a vehicle unsprung (axle, wheel, etc.) and a sprung (vehicle body, etc.). It is configured to be variable. The S / A 3 includes a cylinder in which fluid is sealed, a piston that strokes in the cylinder, and an orifice that controls fluid movement between fluid chambers formed above and below the piston. Furthermore, orifices having a plurality of types of orifice diameters are formed in the piston, and an orifice corresponding to a control command is selected from the plurality of types of orifices when the S / A actuator is operated. Thereby, the damping force according to the orifice diameter can be generated. For example, if the orifice diameter is small, the movement of the piston is easily restricted, so that the damping force is high. If the orifice diameter is large, the movement of the piston is difficult to be restricted, and thus the damping force is small.

  In addition to the selection of the orifice diameter, for example, an electromagnetic control valve is arranged on the communication path connecting fluids formed above and below the piston, and the damping force is set by controlling the opening / closing amount of the electromagnetic control valve. There is no particular limitation. The S / A 3 has an S / A controller 3a (corresponding to damping force control means) that controls the damping force of the S / A 3, and controls the damping force by operating the orifice diameter by the S / A actuator.

  Further, a wheel speed sensor 5 for detecting the wheel speed of each wheel (hereinafter, when displaying the wheel speed corresponding to each wheel, right front wheel speed: 5FR, left front wheel speed: 5FL, right rear wheel speed: 5RR. , Left rear wheel speed: 5RL)), an integrated sensor 6 for detecting longitudinal acceleration, yaw rate and lateral acceleration acting on the center of gravity of the vehicle, and a steering angle which is a steering operation amount of the driver is detected. Steering angle sensor 7, vehicle speed sensor 8 for detecting vehicle speed, engine torque sensor 9 for detecting engine torque, engine speed sensor 10 for detecting engine speed, and master pressure sensor 11 for detecting master cylinder pressure. And a brake switch 12 that outputs an on-state signal when a brake pedal operation is performed, and an accelerator opening sensor 13 that detects an accelerator pedal opening. The signals from these various sensors are input to the engine controller 1a, the brake controller 2a, and the S / A controller 3a as necessary. The arrangement of the integrated sensor 6 may be the position of the center of gravity of the vehicle, and may be a configuration that can estimate various values at the position of the center of gravity even at other locations, and is not particularly limited. Moreover, it is not necessary to be an integral type, and a configuration in which yaw rate, longitudinal acceleration, and lateral acceleration are individually detected may be employed.

(Overall configuration of vehicle control device)
In the vehicle control apparatus of the first embodiment, three actuators are used to control the vibration state generated on the spring. At this time, since each control controls the sprung state, mutual interference becomes a problem. In addition, the elements that can be controlled by the engine 1, the elements that can be controlled by the brake 20, and the elements that can be controlled by the S / A 3 are different from each other, and how to control them in combination is a problem.
For example, the brake 20 can control a bounce motion and a pitch motion, but if both are performed, a feeling of deceleration is strong and a driver is likely to feel uncomfortable. In addition, S / A3 can control all of roll motion, bounce motion and pitch motion. However, when all control is performed by S / A3 in a wide range, the production cost of S / A3 is increased. Since the damping force tends to increase, high-frequency vibrations from the road surface side are easily input, and the driver is likely to feel uncomfortable. In other words, there is a trade-off that the control by the brake 20 does not cause deterioration of the high frequency vibration but increases the feeling of deceleration, and the control by the S / A3 does not cause the feeling of deceleration but invites the input of high frequency vibration. To do.

Therefore, in the vehicle control apparatus of the first embodiment, it is possible to comprehensively judge these problems and realize a control configuration that complements each other's weak points while taking advantage of the advantages as the respective control characteristics. Therefore, in order to realize a vehicle control apparatus that is inexpensive but has excellent vibration control capability, an overall control system was constructed mainly considering the points listed below.
(1) The control amount by S / A3 is suppressed by performing control by the engine 1 and the brake 20 in parallel.
(2) By limiting the control target motion of the brake 20 to the pitch motion, the feeling of deceleration in the control by the brake 20 is eliminated.
(3) The control amount by the engine 1 and the brake 20 is limited and output from the control amount that can be actually output, thereby reducing the burden on the S / A 3 and accompanying the control of the engine 1 and the brake 20. Suppresses discomfort that occurs.
(4) Skyhook control is performed by all actuators. At this time, without using a stroke sensor or a sprung vertical acceleration sensor generally required for skyhook control, the skyhook control can be performed with an inexpensive configuration using wheel speed sensors mounted on all vehicles. Realize.
(5) When performing sprung control by S / A3, scalar control (frequency sensitive control) is newly introduced for the input of high frequency vibration that is difficult to cope with by vector control such as skyhook control.
(6) By appropriately selecting the control state realized by the S / A 3 according to the traveling state, an appropriate control state according to the traveling state is provided.
The above is the outline of the entire control system configured in the embodiment. Hereinafter, individual contents for realizing these will be sequentially described.

FIG. 2 is a control block diagram illustrating a control configuration of the vehicle control apparatus according to the first embodiment. In the first embodiment, the controller includes an engine controller 1a, a brake controller 2a, and an S / A controller 3a, and each controller constitutes a wheel speed feedback control system.
In the first embodiment, the configuration including three controllers as the controller is shown, but each controller may be configured by one integrated controller without any particular limitation. The configuration including the three controllers in the first embodiment is that the engine controller and the brake controller in the existing vehicle are used as they are to form the engine control unit 1a and the brake control unit 2a, and the S / A controller 3a is separately mounted. Thus, it is assumed that the vehicle control apparatus of the first embodiment is realized.

(Engine controller configuration)
The engine controller 1a mainly uses the wheel speed detected by the wheel speed sensor 5 to determine the stroke speed, bounce rate, roll rate and pitch of each wheel used for the skyhook control of the sprung mass damping control unit 101a described later. A first running state estimation unit 100 that estimates the rate, an engine posture control unit 101 that calculates an engine posture control amount that is an engine torque command, and controls the operating state of the engine 1 based on the calculated engine posture control amount. An engine control unit 102. The details of the estimation process of the first traveling state estimation unit 100 will be described later.
The engine attitude control unit 101 includes a sprung mass damping control unit 101a that calculates a sprung control amount that suppresses bounce motion and pitch motion by skyhook control, and ground load variation suppression that suppresses ground load variation of front and rear wheels. A ground load control unit 101b that calculates a control amount, and an engine-side driver input control unit 101c that calculates a yaw response control amount corresponding to a vehicle behavior that the driver wants to achieve based on signals from the steering angle sensor 7 and the vehicle speed sensor 8 And have. The engine attitude control unit 101 calculates an engine attitude control amount that minimizes the control amount calculated by each of these control units by optimal control (LQR), and determines the final engine attitude control amount for the engine control unit 102. Output. In this manner, by suppressing the bounce motion and the pitch motion by the engine 1, the S / A 3 can reduce the damping force control amount, and therefore, deterioration of the high frequency vibration can be avoided. Moreover, since S / A3 can concentrate on suppression of roll motion, it can suppress roll motion effectively.

(Brake controller configuration)
Based on the wheel speed detected by the wheel speed sensor 5, the brake controller 2a estimates the stroke speed and pitch rate of each wheel, and the like based on the estimated stroke speed and pitch rate. A skyhook control unit 201 (details will be described later) for calculating a brake attitude control amount based on the skyhook control, and a brake control unit 202 for controlling the braking torque of the brake 20 based on the calculated brake attitude control amount. And have. In the first embodiment, the same estimation process is employed as the estimation process in the first traveling state estimation unit 100 and the second traveling state estimation unit 200. It may be used. In this way, by suppressing the pitch motion by the brake 20, in S / A3, the damping force control amount can be reduced, so that deterioration of high-frequency vibration can be avoided. Moreover, since S / A3 can concentrate on suppression of roll motion, it can suppress roll motion effectively.

(Configuration of S / A controller)
The S / A controller 3a includes a driver input control unit 31 that performs driver input control for achieving a desired vehicle posture based on a driver's operation (steering operation, accelerator operation, brake pedal operation, etc.), and detection values of various sensors. A third traveling state estimation unit 32 that estimates the traveling state based on (mainly the wheel speed sensor value of the wheel speed sensor 5), and a sprung mass damping that controls the vibration state on the spring based on the estimated traveling state A control unit 33, an unsprung vibration suppression control unit 34 that controls the unsprung vibration state based on the estimated traveling state, a shock absorber attitude control amount output from the driver input control unit 31, and a sprung mass damping Based on the sprung mass damping control amount output from the control unit 33 and the unsprung vibration damping control amount output from the unsprung vibration suppression control unit 34, a damping force to be set in the S / A 3 is determined. / And a damping force control unit 35 for performing the damping force control of the A. In the first embodiment, the same estimation process is adopted as the estimation process in the first traveling state estimation unit 100, the second traveling state estimation unit 200, and the third traveling state estimation unit 32, but the process is estimated from the wheel speed. If so, other estimation processes may be used and there is no particular limitation.

  Here, in the first embodiment, the feedback control system using the wheel speed sensor 5 is configured in all the actuators. FIG. 3 is a conceptual diagram showing the configuration of the wheel speed feedback control system of the first embodiment. The engine 1, the brake 20 and the S / A 3 individually constitute an engine feedback control system, a brake feedback control system, and an S / A feedback control system. At this time, when each actuator individually operates without mutually monitoring the operation state, control interference becomes a problem. However, since the effects of the control of each actuator appear as wheel speed fluctuations, by configuring the wheel speed feedback control system, the effect of each actuator is monitored as a result, and control interference is avoided. It is. For example, if a certain sprung vibration is suppressed by the engine 1, the wheel speed fluctuation | variation accompanying it will arise. Even if the other actuators do not sense the control content performed in the engine 1, the brake 20 and the S / A 3 perform control based on the wheel speed in which the influence is reflected. In other words, because the feedback control system is configured using a common value of wheel speed, even if individual control is performed without controllable mutual monitoring, as a result, control based on mutual monitoring (below) This control is described as emphasis control), and the vehicle posture can be converged in the stabilization direction. Hereinafter, each feedback control system will be described sequentially.

(About the running state estimation unit)
First, the 1st, 2nd, 3rd driving state estimation part which is a common structure provided in each feedback control system is demonstrated. In the first embodiment, the same estimation process is adopted as the estimation process in the first traveling state estimation unit 100, the second traveling state estimation unit 200, and the third traveling state estimation unit 32. Therefore, since the process in each estimation part is common, the estimation process in the 3rd driving state estimation part 32 is demonstrated as a representative. Each of the running state estimation units may be provided with a separate estimation model as long as it is a state estimation using the wheel speed, and is not particularly limited.

  FIG. 4 is a control block diagram illustrating the configuration of the third traveling state estimation unit according to the first embodiment. In the third running state estimation unit 32 of the first embodiment, the stroke of each wheel used for the skyhook control of the sprung mass damping control unit 33 to be described later is basically based on the wheel speed detected by the wheel speed sensor 5. Calculate speed, bounce rate, roll rate and pitch rate. First, the value of the wheel speed sensor 5 of each wheel is input to the stroke speed calculation unit 321, and the sprung speed is calculated from the stroke speed of each wheel calculated by the stroke speed calculation unit 321.

  FIG. 5 is a control block diagram illustrating control contents in the stroke speed calculation unit according to the first embodiment. The stroke speed calculation unit 321 is individually provided for each wheel, and the control block diagram shown in FIG. 5 is a control block diagram focusing on a certain wheel. In the stroke speed calculation unit 321, the value of the wheel speed sensor 5, the front wheel steering angle δf detected by the steering angle sensor 7, and the rear wheel steering angle δr (actual rear wheel steering if a rear wheel steering device is provided). The reference wheel speed calculation unit 300 that calculates a reference wheel speed based on the vehicle body lateral speed and the actual yaw rate detected by the integrated sensor 6, and the angle may be appropriately set to 0 in other cases. A tire rotation vibration frequency calculation unit 321a that calculates the tire rotation vibration frequency based on the calculated reference wheel speed, and a deviation calculation unit 321b that calculates a deviation (wheel speed fluctuation) between the reference wheel speed and the wheel speed sensor value. A GEO conversion unit 321c that converts the deviation calculated by the deviation calculation unit 321b into a suspension stroke amount, a stroke speed calibration unit 321d that calibrates the converted stroke amount to a stroke speed, A band elimination filter corresponding to the frequency calculated by the tire rotation vibration frequency calculation unit 321a is applied to the value calibrated by the roke speed calibration unit 321d to remove the tire rotation primary vibration component and calculate the final stroke speed. And a signal processing unit 321e.

[Regarding the reference wheel speed calculation unit]
Here, the reference wheel speed calculation unit 300 will be described. FIG. 6 is a block diagram illustrating a configuration of a reference wheel speed calculation unit according to the first embodiment. The reference wheel speed refers to a value obtained by removing various disturbances from each wheel speed. In other words, the difference between the wheel speed sensor value and the reference wheel speed is a value that is related to the component that fluctuates according to the stroke generated by the bounce behavior, roll behavior, pitch behavior, or unsprung vertical vibration of the vehicle body. In the example, the stroke speed is estimated based on this difference.

  In the plane motion component extraction unit 301, the first wheel speed V0 that is the reference wheel speed of each wheel is calculated based on the vehicle body plan view model with the wheel speed sensor value as an input. Here, the wheel speed sensor value detected by the wheel speed sensor 5 is ω (rad / s), the front wheel actual steering angle detected by the steering angle sensor 7 is δf (rad), and the rear wheel actual steering angle is δr (rad ), The vehicle body lateral speed is Vx, the yaw rate detected by the integrated sensor 6 is γ (rad / s), the vehicle speed estimated from the calculated reference wheel speed ω0 is V (m / s), and the reference to be calculated Wheel speed is VFL, VFR, VRL, VRR, front wheel tread is Tf, rear wheel tread is Tr, distance from vehicle center of gravity to front wheel is Lf, and distance from vehicle center of gravity to rear wheel is Lr. Using the above, the car body plan view model is expressed as follows.

(Formula 1)
VFL = (V−Tf / 2 ・ γ) cosδf + (Vx + Lf ・ γ) sinδf
VFR = (V + Tf / 2 ・ γ) cosδf + (Vx + Lf ・ γ) sinδf
VRL = (V−Tr / 2 ・ γ) cosδr + (Vx−Lr ・ γ) sinδr
VRR = (V + Tr / 2 ・ γ) cosδr + (Vx−Lr ・ γ) sinδr
If it is assumed that the vehicle is traveling normally without skidding, 0 may be input as the vehicle body lateral velocity Vx. When this is rewritten to a value based on V in each equation, it is expressed as follows. In this rewriting, V is described as V0FL, V0FR, V0RL, V0RR (corresponding to the first wheel speed) as a value corresponding to each wheel.
(Formula 2)
V0FL = {VFL−Lf · γsinδf} / cosδf + Tf / 2 · γ
V0FR = {VFR−Lf · γsinδf} / cosδf−Tf / 2 · γ
V0RL = {VRL + Lr · γsinδr} / cosδr + Tr / 2 · γ
V0RR = {VRR + Lf · γsinδf} / cosδr−Tr / 2 · γ

The roll disturbance removing unit 302 calculates the second wheel speeds V0F and V0R as the reference wheel speeds for the front and rear wheels based on the vehicle body front view model with the first wheel speed V0 as an input. The vehicle body front view model removes the wheel speed difference caused by the roll motion that occurs around the roll rotation center on the vertical line passing through the center of gravity of the vehicle when the vehicle is viewed from the front. Is done.
V0F = (V0FL + V0FR) / 2
V0R = (V0RL + V0RR) / 2
As a result, the second wheel speeds V0F and V0R from which disturbance based on the roll is removed are obtained.

The pitch disturbance removal unit 303 calculates the third wheel speeds VbFL, VbFR, VbRL, and VbRR, which are the reference wheel speeds for all the wheels, based on the vehicle side view model, with the second wheel speeds V0F and V0R as inputs. Here, the vehicle body side view model is to remove the wheel speed difference caused by the pitch motion generated around the pitch rotation center on the vertical line passing through the center of gravity of the vehicle when the vehicle is viewed from the lateral direction. It is expressed by the following formula.
(Formula 3)
VbFL = VbFR = VbRL = VbRR = {Lr / (Lf + Lr)} V0F + {Lf / (Lf + Lr)} V0R
In the reference wheel speed redistribution unit 304, VbFL (= VbFR = VbRL = VbRR) is substituted for V in the vehicle body plan view model shown in (Equation 1), respectively, and the final reference wheel speeds VFL, VFR, VRL of the respective wheels are substituted. VRR is calculated and divided by the tire radius r0 to calculate the reference wheel speed ω0.

  When the reference wheel speed ω0 for each wheel is calculated by the above processing, a deviation between the reference wheel speed ω0 and the wheel speed sensor value is calculated, and this deviation is a wheel speed variation associated with the suspension stroke. Converted to stroke speed Vz_s. Basically, the suspension does not stroke only in the vertical direction when holding each wheel, but the wheel rotation center moves back and forth with the stroke, and the axle itself equipped with the wheel speed sensor 5 also tilts. It causes a rotation angle difference from the wheel. Since the wheel speed changes with this back-and-forth movement, the deviation between the reference wheel speed and the wheel speed sensor value can be extracted as the fluctuation accompanying this stroke. It should be noted that the degree of fluctuation may be set as appropriate according to the suspension geometry.

  When the stroke speed calculation unit 321 calculates the stroke speeds Vz_sFL, Vz_sFR, Vz_sRL, and Vz_sRR for each wheel by the above processing, the sprung speed calculation unit 322 calculates the bounce rate, roll rate, and pitch rate for skyhook control. Calculated.

(About the estimation model)
Skyhook control is to achieve a flat running state by setting a damping force based on the relationship between the S / A3 stroke speed and the sprung speed, and controlling the posture on the sprung. Here, in order to achieve the posture control on the spring by the skyhook control, it is necessary to feed back the sprung speed. Now, the value that can be detected from the wheel speed sensor 5 is the stroke speed, and since the vertical acceleration sensor or the like is not provided on the spring, the sprung speed needs to be estimated using an estimation model. Hereinafter, the problem of the estimation model and the model configuration to be adopted will be described.

  FIG. 7 is a schematic diagram showing a vehicle body vibration model. FIG. 7A is a model of a vehicle (hereinafter referred to as a conveyor vehicle) having an S / A with a constant damping force, and FIG. 7B has an S / A having a variable damping force. This is a model for performing skyhook control. In FIG. 7, Ms represents the mass on the spring, Mu represents the mass below the spring, Ks represents the elastic coefficient of the coil spring, Cs represents the damping coefficient of S / A, and Ku represents the unsprung (tire). , Cu represents an unsprung (tire) damping coefficient, and Cv represents a variable damping coefficient. Z2 represents a position on the spring, z1 represents a position under the spring, and z0 represents a road surface position.

When the convex vehicle model shown in FIG. 7A is used, the equation of motion for the sprung is expressed as follows. Note that the first derivative (ie, speed) of z1 is represented by dz1, and the second derivative (ie, acceleration) is represented by ddz1.
(Estimation formula 1)
Ms · ddz2 = −Ks (z2−z1) −Cs (dz2−dz1)
When this relational expression is rearranged by Laplace transform, it is expressed as follows.
(Estimation formula 2)
dz2 = − (1 / Ms) · (1 / s ² ) · (Cs · s + Ks) (dz2−dz1)
Here, since dz2-dz1 is a stroke speed (Vz_sFL, Vz_sFR, Vz_sRL, Vz_sRR), the sprung speed can be calculated from the stroke speed. However, when the damping force is changed by the skyhook control, the estimation accuracy is remarkably lowered, and therefore, there is a problem that a large attitude control force (attenuating force change) cannot be given in the convex vehicle model.

Therefore, it is conceivable to use a vehicle model based on skyhook control as shown in FIG. Changing the damping force basically means changing the force that limits the piston moving speed of S / A 3 in accordance with the suspension stroke. Since the semi-active S / A3 that cannot positively move the piston in the desired direction is used, when the semi-active skyhook model is employed and the sprung speed is obtained, it is expressed as follows.
(Estimation formula 3)
dz2 = − (1 / Ms) · (1 / s ² ) · {(Cs + Cv) · s + Ks} (dz2−dz1)
However,
When dz2 · (dz2−dz1) ≧ 0 Cv = Csky · {dz2 / (dz2−dz1)}
When dz2 · (dz2−dz1) <0, Cv = 0
That is, Cv has a discontinuous value.

  Now, if you want to estimate the sprung speed using a simple filter, in the semi-active skyhook model, when this model is viewed as a filter, each variable corresponds to a filter coefficient, and the pseudo-differential term { Since (Cs + Cv) · s + Ks} includes a discontinuous variable attenuation coefficient Cv, the filter response becomes unstable and appropriate estimation accuracy cannot be obtained. In particular, when the filter response becomes unstable, the phase shifts. If the correspondence between the phase of the sprung speed and the sign is broken, the skyhook control cannot be achieved. Therefore, even when a semi-active S / A3 is used, it is not dependent on the sign relationship between the sprung speed and the stroke speed, and the sprung is performed using an active skyhook model that can directly use stable Csky. The speed was estimated. When the active sky hook model is adopted and the sprung speed is obtained, it is expressed as follows.

(Estimation formula 4)
dz2 =-(1 / s). {1 / (s + Csky / Ms)}. {(Cs / Ms) s + (Ks / Ms)} (dz2-dz1)
In this case, discontinuity does not occur in the pseudo differential term {(Cs / Ms) s + (Ks / Ms)}, and the {1 / (s + Csky / Ms)} term can be configured by a low-pass filter. Therefore, the filter response is stable and appropriate estimation accuracy can be obtained. Here, even if the active sky hook model is adopted, only semi-active control is actually possible, so the controllable area is halved. Therefore, the magnitude of the estimated sprung speed is smaller than the actual value in the frequency band below the sprung resonance, but the most important in skyhook control is the phase. If the correspondence between the phase and the sign can be maintained, the skyhook can be maintained. Since control is achieved and the magnitude of the sprung speed can be adjusted by other factors, there is no problem.

  From the above relationship, it can be understood that the sprung speed can be estimated if the stroke speed of each wheel is known. Next, since the actual vehicle is four wheels instead of one wheel, it is considered to estimate the state of the spring by mode decomposition into roll rate, pitch rate and bounce rate using the stroke speed of each wheel. To do. Now, when the above three components are calculated from the stroke speed of the four wheels, one corresponding component is insufficient, and the solution becomes indefinite. Therefore, a war plate representing the movement of the diagonal wheels is introduced. If the stroke amount bounce term is xsB, the roll term is xsR, the pitch term is xsP, the warp term is xsW, and the stroke amount corresponding to Vz_sFL, Vz_sFR, Vz_sRL, Vz_sRR is z_sFL, z_sFR, z_sRL, z_sRR, Holds.

以上の関係式から、xsB、xsR、xsP、xsWの微分ｄxsB等は以下の式で表される。
ｄxsB＝1/4（Vz_sFL＋Vz_sFR＋Vz_sRL＋Vz_sRR）
ｄxsR＝1/4（Vz_sFL−Vz_sFR＋Vz_sRL−Vz_sRR）
ｄxsP＝1/4（−Vz_sFL−Vz_sFR＋Vz_sRL＋Vz_sRR）
ｄxsW＝1/4（−Vz_sFL＋Vz_sFR＋Vz_sRL−Vz_sRR） (Formula 4)

From the above relational expression, the differential dxsB of xsB, xsR, xsP, xsW, etc. is expressed by the following expression.
dxsB = 1/4 (Vz_sFL + Vz_sFR + Vz_sRL + Vz_sRR)
dxsR = 1/4 (Vz_sFL−Vz_sFR + Vz_sRL−Vz_sRR)
dxsP = 1/4 (−Vz_sFL−Vz_sFR + Vz_sRL + Vz_sRR)
dxsW = 1/4 (−Vz_sFL + Vz_sFR + Vz_sRL−Vz_sRR)

Here, since the relationship between the sprung speed and the stroke speed is obtained from the estimation formula 4, among the estimation formula 4, − (1 / s) · {1 // (s + Csky / Ms)} · {(Cs / Ms) s + (Ks / Ms)} portion is denoted as G, and modal parameters (CskyB, CskyR, CskyP, CsB, CsR, CsP, Csky, Cs, and Ks corresponding to bounce term, roll term, and pitch term, respectively) KsB, KsR, KsP) are GB, GR, GP, bounce rate is dB, roll rate is dR, and pitch rate is dP, dB, dR, dP can be calculated as the following values.
dB = GB · dxsB
dR = GR · dxsR
dP = GP · dxsP
From the above, the state estimation on the spring in the actual vehicle can be achieved based on the stroke speed of each wheel.

(Spring control unit)
Next, the skyhook control configuration executed in the sprung mass damping control unit 101a, the skyhook control unit 201, and the sprung mass damping control unit 33 will be described. In the skyhook control, the sprung state estimated based on the wheel speed as described above is controlled to become the target sprung state. In other words, the wheel speed change changes according to the sprung state, and when the sprung state such as bounce, roll, and pitch is controlled to the target sprung state, the detected wheel speed change is detected by the target sprung state. It is controlled so that the wheel speed changes corresponding to the state.

[Configuration of Skyhook Control Unit]
The vehicle control apparatus according to the first embodiment includes the engine 1, the brake 20, and the S / A 3 as actuators for achieving sprung posture control. Among these, the sprung mass damping control unit 101a in the engine controller 1a has two bounce rate and pitch rate as control targets, and the skyhook control unit 201 in the brake controller 2a has pitch rate as control targets. In the skyhook control unit 33a in the controller 3a, three of bounce rate, roll rate, and pitch rate are controlled.

The amount of skyhook control in the bounce direction is
FB = CskyB · dB
The amount of skyhook control in the roll direction is
FR = CskyR · dR
The amount of skyhook control in the pitch direction is
FP = CskyP · dP
It becomes.
(Skyhook control amount FB in the bounce direction)
The bounce direction skyhook control amount FB is calculated as a part of the engine attitude control amount in the sprung mass damping control unit 101a. In addition, the skyhook control unit 33a calculates as a part of the S / A attitude control amount.
(Skyhook control amount FR in roll direction)
The sky hook control amount FR in the roll direction is calculated as part of the S / A attitude control amount in the sky hook control unit 33a.
(Pitch direction skyhook control amount FP)
The sky hook control amount FP in the pitch direction is calculated as a part of the engine attitude control amount in the sprung mass damping control unit 101a. In addition, the skyhook control unit 201 calculates the brake posture control amount. In addition, the skyhook control unit 33a calculates as a part of the S / A attitude control amount.

  The engine attitude control unit 101 is set with a limit value for limiting the engine torque control amount according to the engine attitude control amount so as not to give the driver a sense of incongruity. Thus, the engine torque control amount is limited to be within a predetermined longitudinal acceleration range when converted to longitudinal acceleration. Therefore, when the engine attitude control amount (engine torque control amount) is calculated based on FB or FP and a value equal to or greater than the limit value is calculated, bounce rate or pitch rate skyhook control that can be achieved by the limit value The engine attitude control amount is output as a quantity. In the engine control unit 102, an engine torque control amount is calculated based on the engine attitude control amount corresponding to the limit value and is output to the engine 1. In addition to the positive drive torque, the engine attitude control amount can also output negative braking torque due to engine braking, so active control is possible within the range where the engine torque control amount is limited by the limit value. Is executed.

  A limit value for limiting the braking torque control amount is set in the skyhook control unit 201 in order to prevent the driver from feeling uncomfortable like the engine 1 (the limit value will be described in detail later). Thereby, when the braking torque control amount is converted into the longitudinal acceleration, the braking torque control amount is limited to be within a predetermined longitudinal acceleration range (a limit value obtained from the occupant's uncomfortable feeling, the life of the actuator, etc.). Therefore, when the brake attitude control amount is calculated based on the FP and a value equal to or greater than the limit value is calculated, a pitch rate suppression amount (hereinafter referred to as a brake attitude control amount) that can be achieved by the limit value. Output to the brake control unit 202. The brake control unit 202 calculates a braking torque control amount (or deceleration) based on the brake attitude control amount corresponding to the limit value, and outputs the calculated braking torque control amount to the brake 20.

[Brake pitch control]
Here, the brake pitch control will be described. In general, it can be said that it is preferable to perform both of the brakes 20 because both bounce and pitch can be controlled. However, the bounce control by the brake 20 generates braking force at the same time for the four wheels. Therefore, despite the low control priority, the deceleration effect is strong for the difficulty of obtaining the control effect, and the driver tends to feel uncomfortable. there were. Therefore, the brake 20 has a configuration specialized for pitch control. FIG. 8 is a control block diagram showing the brake pitch control of the first embodiment. The vehicle body mass is m, the front wheel braking force is BFf, the rear wheel braking force is BFr, the height between the vehicle center of gravity and the road surface is Hcg, the vehicle acceleration is a, the pitch moment is Mp, and the pitch rate is Vp. Then, the following relational expression is established.

BFf + BFr = m · a
m · a · Hcg = Mp
Mp = (BFf + BFr) · Hcg
Here, when the pitch rate Vp is positive, that is, when the braking force is applied when the front wheel side is depressed, the front wheel side is further depressed and the pitch motion is promoted. In this case, the braking force is not applied. On the other hand, when the pitch rate Vp is negative, that is, when the front wheel side is lifted, the braking pitch moment gives a braking force to suppress the front wheel side lift. This contributes to improving the sense of security and flatness by ensuring the driver's field of view and making it easier to see the front. From the above
When Vp> 0 (front wheel sinks) Mp = 0
When Vp ≦ 0 (front wheel lift) Mp = CskyP · Vp
The amount of control is given. Accordingly, since the braking torque is generated only when the vehicle body is lifted up on the front side, the generated deceleration can be reduced as compared with the case where the braking torque is generated in both the lifting and sinking. Moreover, since the actuator operation frequency is only half, a low-cost actuator can be employed.

  Based on the above relationship, the brake attitude control amount calculation unit 334 is composed of the following control blocks. The dead zone processing code determination unit 3341 determines the sign of the input pitch rate Vp, and when it is positive, it outputs 0 to the deceleration reduction processing unit 3342 because control is unnecessary, and when it is negative, it determines that control is possible. The pitch rate signal is output to the deceleration reduction processing unit 3342.

[Deceleration feeling reduction processing]
Next, the deceleration feeling reduction process will be described. This process is a process corresponding to the restriction by the limit value performed in the brake attitude control amount calculation unit 334. The square processor 3342a squares the pitch rate signal. This inverts the sign and smoothes the rise of the control force. The pitch rate square decay moment calculation unit 3342b calculates the pitch moment Mp by multiplying the squared pitch rate by the skyhook gain CskyP of the pitch term considering the square process. The target deceleration calculating unit 3342c calculates the target deceleration by dividing the pitch moment Mp by the mass m and the height Hcg between the vehicle center of gravity and the road surface.

  In the jerk threshold limiting unit 3342d, the calculated rate of change of the target deceleration, that is, whether the jerk is within a preset range of the deceleration jerk threshold and the extraction jerk threshold, and the target deceleration is the longitudinal acceleration limit value. Judgment is made whether or not it is within the range. If any threshold is exceeded, the target deceleration is corrected to a value within the jerk threshold range, and if the target deceleration exceeds the limit value, the limit is set. Set within the value. Thereby, the deceleration can be generated so as not to give the driver a sense of incongruity.

  The target pitch moment conversion unit 3343 calculates a target pitch moment by multiplying the target deceleration limited by the jerk threshold limiting unit 3342d by the mass m and the height Hcg, and outputs the target pitch moment to the brake control unit 2a.

[Frequency-sensitive control unit]
Next, frequency sensitive control processing in the sprung mass damping control unit will be described. In the first embodiment, the sprung speed is estimated based on the detection value of the wheel speed sensor 5 and the skyhook control is performed based on the estimated sprung speed control. However, when it is considered that the estimation accuracy cannot be sufficiently secured by the wheel speed sensor 5 or depending on the driving situation or the driver's intention, a comfortable driving state (a comfortable ride feeling softer than the vehicle body flatness) is guaranteed. Sometimes you want to. In such cases, vector control where the relationship (phase, etc.) of the sign of stroke speed and sprung speed is important, such as skyhook control, may make it difficult to achieve proper control due to a slight phase shift. Therefore, we decided to introduce frequency-sensitive control, which is sprung mass damping control according to the scalar amount of vibration characteristics.

  FIG. 9 is a diagram in which the wheel speed frequency characteristic detected by the wheel speed sensor and the stroke frequency characteristic of a stroke sensor not mounted in the embodiment are simultaneously written. Here, the frequency characteristic is a characteristic in which the vertical axis represents the magnitude of the amplitude with respect to the frequency as a scalar quantity. Comparing the frequency component of the wheel speed sensor 5 with the frequency component of the stroke sensor, it can be understood that substantially the same scalar amount is taken from the sprung resonance frequency component to the unsprung resonance frequency component. Therefore, the damping force is set based on this frequency characteristic among the detection values of the wheel speed sensor 5. Here, the area where the sprung resonance frequency component exists is felt as if the occupant was thrown into the air by swinging the entire body of the occupant, in other words, the feeling that the gravitational acceleration acting on the occupant was reduced. The frequency region that brings about the wing region (0.5 to 3 Hz), and the region between the sprung resonance frequency component and the unsprung resonance frequency component is not a feeling that gravitational acceleration decreases, trot), the feeling that the human body jumps in small increments, in other words, the frequency region that brings up and down movement that can be followed by the whole body is the leopard region (3 to 6 Hz), and the region where the unsprung resonance frequency component exists Is not a vertical movement until the mass of the human body follows, but a bull region (6 to 6) is a frequency region in which vibration is transmitted to a part of the body such as the occupant's thigh. 23 Hz).

FIG. 10 is a control block diagram illustrating frequency sensitive control in the sprung mass damping control of the first embodiment. The band elimination filter 350 cuts noise other than the vibration component used for the main control from the wheel speed sensor value. The predetermined frequency domain dividing unit 351 divides the frequency band into a wide area, a horizontal area, and a bull area. The Hilbert transform processing unit 352 performs Hilbert transform on each divided frequency band, and converts it into a scalar quantity based on the frequency amplitude (specifically, an area calculated by the amplitude and the frequency band).
The vehicle vibration system weight setting unit 353 sets weights at which vibrations in the frequency bands of the fur region, the leopard region, and the bull region are actually propagated to the vehicle. The human sense weight setting unit 354 sets weights at which vibrations in the frequency bands of the fur region, the leopard region, and the bull region are propagated to the occupant.

  Here, the setting of human sense weight will be described. FIG. 11 is a correlation diagram showing human sensory characteristics with respect to frequency. As shown in FIG. 11, in the waft region, which is a low frequency region, the occupant's sensitivity is relatively low with respect to the frequency, and the sensitivity gradually increases as the frequency shifts to the high frequency region. Note that the high frequency region above the bull region becomes difficult to be transmitted to the occupant. From the above, the human sense weight Wf of the wafe area is set to 0.17, the human sense weight Wh of the leopard area is set to 0.34 which is larger than Wf, and the human sense weight Wb of the bull area is larger than Wf and Wh. Set to 0.38. Thereby, the correlation between the scalar quantity in each frequency band and the vibration actually propagated to the occupant can be further increased. These two weighting factors may be changed as appropriate according to the vehicle concept and the passenger's preference.

The weight determining unit 355 calculates the ratio of the weight of each frequency band to the weight of each frequency band. If the weight of the wing area is a, the weight of the leopard area is b, and the weight of the bull area is c, the weight coefficient of the wing area is (a / (a + b + c)), and the weight coefficient of the leap area is (b / (a + b + c). )), And the weighting factor of the bull area is (c / (a + b + c)).
The scalar amount calculation unit 356 multiplies the scalar amount of each frequency band calculated by the Hilbert transform processing unit 352 by the weight calculated by the weight determination unit 355, and outputs a final scalar amount. The processing so far is performed on the wheel speed sensor value of each wheel.

  The maximum value selection unit 357 selects the maximum value from the final scalar amounts calculated for the four wheels. Note that 0.01 in the lower part is set to avoid the denominator becoming 0 because the sum of the maximum values is used as the denominator in the subsequent processing. The ratio calculation unit 358 calculates the ratio using the sum of the scalar value maximum values in each frequency band as the denominator and the scalar value maximum value in the frequency band corresponding to the waving region as the numerator. In other words, the mixing ratio (hereinafter simply referred to as the ratio) of the wafer region included in all vibration components is calculated. The sprung resonance filter 359 performs filter processing of about 1.2 Hz of the sprung resonance frequency with respect to the calculated ratio, and extracts a sprung resonance frequency band component representing a waft region from the calculated ratio. In other words, since the wing area exists at about 1.2 Hz, the ratio of this area is considered to change at about 1.2 Hz. Then, the finally extracted ratio is output to the damping force control unit 35, and a frequency sensitive damping force control amount corresponding to the ratio is output.

  FIG. 12 is a characteristic diagram showing the relationship between the vibration mixing ratio in the wafer region and the damping force by the frequency sensitive control according to the first embodiment. As shown in FIG. 12, the vibration level of sprung resonance is reduced by setting the damping force high when the ratio of the wing area is large. At this time, even if the damping force is set high, the ratio of the leopard area and the bull area is small, so that high frequency vibration or vibration that moves with the leopard is not transmitted to the occupant. On the other hand, when the ratio of the wing region is small, the damping force is set low, so that the vibration transmission characteristic more than the sprung resonance is reduced, the high frequency vibration is suppressed, and a smooth riding comfort is obtained.

Here, an advantage of the frequency sensitive control when the frequency sensitive control is compared with the skyhook control will be described. FIG. 13 is a diagram showing the wheel speed frequency characteristics detected by the wheel speed sensor 5 under a certain traveling condition. This is a characteristic that appears particularly when traveling on a road surface in which small unevenness such as a stone pavement continues. When Skyhook control is performed while traveling on a road surface exhibiting such characteristics, the damping force is determined by the value of the amplitude peak in Skyhook control. There is a problem that a very high damping force is set at an incorrect timing and high-frequency vibration is deteriorated.
On the other hand, when the control is based on the scalar quantity instead of the vector as in the frequency sensitive control, a low damping force is set on the road surface as shown in FIG. Become. As a result, even if the amplitude of the vibration in the bull region is large, the vibration transfer characteristic is sufficiently reduced, so that deterioration of high-frequency vibration can be avoided. From the above, high-frequency vibration can be suppressed by frequency-sensitive control based on the scalar amount in a region where control is difficult due to deterioration in phase estimation accuracy even if skyhook control is performed using an expensive sensor or the like. .

(About S / A side driver input controller)
Next, the S / A side driver input control unit will be described. The S / A side driver input control unit 31 calculates a driver input damping force control amount corresponding to a vehicle behavior that the driver wants to achieve based on signals from the steering angle sensor 7 and the vehicle speed sensor 8, and a damping force control unit 35. Output for. For example, when the driver is turning, if the nose side of the vehicle is lifted, the driver's field of view easily deviates from the road surface. In this case, the four-wheel damping force is used as a driver input damping force to prevent the nose from rising. Output as a controlled variable. In addition, a driver input damping force control amount that suppresses a roll generated during turning is output.

(About roll control by S / A side driver input control)
Here, the roll suppression control performed by the S / A side driver input control will be described. FIG. 14 is a control block diagram illustrating the configuration of roll rate suppression control according to the first embodiment. The lateral acceleration estimation unit 31b1 estimates the lateral acceleration Yg based on the front wheel steering angle δf detected by the steering angle sensor 7 and the vehicle speed VSP detected by the vehicle speed sensor 8. The lateral acceleration Yg is calculated from the following equation based on the vehicle body plan view model.
Yg = (VSP ² / (1 + A · VSP ² )) · δf
Here, A is a predetermined value.

  The 90 ° phase advance component creation unit 31b2 differentiates the estimated lateral acceleration Yg and outputs a lateral acceleration differential value dYg. The first addition unit 31b4 adds the lateral acceleration Yg and the lateral acceleration differential value dYg. The 90 ° phase delay component creation unit 31b3 outputs a component F (Yg) obtained by delaying the phase of the estimated lateral acceleration Yg by 90 °. The second adder 31b5 adds F (Yg) to the value added by the first adder 31b4. The Hilbert transform unit 31b6 calculates a scalar quantity based on the envelope waveform of the added value. The gain multiplication unit 31b7 multiplies the scalar amount based on the envelope waveform by the gain, calculates a driver input attitude control amount for roll rate suppression control, and outputs the calculated value to the damping force control unit 35.

  FIG. 15 is a time chart showing an envelope waveform forming process of the roll rate suppressing control according to the first embodiment. When the driver starts steering at time t1, roll rate begins to gradually occur. At this time, the 90 ° phase advance component is added to form an envelope waveform, and the driver input attitude control amount is calculated based on the scalar amount based on the envelope waveform, thereby suppressing the occurrence of roll rate in the initial stage of steering. it can. Next, when the driver enters the steering holding state at time t2, the 90 ° phase advance component disappears, and this time, the phase delay component F (Yg) is added. At this time, even if the roll rate itself does not change much in the steady turning state, a roll rate resonance component corresponding to the roll back is generated after the roll once. If the phase delay component F (Yg) is not added, the damping force from the time t2 to the time t3 is set to a small value, which may cause the vehicle behavior to become unstable due to the roll rate resonance component. In order to suppress this roll rate resonance component, a 90 ° phase delay component F (Yg) is added.

  When the driver shifts from the steered state to the straight traveling state at time t3, the lateral acceleration Yg decreases and the roll rate converges to a small value. Again, since the damping force is firmly secured by the action of the 90 ° phase delay component F (Yg), instability due to the roll rate resonance component can be avoided.

(Unsprung vibration control unit)
Next, the configuration of the unsprung vibration suppression control unit will be described. As described in the conveyor vehicle of FIG. 7A, since the tire also has an elastic coefficient and a damping coefficient, a resonance frequency band exists. However, since the mass of the tire is smaller than the mass on the spring and the elastic coefficient is high, it exists on the higher frequency side than the resonance on the spring. Due to this unsprung resonance component, the tire may flutter under the unsprung mass, which may deteriorate the ground contact property. In addition, fluttering under the spring may cause discomfort to the occupant. Therefore, in order to suppress the flutter due to unsprung resonance, a damping force corresponding to the unsprung resonance component is set.

  FIG. 16 is a block diagram illustrating a control configuration of unsprung vibration suppression control according to the first embodiment. The unsprung resonance component extraction unit 341 extracts a unsprung resonance component by applying a band-pass filter to the wheel speed fluctuation output from the deviation calculation unit 321b in the traveling state estimation unit 32. The unsprung resonance component is extracted from the region of approximately 10 to 20 Hz in the wheel speed frequency component. In the envelope waveform shaping unit 342, the extracted unsprung resonance component is scalarized, and the envelope waveform is shaped using the EnvelopeFilter. The gain multiplying unit 343 multiplies the scalarized unsprung resonance component by a gain, calculates an unsprung damping damping force control amount, and outputs it to the damping force control unit 35. In the first embodiment, the unsprung resonance component is extracted by applying a bandpass filter to the wheel speed fluctuation output from the deviation calculating section 321b in the running state estimating section 32. The unsprung resonance component may be extracted by applying a bandpass filter to the driving force, or the unsprung resonance component may be extracted by the running state estimation unit 32 by estimating and calculating the unsprung speed along with the sprung speed. Good.

(Configuration of damping force control unit)
Next, the configuration of the damping force control unit 35 will be described. FIG. 17 is a control block diagram illustrating a control configuration of the damping force control unit according to the first embodiment. In the saturation conversion unit 35a, the driver input damping force control amount output from the driver input control unit 31, the S / A attitude control amount output from the skyhook control unit 33a, and the frequency sensitive control unit 33b. The frequency-sensitive damping force control amount, the unsprung damping damping force control amount output from the unsprung damping control unit 34, and the stroke speed calculated by the running state estimation unit 32 are input, and these values are converted into equivalent viscosity damping. Convert to coefficient. Then, based on the stroke speed, the equivalent viscous damping coefficient Ce, and the damping coefficient maximum value Cemax and minimum value Cemin at this stroke speed, the saturation degree DDS (%) is calculated by the following equation.
DDS = ((Ce−Cemin) / (Cemax−Cemin)) × 100

  Hereinafter, the reason for introducing the saturation will be described. FIG. 18 is a diagram illustrating the relationship between the degree of saturation and the command current value to S / A 3 in Example 1. The damping force characteristic shown in the upper left of FIG. 18 is a characteristic diagram showing the relationship of the damping force to the stroke speed. When this is converted into a damping coefficient characteristic, the characteristic shown in the upper center is obtained. Since the damping coefficient depends on the stroke speed, it is necessary to store a large amount of data in the storage area in order to improve the accuracy when determining the current value, and sufficient accuracy is ensured depending on the amount of data. Hard to do.

  Here, the equivalent viscous damping coefficient Ce required by using the damping coefficient maximum value Cemax and the damping coefficient minimum value Cemin at each stroke speed is expressed by using the saturation. Then, it can be expressed as saturation characteristics as shown in the lower left of FIG. When this saturation characteristic is viewed from the stroke speed axis direction with the saturation DDS as the horizontal axis, it can be understood that the command current value for each saturation is distributed in a very narrow range. That is, it can be seen that there is a relationship that does not depend on the stroke speed between the degree of saturation and the command current value. Therefore, if the command current value is averaged with respect to the stroke speed direction and this average command current value is used, the saturation-current characteristic as shown in the lower right of FIG. 18 is obtained. In this case, since the correlation is on a plane, the accuracy can be increased with data processing that is overwhelmingly smaller than the data amount in the three-dimensional space. For the above reason, in the first embodiment, after calculating the attenuation coefficient, the control accuracy is improved by converting the attenuation coefficient into the saturation degree.

  In the saturation adjuster 35b, the saturations converted by the saturation converter 35a (hereinafter, the saturations are referred to as driver input saturation k1, S / A attitude saturation k2, frequency sensitive saturation k3, unsprung vibration suppression). Saturation degree k4.) Is adjusted based on which saturation level is controlled, and the adjusted saturation degree is limited by a saturation restriction map set in advance based on the stroke speed. Output the final saturation. The control signal conversion unit 35c converts the signal into an S / A3 control signal (command current value) corresponding to the degree of saturation and outputs it to S / A3.

[Saturation adjustment section]
Next, the contents of arbitration by the saturation arbitration unit 35b will be described. The vehicle control apparatus according to the first embodiment has four control modes. First, the standard mode assuming a state where an appropriate turning state can be obtained while driving in a general urban area, and second, a state where a stable turning state can be obtained while actively driving a winding road etc. In sport mode, thirdly, comfort mode that assumes a state of driving with priority on ride comfort, such as when starting at a low vehicle speed, and fourthly, highway mode that assumes a state of traveling at high vehicle speed on highways with many straight lines is there.

In the standard mode, priority is given to unsprung vibration suppression control by the unsprung vibration suppression control unit 34 while performing skyhook control by the skyhook control unit 33a.
In the sport mode, priority is given to driver input control by the driver input control unit 31, and skyhook control by the skyhook control unit 33a and unsprung vibration suppression control by the unsprung vibration suppression control unit 34 are performed.
In the comfort mode, the control for giving priority to the unsprung vibration damping control by the unsprung vibration damping control unit 34 is performed while performing the frequency sensitive control by the frequency sensitive control unit 33b.
In the highway mode, priority is given to driver input control by the driver input control unit 31, and control for adding the amount of unsprung vibration suppression control by the unsprung vibration control unit 34 to skyhook control by the skyhook control unit 33a is performed. To do.
Hereinafter, saturation arbitration in each of these modes will be described.

(Arbitration in standard mode)
FIG. 19 is a flowchart showing the saturation arbitration process in the standard mode of the first embodiment.
In step S1, it is determined whether or not the S / A attitude saturation k2 is larger than the unsprung vibration suppression saturation k4. If so, the process proceeds to step S4, where k2 is set as the saturation.
In step S2, a scalar amount ratio of the bull region is calculated based on the scalar amounts of the fur region, the leopard region, and the bull region described in the frequency response control unit 33b.
In step S3, it is determined whether or not the ratio of the bull area is equal to or greater than a predetermined value. If the ratio is equal to or greater than the predetermined value, there is a concern about the deterioration of riding comfort due to high-frequency vibration. Set. On the other hand, if the ratio of the bull region is less than the predetermined value, there is less concern about deterioration in riding comfort due to high-frequency vibration even if the saturation is set high, so the process proceeds to step S5 and k4 is set.

  As described above, in the standard mode, in principle, priority is given to unsprung vibration suppression control that suppresses unsprung resonance. However, when the damping force required by skyhook control is lower than the damping force required by unsprung vibration suppression control and the ratio of the bull area is large, the damping force of skyhook control is set and Avoid the deterioration of high-frequency vibration characteristics that accompanies the requirements. As a result, it is possible to obtain optimum damping characteristics according to the running state, and at the same time, it is possible to avoid a deterioration in riding comfort against high-frequency vibrations while achieving a flat feeling of the vehicle body.

(Mediation in sport mode)
FIG. 20 is a flowchart illustrating attenuation coefficient arbitration processing in the sport mode of the first embodiment.
In step S11, the four-wheel damping force distribution ratio is calculated based on the four-wheel driver input saturation k1 set by the driver input control. Right front wheel driver input saturation is k1fr, left front wheel driver input saturation is k1fl, right rear wheel driver input saturation is k1rr, left rear wheel driver input saturation is k1rl, and damping force distribution ratio of each wheel If xfr, xfl, xrr, xrl,
xfr = k1fr / (k1fr + k1fl + k1rr + k1rl)
xfl = k1fl / (k1fr + k1fl + k1rr + k1rl)
xrr = k1rr / (k1fr + k1fl + k1rr + k1rl)
xrl = k1rl / (k1fr + k1fl + k1rr + k1rl)
Is calculated by

In step S12, it is determined whether or not the damping force distribution ratio x is within a predetermined range (greater than α and smaller than β). If any one is out of the predetermined range, the process proceeds to step S16.
In step S13, it is determined whether or not the unsprung vibration suppression saturation level k4 is greater than the driver input saturation level k1. On the other hand, when it is determined that the unsprung vibration suppression saturation k4 is equal to or less than the driver input saturation k1, the process proceeds to step S14, and k1 is set as the first saturation k.

In step S16, it is determined whether or not the unsprung vibration suppression saturation k4 is the maximum value max that can be set for S / A3. If it is determined that the maximum value is max, the process proceeds to step S17. move on.
In step S17, the maximum value of the four-wheel driver input saturation k1 is the unsprung vibration suppression saturation k4, and the saturation satisfying the damping force distribution ratio is calculated as the first saturation k. In other words, a value that maximizes the saturation while satisfying the damping force distribution ratio is calculated.
In step S18, the saturation that satisfies the damping force distribution ratio in the range where all the four-wheel driver input damping coefficients k1 are equal to or greater than k4 is calculated as the first saturation k. In other words, a value that satisfies the damping force distribution ratio set by the driver input control and also satisfies the requirements of the unsprung vibration suppression control side is calculated.

  In step S19, it is determined whether or not the first saturation k set in each of the above steps is smaller than the S / A attitude saturation k2 set by skyhook control. Since the degree of saturation requested on the side is larger, the process proceeds to step S20 and k2 is set. On the other hand, if it is determined that k is equal to or greater than k2, the process proceeds to step S21 and k is set.

  As described above, in the sport mode, priority is given to unsprung vibration suppression control that suppresses unsprung resonance in principle. However, the damping force distribution rate required from the driver input control side is closely related to the vehicle body posture, and in particular, the degree of saturation requested from the driver input control side because it is closely related to the change in the driver's line of sight due to the roll mode. The highest priority is to secure the damping force distribution ratio. In addition, with respect to the movement that causes the posture change in the vehicle body posture while the damping force distribution ratio is maintained, the sky vehicle body posture can be maintained by selecting Skyhook control with select high.

(Mediation in Conford mode)
FIG. 21 is a flowchart illustrating the saturation arbitration process in the comfort mode according to the first embodiment.
In step S30, it is determined whether or not the frequency sensitive saturation k3 is greater than the unsprung vibration suppression saturation k4. On the other hand, when it is determined that the frequency sensitive saturation k3 is equal to or less than the unsprung vibration suppression saturation k4, the process proceeds to step S32, where the unsprung vibration suppression saturation k4 is set.

  As described above, in the comfort mode, priority is given to unsprung resonance control that basically suppresses unsprung resonance. Originally frequency-sensitive control was performed as sprung mass damping control, and optimal saturation was set according to the road surface condition, so it was possible to achieve control that secured riding comfort, and lack of grounding feeling due to fluttering under the spring. Can be avoided by unsprung vibration suppression control. In the comfort mode, as in the standard mode, the attenuation coefficient may be switched according to the bull ratio of the frequency scalar quantity. As a result, the ride comfort can be further ensured in the super comfort mode.

(Arbitration in highway mode)
FIG. 22 is a flowchart illustrating the saturation arbitration process in the highway mode according to the first embodiment. Since steps S11 to S18 are the same as the arbitration process in the sport mode, the description thereof is omitted.
In step S40, the S / A attitude saturation k2 by the skyhook control is added to the first saturation k that has been adjusted until step S18, and the result is output.

  As described above, in the highway mode, the saturation is adjusted using a value obtained by adding the S / A posture saturation k2 to the adjusted first saturation k. Here, the operation will be described with reference to the drawings. FIG. 23 is a time chart showing a change in the degree of saturation when traveling on a wavy road surface and an uneven road surface. For example, when trying to suppress the movement of the vehicle body to fluctuate due to slight road surface undulations when driving at high vehicle speeds, it is necessary to detect slight fluctuations in the wheel speed when trying to achieve only with the skyhook control. Therefore, it is necessary to set the skyhook control gain to be quite high. In this case, the movement that fluctuates can be suppressed, but if the road surface is uneven, the control gain is too large and excessive damping force control may be performed. As a result, there is a concern about deterioration in ride comfort and vehicle body posture.

  On the other hand, since the first saturation k is always set as in the highway mode, a certain amount of damping force is always secured, and the vehicle body fluctuates even when the saturation by the skyhook control is small. Such movement can be suppressed. Further, since it is not necessary to increase the skyhook control gain, it is possible to appropriately deal with road surface irregularities by using a normal control gain. In addition, since skyhook control is performed with the first saturation k set, unlike the saturation limit, operation of the saturation reduction process is possible in the semi-active control region, and at high speed driving It is possible to ensure a stable vehicle posture.

(Mode selection process)
Next, a mode selection process for selecting each travel mode will be described. FIG. 24 is a flowchart illustrating a mode selection process based on the running state in the saturation arbitration unit of the first embodiment.
In step S50, it is determined whether or not the vehicle is in the straight traveling state based on the value of the steering angle sensor 7. If it is determined that the vehicle is traveling straight, the process proceeds to step S51. move on.
In step S51, it is determined based on the value of the vehicle speed sensor 8 whether or not the vehicle speed is equal to or higher than a predetermined vehicle speed VSP1 representing a high vehicle speed state. On the other hand, if it is determined that it is less than VSP1, the process proceeds to step S53 and the comfort mode is selected.
In step S54, based on the value of the vehicle speed sensor 8, it is determined whether or not the vehicle speed is equal to or higher than a predetermined vehicle speed VSP1 representing a high vehicle speed state. On the other hand, if it is determined that it is less than VSP1, the process proceeds to step S56 to select the sport mode.

  In other words, when driving at a high vehicle speed in a straight running state, the standard mode is selected to stabilize the vehicle body posture by skyhook control and to suppress the high frequency vibration such as leopard and bull. In addition, unsprung resonance can be suppressed. Further, when traveling at a low vehicle speed, by selecting the comfort mode, it is possible to suppress unsprung resonance while suppressing the input of vibrations such as leopard and bull to the occupant as much as possible.

  On the other hand, when the vehicle is traveling at a high vehicle speed in a turning traveling state, by selecting the highway mode, control is performed by a value obtained by adding a damping coefficient, so that basically a high damping force can be obtained. As a result, even when the vehicle speed is high, unsprung resonance can be suppressed while positively securing the vehicle body posture during turning by driver input control. In addition, when driving at low vehicle speeds, the sport mode is selected, so that the vehicle posture during turning is positively secured by driver input control, and unsprung resonance is suppressed while skyhook control is performed as appropriate. Can travel in a stable vehicle posture.

  As for the mode selection process, the control example in which the driving state is detected and automatically switched is shown in the first embodiment. However, for example, a changeover switch that can be operated by the driver is provided to select the driving mode. You may control to. As a result, ride comfort and turning performance according to the driving intention of the driver can be obtained.

(About saturation restriction processing)
The saturation adjuster 35b includes a saturation limiter 35b1 that suppresses the adjusted saturation according to the stroke speed. The saturation level on which the saturation level limiting process has been performed is output to the control signal conversion unit 35c. Here, the saturation restriction process will be described. FIG. 25 is a characteristic diagram illustrating the relationship of the control force with respect to the stroke speed according to the first embodiment. The abscissa represents the stroke speed, the ordinate represents the control force, and the S / A3 damping force characteristic is described as Soft with the lowest damping force side damping characteristic and Hard with the highest damping force side damping characteristic. S / A3 controls the damping force by changing the damping characteristic within the region (damping force variable region) sandwiched between Soft and Hard. The control force is a value proportional to the damping force. If the damping force is increased, the control force for performing posture control is increased accordingly. If the damping force is small, the control force for performing posture control is decreased accordingly.

  Here, S / A3 has only a passive function of changing the damping force by changing the orifice diameter of the orifice provided in the piston in S / A3, and is active so as to positively stroke the piston. It does not have a function. Therefore, as shown in the characteristic diagram of FIG. 25, since the first quadrant (I) and the third quadrant (III) are regions where a damping force can be applied in a direction to suppress the stroke speed, S / A3 can be controlled. The second quadrant (II) and the fourth quadrant (IV) are areas where it is necessary to output a force in the direction in which the stroke speed is generated, and thus cannot be controlled by S / A3.

  On the other hand, in the case of control by the engine attitude control amount, it is possible to output both engine driving torque and braking torque by engine braking as described above. Therefore, as shown in the characteristic diagram of FIG. 25, although the controllable range is small, the sprung posture can be controlled in all quadrants around the stroke speed of around zero. Hereinafter, the relationship between the control by the engine driving torque and the damping force will be described.

よって、駆動力によるピッチモーメントを各輪の発生力に換算すると、以下の関係式が成立する。
（式６）

エンジントルク制御量には制限値が設定されていることを考慮して、１輪の減衰力−ストローク速度線図上に上記関係をプロットすると、低ストローク速度域ΔS1（例えば、0.05m/s以下）においてアクティブ制御ループを描く。 The length from the vehicle center of gravity to the front wheel axle is L ₁ , the length to the rear wheel axle is L ₂ , the front wheel tread is Trdf, the rear wheel tread is Trdr, and the damping force acting on each wheel is f (FL wheel f ₁ , FR wheel f ₂ , RL wheel f ₃ , RR wheel f ₄ ), bounce required force F _Z , roll required moment M _R , pitch required moment M _P
(Formula 5)

Therefore, when the pitch moment due to the driving force is converted into the generated force of each wheel, the following relational expression is established.
(Formula 6)

Considering that a limit value is set for the engine torque control amount, plotting the above relationship on the damping force-stroke speed diagram of one wheel shows a low stroke speed range ΔS1 (for example, 0.05 m / s or less) ) Draw an active control loop.

  Here, paying attention to the low stroke speed region ΔS1 in FIG. 25, it can be said that it is preferable to set the damping force required by the skyhook control law if the configuration includes only S / A3. However, the low stroke speed range ΔS1 is 3 to 6 Hz which is a frequency range that brings up and down movement that can be followed by the whole body, and is not up and down movement until the mass of the human body follows, but it is a part of the body such as the thigh of the occupant. As a result of the inventor's earnest research, it has been found that the frequency component corresponding to 6 to 23 Hz, which is a frequency range in which vibrations are transmitted little by little, is a stroke speed region containing a relatively large amount.

  FIG. 26 is a characteristic diagram showing the relationship between the gain and the stroke speed amplitude with respect to the frequency of the stroke speed of the conveyor vehicle. The vertical axis of FIG. 26A represents the gain of the sprung vertical position Z2 with respect to the road vertical position Z0, and indicates the gain in the three damping characteristics of the mid, which has a damping force of soft, hard, and soft and hard. . The vertical axis in FIG. 26B represents the magnitude of the stroke speed amplitude. First, looking at the gain in FIG. 26 (a), it has a sprung resonance frequency around 1 Hz and an unsprung resonance frequency around 15 Hz regardless of the damping characteristics.

  Next, it was newly understood that the frequency component of the stroke speed is distributed as shown in FIG. 26B when the vehicle is driven under various road surface conditions. For example, in the frequency region between 3 Hz and 6 Hz, the stroke speed amplitude is smaller than the stroke speed amplitude at the resonance frequency. That is, in the waving region of 3 Hz or less, the stroke velocity amplitude appears in a relatively large region of about 0.3 m / s, whereas in the 3-6 Hz leopard region, the stroke velocity amplitude is about 0.05 m / s. Appears in the low stroke speed range ΔS1.

  Basically, when the sprung behavior is controlled by skyhook control regardless of the frequency range, it is preferable to control the damping force using the entire damping force variable region from Soft to Hard in S / A3. It can also be said. However, when the damping force is increased in the low stroke speed range ΔS1, the vibration transmission efficiency to the vehicle body side is increased, and there is a problem that the high frequency vibration characteristic corresponding to 3 to 23 Hz is deteriorated. In addition, since the human body resonance frequency is included in this frequency region, the ride comfort of the occupant may be deteriorated. Further, in the low stroke speed range, the stroke speed amplitude is small, and therefore there is a possibility that sufficient accuracy cannot be secured in the skyhook control.

  Further, for example, from a state where the sprung is descending while S / A3 is contracting at a certain stroke speed, the sprung is transitioned to an elevated state, that is, transition from the first quadrant (I) to the second quadrant (II). Assume a case. Since S / A3 has only a passive function, a request for switching to 0, that is, a small damping force is output as a control amount from a state in which a large damping force is set by the Skyhook control law. At this time, the spring force accumulated in S / A3 is changed to a small damping force so that it is released all at once, the stroke speed is reversed in the extension direction, and the transition to the first quadrant (I) is performed again. A state where the operation is repeated may occur. That is, a self-excited vibration is caused by a large change in the damping coefficient (for example, the orifice diameter) within an extremely short time, which may cause abnormal noise, and this self-excited vibration induces unsprung resonance. There is also a possibility that the ground contact and the ride comfort may be deteriorated.

  Therefore, in the first embodiment, the degree of saturation is set to be smaller when the stroke speed is low than when the stroke speed is high. This suppresses the deterioration of the high-frequency vibration characteristics by reducing the damping force at a low stroke speed.

  FIG. 27 is a saturation restriction map of the first embodiment. For this limitation, the saturation limit value for the stroke speed is set to the characteristic shown in FIG. Specifically, the saturation is 0% (first saturation) at 0.05 m / s or less, which is the first speed, and the saturation is at 0.3 m / s or more, which is a second speed greater than the first speed. 100% higher than the first saturation level (second saturation level), and between 0.05m / s and 0.3m / s, the saturation level is between 0% and 100%. .

  In the low stroke speed range ΔS1 of 0.05m / s or less representing the first speed, the damping force variable region specified for the saturation is set to be close to the damping characteristic that is the soft characteristic (in the low damping force side damping characteristic) Set to the offset area). In other words, the damping force variable region defined by the saturation is set to a region excluding the high damping force side damping characteristics. Thereby, the vibration transmission efficiency to the vehicle body side can be reduced, and riding comfort can be ensured. Next, when the stroke speed increases, the transition saturation is set, and the controllable region is gradually increased to near the attenuation characteristic that becomes the Hard characteristic. As a result, it is possible to stabilize the sprung behavior while suppressing vibration transmission to the vehicle body. Further, when the stroke speed is increased, 100% is set as the second saturation, so that the S / A3 performance can be sufficiently exerted to stabilize the sprung behavior. As another method, for example, when the stroke speed is in the low stroke speed range ΔS1, fix it to the soft-set maximum diameter orifice where the damping force is the smallest, or select between the orifice with the next largest diameter You may achieve by controlling.

  As described above, even if the damping force is limited to be small in the low stroke speed range ΔS1, the low stroke speed range ΔS1 is a region where the sprung state can be stabilized by the active control based on the engine attitude control. Therefore, even if the damping force control amount by S / A3 is reduced, stable sprung posture control can be achieved as a whole vehicle. In the case of the first embodiment, since the saturation is set in the region offset to the low damping force side, the configuration is such that a low damping force is generated, and the vibration transmission rate to the occupant for the vibration input in the leopard region can be reduced. Comfort performance can be improved.

  In the case of the first embodiment, the calculation of the engine attitude control amount is independently performed based on the wheel speed, and the calculation of the S / A attitude control amount is also independently performed based on the wheel speed. Therefore, even if each of them independently performs sprung posture control, control is performed via the wheel speed. As a result, control is performed in cooperation with each other, and the S / A posture control amount is limited by limiting the skyhook control amount. Since the required spring posture control is appropriately performed by the engine posture control, stable sprung posture control can be realized without particularly monitoring each other and causing no mutual interference. This relationship can be similarly applied to the relationship with the above-described brake posture control amount.

  In the first embodiment, as shown in FIG. 27, the saturation limit value is set to 0% in the low stroke speed range and is basically fixed to the soft characteristic, but unstable skyhook control is avoided. From the viewpoint of doing, it is not limited to the case where it is fixed to the Soft characteristic, it is also possible to set a small value as the degree of saturation and limit the selectable attenuation coefficient. The saturation may be limited to a region slightly offset to the Hard characteristic side from the Soft characteristic.

  FIG. 28 is a saturation restriction map in another embodiment. In this way, in the low stroke speed range, a certain level of damping force can be achieved even in the low stroke speed range by setting the selectable area of the saturation to a predetermined area offset to the reduced speed side damping coefficient. It is also possible to further stabilize the sprung behavior even if the ride comfort is somewhat sacrificed. As described above, various patterns are assumed for the restriction on the degree of saturation, but there is no particular limitation.

  In the first embodiment, the arbitrated saturation is limited by a preset saturation limit map. However, the limit is calculated in the skyhook control unit 33a, and this limit is calculated. A configuration may be adopted in which the saturation degree limited by calculating the saturation degree from the attenuated coefficient is calculated. In this case, only a value corresponding to a specific damping coefficient is calculated as the degree of saturation, which is substantially the same, although it is different from the value representing the damping force variable region as in the saturation limit map.

(Saturation restriction release processing)
Next, cancellation of saturation restriction will be described. As described above, in a region where the stroke speed is low, the vehicle behavior is stabilized and the riding comfort performance is improved by limiting the degree of saturation. However, when the vehicle turns, it is necessary to ensure an initial damping force. In particular, the roll behavior on the spring can be stabilized most efficiently by S / A3, and it is necessary to suppress excessive roll generation by securing a firm damping force even in a scene where the stroke speed is low. is there. Therefore, at the time of turning, that is, at the occurrence of a roll rate which is a scene where turning is predicted, the restriction on the saturation is released. Therefore, the saturation limit unit 35b1 releases the saturation limit based on the roll rate detected by the roll rate detection unit 35b2. Thereby, the damping force can be increased at the beginning of turning, and excessive roll generation can be suppressed.

  In the embodiment, when detecting the roll rate, for example, the occurrence of the roll rate may be predicted from the relationship between the vehicle speed and the steering angle. In addition, in a vehicle in which the front of the vehicle is photographed with a camera or the like, since the turn can be predicted from the road surface shape, the saturation limit is canceled at the stage where the turn can be predicted before the turn occurs. Also good.

As described above, Example 1 has the following effects.
(1) a first traveling state estimation unit 100, a second traveling state estimation unit 200, and a third traveling state estimation unit 32 (sprung behavior detection means) that detect changes in the sprung behavior of the vehicle;
An engine 1 (power source) that outputs a driving force based on a driving force control that suppresses the change in the sprung behavior;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
The saturation of the damping force variable region of the damping force variable shock absorber when the stroke speed is equal to or less than a predetermined value is set lower than the saturation when the stroke speed is greater than a predetermined value, and is defined by the saturation. A skyhook control unit 33a and a saturation limit unit 35b1 (damping force control amount calculating means) for calculating a damping force control amount based on the damping force control within the range of the damping force variable region,
With
When at least the stroke speed is less than or equal to a predetermined value, the engine 1 outputs a driving force based on the driving force control, and S / A3 is a damping force control amount calculated by the skyhook control unit 33a and the saturation limit unit 35b1. The change in the sprung behavior is suppressed by outputting a damping force according to the above.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range.
In the region where the degree of saturation is set low, the driving force control is performed by the engine 1 capable of active control, thereby ensuring the stability of the entire vehicle.

(2) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
An engine 1 (power source) that outputs a driving force based on a driving force control that suppresses the change in the sprung behavior;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
The saturation of the damping force variable region of the damping force variable shock absorber when the stroke speed is equal to or less than a predetermined value is set lower than the saturation when the stroke speed is greater than a predetermined value, and is defined by the saturation. A skyhook control unit 33a and a saturation limit unit 35b1 (damping force control amount calculating means) for calculating a damping force control amount based on the damping force control within the range of the damping force variable region,
Have
The damping force variable region defined in the saturation when the stroke speed is equal to or less than a predetermined value is set to a region offset to the low damping force side damping characteristic,
When at least the stroke speed is less than or equal to a predetermined value, the engine 1 outputs a driving force based on the driving force control, and S / A3 is a damping force control amount calculated by the skyhook control unit 33a and the saturation limit unit 35b1. The change in the sprung behavior is suppressed by outputting a damping force according to the above.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range. In addition, since the damping force variable region is set in the region offset to the low damping force side damping characteristic, it is possible to avoid deterioration in riding comfort even if high frequency vibration or the like is input.
In the region where the degree of saturation is set low, the driving force control is performed by the engine 1 capable of active control, thereby ensuring the stability of the entire vehicle.

  (3) The damping force generated by the low damping force side damping characteristic at an arbitrary stroke speed is smaller than the damping force generated by the high damping force side damping characteristic. Therefore, even if high-frequency vibration or the like is input, the ride comfort can be secured with a low damping force.

(4) (2) a first traveling state estimation unit 100, a second traveling state estimation unit 200, and a third traveling state estimation unit 32 (sprung behavior detection means) that detect changes in the sprung behavior of the vehicle;
An engine 1 (power source) that outputs a driving force based on a driving force control that suppresses the change in the sprung behavior;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
The saturation of the damping force variable region of the damping force variable shock absorber when the stroke speed is equal to or less than a predetermined value is set lower than the saturation when the stroke speed is greater than a predetermined value, and is defined by the saturation. A skyhook control unit 33a and a saturation limit unit 35b1 (damping force control amount calculating means) for calculating a damping force control amount based on the damping force control within the range of the damping force variable region,
Have
The damping force variable region defined by the saturation when the stroke speed is equal to or less than a predetermined value is set to a region excluding the high damping force side damping characteristics,
When at least the stroke speed is less than or equal to a predetermined value, the engine 1 outputs a driving force based on the driving force control, and S / A3 is a damping force control amount calculated by the skyhook control unit 33a and the saturation limit unit 35b1. The change in the sprung behavior is suppressed by outputting a damping force according to the above.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range. In addition, since the damping force variable region is set in the region excluding the high damping force side damping characteristics, it is possible to avoid deterioration in riding comfort even if high frequency vibration or the like is input.
In the region where the degree of saturation is set low, the driving force control is performed by the engine 1 capable of active control, thereby ensuring the stability of the entire vehicle.

  (5) The damping force generated by the high damping force side damping characteristic at an arbitrary stroke speed is larger than the damping force generated by the low damping force side damping characteristic. Therefore, even if high frequency vibration or the like is input, a high damping force is excluded, so that riding comfort can be ensured.

(6) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
An engine 1 (power source) that outputs a driving force based on a driving force control that suppresses the change in the sprung behavior;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third running state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3 based on the wheel speed;
The saturation of the damping force variable region of the damping force variable shock absorber when the stroke speed is equal to or less than a predetermined value is set lower than the saturation when the stroke speed is greater than a predetermined value, and is defined by the saturation. A skyhook control unit 33a and a saturation limit unit 35b1 (damping force control amount calculating means) for calculating a damping force control amount based on the damping force control within the range of the damping force variable region,
With
When at least the stroke speed is less than or equal to a predetermined value, the engine 1 outputs a driving force based on the driving force control, and S / A3 is a damping force control amount calculated by the skyhook control unit 33a and the saturation limit unit 35b1. The change in the sprung behavior is suppressed by outputting a damping force according to the above.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range. Further, when the stroke speed is detected based on the wheel speed, an expensive sensor is not required, and the cost can be reduced. Here, when the stroke speed is detected based on the wheel speed, the accuracy of the skyhook control may not be ensured because the stroke speed amplitude is small in the low stroke speed range. On the other hand, since the degree of saturation is set small in the low stroke speed range, even if the accuracy of the skyhook control is deteriorated, a large erroneous value is not output as the damping force, and vehicle stability can be ensured. .
In the region where the degree of saturation is set low, the driving force control is performed by the engine 1 capable of active control, thereby ensuring the stability of the entire vehicle.

(7) A plane motion component extraction unit 301 (first calculation unit) that calculates the first wheel speeds V0FL, V0FR, V0RL, and V0RR that are the reference wheel speeds of the respective wheels based on the vehicle body plan view model with the wheel speed sensor value as an input. )When,
Roll disturbance removal unit 302 (second calculation unit) that calculates the second wheel speeds V0F and V0R that are the reference wheel speeds of the front and rear wheels based on the vehicle body front view model with the first wheel speeds V0FL, V0FR, V0RL, and V0RR as inputs. When,
Pitch disturbance remover 303 (the first front wheel and rear wheel speeds V0F, V0R) is input to calculate the third wheel speeds VbFL, VbFR, VbRL, VbRR that are the reference wheel speeds of all the wheels based on the vehicle side view model. Three arithmetic units) and
Before and after calculating the 4th wheel speeds VbFL, VbFR, VbRL, VbRR, which are the reference wheel speeds for each wheel based on the car body plan view model, using the value obtained by switching the front and rear wheels of the second wheel speeds V0F, V0R A wheel speed switching unit 305 (fourth calculation unit);
The third wheel speed VbFL, VbFR, VbRL, VbRR and the fourth wheel speed VbFL, VbFR, VbRL, VbRR are input. If the vehicle speed is less than the predetermined vehicle speed, the third wheel speed VbFL, VbFR, VbRL, VbRR is output. A wheel speed switching unit 306 that outputs a fourth wheel speed VbFL, VbFR, VbRL, VbRR when the vehicle speed is equal to or higher than a predetermined vehicle speed;
A reference wheel that calculates the reference wheel speed ω0 based on the vehicle plan view model with the third wheel speed VbFL, VbFR, VbRL, VbRR or the fourth wheel speed VbFL, VbFR, VbRL, VbRR output from the vehicle speed switching unit 306 as input. A speed redistribution unit 304 (reference wheel speed calculation unit), a reference wheel speed calculation unit 300 (reference wheel speed calculation means), and
Have
The third running state estimation unit 32 estimates the S / A3 stroke speed based on the difference between the sensor value detected by the wheel speed sensor 5 and the reference wheel speed (GEO conversion unit 321c).
Therefore, when the vehicle is traveling at a low speed, the stroke speed can be accurately estimated by calculating the reference wheel speed ω0 from which the disturbance has been removed using the three models, and the damping performance can be improved.
Further, when the vehicle is traveling at a high speed, the step of removing the pitch disturbance can be omitted by setting the wheel speed of the rear wheel to the reference wheel speed of the front wheel, and the response of the vibration suppression control can be ensured.

(8) The sprung speed calculation unit 322 includes a bounce term representing the vertical motion of the four wheels, a pitch term representing the vertical motion of the front and rear wheels, a roll term representing the vertical motion of the left and right wheels, and a diagonal wheel. The sprung speed is estimated by developing into a four-wheel model based on the warp term representing the vertical motion of.
That is, in order to develop a four-wheel model from the stroke speed of each wheel, even if an attempt is made to perform mode decomposition into four-wheel sprung speed, roll rate, pitch rate, and bounce rate, one corresponding component is missing. The solution becomes indefinite. Therefore, each component of the sprung speed can be calculated by introducing a war plate.

(9) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
An engine 1 (power source) that outputs a driving force based on a driving force control that suppresses the change in the sprung behavior;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the stroke speed is less than or equal to a predetermined value, the saturation degree of the damping force variable region of the damping force variable shock absorber is set lower as the stroke speed is smaller, and the damping force variable region defined by the saturation level is within the range of the damping force variable region. A skyhook control unit 33a for calculating a damping force control amount based on the damping force control and a saturation limit unit 35b1 (damping force control amount calculating means);
With
When at least the stroke speed is less than or equal to a predetermined value, the engine 1 outputs a driving force based on the driving force control, and S / A3 is a damping force control amount calculated by the skyhook control unit 33a and the saturation limit unit 35b1. The change in the sprung behavior is suppressed by outputting a damping force according to the above.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range. Further, since the degree of saturation is set lower as the stroke speed is lower, more stable vehicle behavior can be realized.
In the region where the degree of saturation is set low, the driving force control is performed by the engine 1 capable of active control, thereby ensuring the stability of the entire vehicle.

(10) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
An engine 1 (power source) that outputs a driving force based on a driving force control that suppresses the change in the sprung behavior;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the stroke speed is less than or equal to a predetermined value, the saturation of the damping force variable region of S / A3 is set to be equal to or less than the predetermined saturation, and the damping force control is within the range of the damping force variable region defined by the saturation. Skyhook control unit 33a and saturation limit unit 35b1 (damping force control amount calculating means) for calculating the damping force control amount based on
When at least the stroke speed is less than or equal to a predetermined value, the engine 1 outputs a driving force based on the driving force control, and S / A3 is a damping force control amount calculated by the skyhook control unit 33a and the saturation limit unit 35b1. The change in the sprung behavior is suppressed by outputting a damping force according to the above.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed below the predetermined saturation to limit the damping force control, thereby suppressing unnecessary damping force control, and when the stroke speed is greater than the predetermined value, the damping force is controlled. By executing the damping force control by widening the variable region, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed region. Further, since the degree of saturation is set lower as the stroke speed is lower, more stable vehicle behavior can be realized.
In the region where the degree of saturation is set low, the driving force control is performed by the engine 1 capable of active control, thereby ensuring the stability of the entire vehicle.

(11) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
An engine 1 (power source) that outputs a driving force based on a driving force control that suppresses the change in the sprung behavior;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the stroke speed is equal to or lower than the first speed, the saturation of the damping force variable region of the damping force variable shock absorber is the first saturation.
Above the second speed greater than the first speed, the saturation of the damping force variable region is a second saturation higher than the first saturation,
Between the first speed and the second speed, the saturation of the damping force variable region is a transition saturation that transitions between the first saturation and the second saturation,
A skyhook control unit 33a for calculating a damping force control amount based on the damping force control within a range of the damping force variable region defined by the saturation, and a saturation degree limiting unit 35b1 (damping force control amount calculating means);
When at least the stroke speed is less than or equal to a predetermined value, the engine 1 outputs a driving force based on the driving force control, and S / A3 is a damping force control amount calculated by the skyhook control unit 33a and the saturation limit unit 35b1. The change in the sprung behavior is suppressed by outputting a damping force according to the above.
Therefore, in the low stroke speed region below the first speed, by setting the saturation to 0%, the vibration transmission efficiency to the vehicle body side can be reduced, and riding comfort can be ensured. Next, when the stroke speed rises and is between the first speed and the second speed, the transition saturation is set, and the controllable region is gradually increased to near the attenuation characteristic that becomes the Hard characteristic. As a result, it is possible to stabilize the sprung behavior while suppressing vibration transmission to the vehicle body. Further, when the stroke speed is increased, 100% is set as the second saturation, so that the S / A3 performance can be sufficiently exerted to stabilize the sprung behavior.
In the region where the degree of saturation is set low, the driving force control is performed by the engine 1 capable of active control, thereby ensuring the stability of the entire vehicle.

  (12) The saturation limiting unit 35b1 increases the saturation during turning. Therefore, even if the stroke speed is low, excessive roll generation can be suppressed by securing a firm damping force.

  (13) At the time of turning includes a state in which turning is predicted before turning. Thereby, the damping force can be increased at the beginning of turning, and excessive roll generation can be suppressed.

  (14) A roll rate detection unit 35b2 (roll rate detection means) for detecting the roll rate of the vehicle is provided, and the saturation level limiting unit 35b1 increases the saturation level as the detected roll rate increases. In the embodiment, when the roll rate is detected, the saturation limit is released. Thereby, the damping force can be increased at the beginning of turning, and excessive roll generation can be suppressed.

(15) When the stroke speed of the S / A 3 (damping force variable shock absorber) that performs damping force control that suppresses the change in sprung behavior is below a predetermined value, the saturation level of the damping force variable region is the stroke speed It is set lower than the saturation level when it is larger than the predetermined value, and the damping force control is performed within the range of the damping force variable region defined by the saturation level, and the change in sprung behavior is suppressed by the engine 1 (power source). The driving force control is performed.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range.
In the region where the degree of saturation is set low, the driving force control is performed by the engine 1 capable of active control, thereby ensuring the stability of the entire vehicle.

(16) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
The degree of saturation of the damping force variable region of the damping force variable shock absorber when not turning and when the stroke speed is less than or equal to a predetermined value is lower than the saturation when the stroke speed is greater than the predetermined value. In addition, the damping force variable region is set to a region offset to the low damping force side damping characteristic, and the damping force control amount based on the damping force control is calculated within the damping force variable region defined by the saturation degree. A skyhook controller 33a and a saturation limiter 35b1 (damping force control amount calculation means).
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range. In addition, since the damping force variable region is set in the region offset to the low damping force side damping characteristic, it is possible to avoid deterioration in riding comfort even if high frequency vibration or the like is input. Since the vehicle is not turning, the vehicle stability can be ensured even if the saturation is set in a region offset to the low damping force side damping characteristic.

(17) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
The degree of saturation of the damping force variable region of the damping force variable shock absorber when not turning and when the stroke speed is less than or equal to a predetermined value is lower than the saturation when the stroke speed is greater than the predetermined value. And the damping force variable region is set to a region excluding the high damping force side damping characteristic, and the damping force control amount based on the damping force control is set within the range of the damping force variable region defined by the saturation degree. And a skyhook control unit 33a and a saturation limit unit 35b1 (damping force control amount calculation means).
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range. In addition, since the damping force variable region is set in the region excluding the high damping force side damping characteristics, it is possible to avoid deterioration in riding comfort even if high frequency vibration or the like is input. Since the vehicle is not turning, vehicle stability can be ensured even if the saturation is set in a region excluding the high damping force side damping characteristics.

  (18) The non-turning time is a straight traveling time. Therefore, vehicle stability during straight traveling can be ensured.

  (19) A roll rate detecting unit 35b2 (roll rate detecting means) for detecting the roll rate of the vehicle is provided, and when the detected roll rate is less than a predetermined value, it is determined that the vehicle is not turning. In other words, when the roll rate is greater than or equal to a predetermined value, it is determined that the vehicle is turning, so that an unnecessary restriction on the degree of saturation during turning can be avoided, and excessive roll generation can be suppressed.

(20) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third running state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3 based on the wheel speed;
The saturation of the damping force variable region of the damping force variable shock absorber when the stroke speed is equal to or less than a predetermined value is set lower than the saturation when the stroke speed is greater than a predetermined value, and is defined by the saturation. A skyhook control unit 33a and a saturation limit unit 35b1 (damping force control amount calculating means) for calculating a damping force control amount based on the damping force control within the range of the damping force variable region,
Equipped with.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range. Further, when the stroke speed is detected based on the wheel speed, an expensive sensor is not required, and the cost can be reduced. Here, when the stroke speed is detected based on the wheel speed, the accuracy of the skyhook control may not be ensured because the stroke speed amplitude is small in the low stroke speed range. On the other hand, since the degree of saturation is set small in the low stroke speed range, even if the accuracy of the skyhook control is deteriorated, a large erroneous value is not output as the damping force, and vehicle stability can be ensured. .

(21) A plane motion component extraction unit 301 (first calculation unit) that calculates the first wheel speeds V0FL, V0FR, V0RL, and V0RR that are the reference wheel speeds of the respective wheels based on the vehicle body plan view model with the wheel speed sensor value as an input. )When,
Roll disturbance removal unit 302 (second calculation unit) that calculates the second wheel speeds V0F and V0R that are the reference wheel speeds of the front and rear wheels based on the vehicle body front view model with the first wheel speeds V0FL, V0FR, V0RL, and V0RR as inputs. When,
Pitch disturbance remover 303 (the first front wheel and rear wheel speeds V0F, V0R) is input to calculate the third wheel speeds VbFL, VbFR, VbRL, VbRR that are the reference wheel speeds of all the wheels based on the vehicle side view model. Three arithmetic units) and
Before and after calculating the 4th wheel speeds VbFL, VbFR, VbRL, VbRR, which are the reference wheel speeds for each wheel based on the car body plan view model, using the value obtained by switching the front and rear wheels of the second wheel speeds V0F, V0R A wheel speed switching unit 305 (fourth calculation unit);
The third wheel speed VbFL, VbFR, VbRL, VbRR and the fourth wheel speed VbFL, VbFR, VbRL, VbRR are input. If the vehicle speed is less than the predetermined vehicle speed, the third wheel speed VbFL, VbFR, VbRL, VbRR is output. A wheel speed switching unit 306 that outputs a fourth wheel speed VbFL, VbFR, VbRL, VbRR when the vehicle speed is equal to or higher than a predetermined vehicle speed;
A reference wheel that calculates the reference wheel speed ω0 based on the vehicle plan view model with the third wheel speed VbFL, VbFR, VbRL, VbRR or the fourth wheel speed VbFL, VbFR, VbRL, VbRR output from the vehicle speed switching unit 306 as input. A speed redistribution unit 304 (reference wheel speed calculation unit), a reference wheel speed calculation unit 300 (reference wheel speed calculation means), and
Have
The third running state estimation unit 32 estimates the S / A3 stroke speed based on the difference between the sensor value detected by the wheel speed sensor 5 and the reference wheel speed (GEO conversion unit 321c).
Therefore, when the vehicle is traveling at a low speed, the stroke speed can be accurately estimated by calculating the reference wheel speed ω0 from which the disturbance has been removed using the three models, and the damping performance can be improved.
Further, when the vehicle is traveling at a high speed, the step of removing the pitch disturbance can be omitted by setting the wheel speed of the rear wheel to the reference wheel speed of the front wheel, and the response of the vibration suppression control can be ensured.

(22) The sprung speed calculation unit 322 includes a bounce term representing the vertical motion of the four wheels, a pitch term representing the vertical motion of the front and rear wheels, a roll term representing the vertical motion of the left and right wheels, and a diagonal wheel. The sprung speed is estimated by developing into a four-wheel model based on the warp term representing the vertical motion of.
That is, in order to develop a four-wheel model from the stroke speed of each wheel, even if an attempt is made to perform mode decomposition into four-wheel sprung speed, roll rate, pitch rate, and bounce rate, one corresponding component is missing. The solution becomes indefinite. Therefore, each component of the sprung speed can be calculated by introducing a war plate.

(23) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the stroke speed is less than or equal to a predetermined value, the saturation degree of the damping force variable region of the damping force variable shock absorber is set lower as the stroke speed is smaller, and the damping force variable region defined by the saturation level is within the range of the damping force variable region. A skyhook control unit 33a for calculating a damping force control amount based on the damping force control and a saturation limit unit 35b1 (damping force control amount calculating means);
Equipped with.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed to limit the damping force control, thereby suppressing unnecessary damping force control. By executing the damping force control, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed range. Further, since the degree of saturation is set lower as the stroke speed is lower, more stable vehicle behavior can be realized.

(24) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect changes in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the stroke speed is equal to or lower than the predetermined speed, the saturation level of the S / A3 damping force variable region is set lower than the predetermined saturation level, and the damping force variable region is set to a region offset to the low damping force side damping characteristics. Skyhook control unit 33a and saturation limiter 35b1 (damping force control amount calculation) for outputting the damping force based on the damping force control to the front S / A3 within the range of the damping force variable region defined by the saturation degree Means) and
Equipped with.
Therefore, when the stroke speed is less than the predetermined value, the damping force variable region is narrowed below the predetermined saturation to limit the damping force control, thereby suppressing unnecessary damping force control, and when the stroke speed is greater than the predetermined value, the damping force is controlled. By executing the damping force control by widening the variable region, the vehicle body posture can be sufficiently stabilized regardless of the stroke speed region. Further, since the degree of saturation is set lower as the stroke speed is lower, more stable vehicle behavior can be realized. In addition, since the damping force variable region is set in the region offset to the low damping force side damping characteristic, it is possible to avoid deterioration in riding comfort even if high frequency vibration or the like is input.

(25) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the stroke speed is equal to or lower than the first speed, the saturation of the damping force variable region of the damping force variable shock absorber is the first saturation.
Above the second speed greater than the first speed, the saturation of the damping force variable region is a second saturation higher than the first saturation,
Between the first speed and the second speed, the saturation of the damping force variable region is a transition saturation that transitions between the first saturation and the second saturation,
A skyhook control unit 33a for calculating a damping force control amount based on the damping force control within a range of the damping force variable region defined by the saturation, and a saturation degree limiting unit 35b1 (damping force control amount calculating means);
Equipped with.
Therefore, in the low stroke speed region below the first speed, by setting the saturation to 0%, the vibration transmission efficiency to the vehicle body side can be reduced, and riding comfort can be ensured. Next, when the stroke speed rises and is between the first speed and the second speed, the transition saturation is set, and the controllable region is gradually increased to near the attenuation characteristic that becomes the Hard characteristic. As a result, it is possible to stabilize the sprung behavior while suppressing vibration transmission to the vehicle body. Further, when the stroke speed is increased, 100% is set as the second saturation, so that the S / A3 performance can be sufficiently exerted to stabilize the sprung behavior.

(26) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect changes in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the amplitude of the stroke speed is smaller than the amplitude at the time of the sprung resonance detected at the sprung resonance frequency, the saturation of the damping force variable region of the S / A 3 is lower than the saturation at the time of the amplitude at the sprung resonance. A skyhook control unit 33a and a saturation limit unit 35b1 (damping force control amount calculation) for outputting the damping force based on the damping force control to the S / A 3 within the range of the damping force variable region set and defined by the saturation degree. Means) and
Equipped with.
Therefore, when the amplitude of the stroke speed is smaller than the amplitude at the time of sprung resonance detected at the sprung resonance frequency, that is, when it can be detected as a horizontal region, limit the damping force control by narrowing the damping force variable region. If unnecessary damping force control is suppressed and can be detected as a wading region, the damping force control is executed by widening the damping force variable region to sufficiently stabilize the vehicle body posture regardless of the stroke speed range. it can. In addition, by avoiding an increase in damping force in the leopard region, it is possible to avoid deterioration in riding comfort due to input of high-frequency vibration or the like.

(27) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the stroke speed amplitude is smaller than the unsprung resonance amplitude detected at the unsprung resonance frequency, the saturation of the S / A3 damping force variable region is lower than the saturation at the unsprung resonance amplitude. A skyhook control unit 33a and a saturation limit unit 35b1 (damping force control amount calculation) for outputting the damping force based on the damping force control to the S / A 3 within the range of the damping force variable region set and defined by the saturation degree. Means) and
Equipped with.
Therefore, when the stroke speed amplitude is smaller than the unsprung resonance amplitude detected at the unsprung resonance frequency, that is, when it can be detected as a horizontal region, limit the damping force control by narrowing the damping force variable region If unnecessary damping force control is suppressed and can be detected as a wading region, the damping force control is executed by widening the damping force variable region to sufficiently stabilize the vehicle body posture regardless of the stroke speed range. it can. In addition, by avoiding an increase in damping force in the leopard region, it is possible to avoid deterioration in riding comfort due to input of high-frequency vibration or the like.

(28) a first traveling state estimation unit 100, a second traveling state estimation unit 200, a third traveling state estimation unit 32 (sprung behavior detection means) that detect a change in the sprung behavior of the vehicle;
S / A3 (a damping force variable shock absorber) that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
A third traveling state estimation unit 32 (stroke speed detecting means) for detecting the stroke speed of S / A3;
When the amplitude of the stroke speed is a predetermined amplitude detected in a predetermined frequency region between the sprung resonance frequency and the unsprung resonance frequency, the saturation of the damping force variable region of S / A3 is the sprung resonance frequency or The damping force based on the damping force control is set to S / A3 within the range of the damping force variable region that is set lower than the saturation level at the resonance amplitude detected at the unsprung resonance frequency and is defined in the saturation level. A skyhook controller 33a and a saturation limiter 35b1 (damping force control amount calculation means) to be output;
Equipped with.
Therefore, when the amplitude of the stroke speed is a predetermined amplitude detected in a predetermined frequency region between the sprung resonance frequency and the unsprung resonance frequency, that is, when it can be detected as a horizontal region, the damping force variable region is narrowed. If the damping force control is suppressed by restricting the damping force control and can be detected as a waft region, the damping force control is executed by widening the damping force variable region. The body posture can be sufficiently stabilized. In addition, by avoiding an increase in damping force in the leopard region, it is possible to avoid deterioration in riding comfort due to input of high-frequency vibration or the like.

  (28) The predetermined frequency region is a frequency region between 2 Hz and 7 Hz. This represents a region between the sprung resonance frequency and the unsprung resonance frequency, but more preferably, the saturation is lowered at a predetermined amplitude detected in the frequency region between 3 Hz and 6 Hz, which is recognized as the leopard region. It is preferable to set. As a result, high-frequency vibration in the leopard region is suppressed, and deterioration in riding comfort can be avoided.

[Example 2]
Next, Example 2 will be described. Since the basic configuration is the same as that of the first embodiment, only different points will be described.
FIG. 29 is a control block diagram illustrating a control configuration of the vehicle control device according to the second embodiment. In the first embodiment, the engine controller 1a, the brake controller 2a, and the S / A controller 3a are provided, and each actuator is provided with an independent wheel speed feedback system. On the other hand, in the second embodiment, the engine controller 1a includes an independent wheel speed feedback control system as in the first embodiment, and the brake 20 and the S / A3 are controlled by the skyhook control unit 33a. The difference is that a wheel speed feedback control system that controls the amount is provided. Hereinafter, a configuration for calculating the brake control amount and the damping force control amount in the skyhook control unit will be described in detail.

[Configuration of Skyhook Control Unit]
The vehicle control apparatus according to the second embodiment includes the engine 1, the brake 20, and S / A 3 as actuators for achieving sprung posture control. Among these, in the skyhook control unit 33a, the bounce rate, the roll rate, and the pitch rate are controlled for S / A3, and the pitch rate is controlled for the brake 20. Here, in order to assign a control amount to a plurality of actuators having different actions and control the sprung state, it is necessary to use a common control amount for each. In Example 2, the control amount for each actuator can be determined by using the sprung speed estimated by the above-described traveling state estimation unit 32.

The amount of skyhook control in the bounce direction is
FB = CskyB · dB
The amount of skyhook control in the roll direction is
FR = CskyR · dR
The amount of skyhook control in the pitch direction is
FP = CskyP · dP
It becomes. Since FB is transmitted to S / A3 as a bounce posture control amount, and FR is control performed only at S / A3, it is transmitted to the damping force control unit 35 as a roll posture control amount.

Next, the skyhook control amount FP in the pitch direction will be described. Pitch control is performed by the brake 20 and S / A3.
FIG. 30 is a control block diagram illustrating actuator control amount calculation processing when performing pitch control according to the second embodiment. The skyhook control unit 33a calculates a first target posture control amount calculation unit 331 that calculates a target pitch rate that is a control amount that can be used in common for all actuators, and a brake posture control amount that is achieved by the brake 20. A brake posture control amount calculation unit 334 and an S / A posture control amount calculation unit 336 that calculates an S / A posture control amount achieved by S / A3.

  In the skyhook control of this system, since the first priority is to operate so as to suppress the pitch rate, the first target attitude control amount calculation unit 331 outputs the pitch rate as it is (hereinafter, this pitch rate is referred to as the pitch rate). It is described as a first target attitude control amount.) A limit value for limiting the braking torque control amount is set in the brake attitude control amount calculation unit 334 so as not to give the passenger a sense of incongruity (the details of the limit value will be described later). Thereby, when the braking torque control amount is converted into the longitudinal acceleration, the braking torque control amount is limited to be within a predetermined longitudinal acceleration range (a limit value obtained from the occupant's uncomfortable feeling, the life of the actuator, etc.). Therefore, when the brake attitude control amount is calculated based on the first target attitude control amount and a value equal to or greater than the limit value is calculated, the pitch rate suppression amount that can be achieved by the limit value (hereinafter referred to as the brake attitude control amount). Output). At this time, a value converted into a pitch rate by the conversion unit 3344 is output to a second target attitude control amount calculation unit 335 described later. Further, the brake control unit 2 a calculates a braking torque control amount (or deceleration) based on the brake attitude control amount corresponding to the limit value, and outputs it to the brake control unit 2. The calculation contents of the brake posture control amount calculation unit 334 are the same as the brake pitch control in the first embodiment, and thus the description thereof is omitted.

  In the second target attitude control amount calculation unit 335, a second target attitude control amount that is a deviation between the first target attitude control amount and the brake attitude control amount is calculated and output to the S / A attitude control amount calculation unit 336. . The S / A attitude control amount calculation unit 336 outputs a pitch attitude control amount corresponding to the second target attitude control amount. The damping force control unit 35 calculates a damping force control amount based on a bounce posture control amount, a roll posture control amount, and a pitch posture control amount (hereinafter collectively referred to as an S / A posture control amount). , S / A3.

  As described above, for the pitch rate, the first target attitude control amount is calculated, and then the S / A attitude is calculated from the second target attitude control amount that is the deviation between the first target attitude control amount and the brake attitude control amount. Calculate the control amount. As a result, the pitch rate control amount performed by the S / A 3 can be reduced by the control of the brake 20, so that the controllable area of the S / A 3 can be made relatively narrow, and the sprung by the inexpensive S / A 3. Attitude control can be achieved.

  Further, when the control amount by S / A3 is increased, the damping force basically increases. An increase in damping force means a hard suspension characteristic, so when high-frequency vibration is input from the road surface, it becomes easy to transmit high-frequency input and impairs passenger comfort (hereinafter referred to as high-frequency vibration characteristics). Described as worse.) On the other hand, the deterioration of the high-frequency vibration characteristics can be avoided by suppressing the pitch rate by an actuator such as the brake 20 that does not affect the vibration transmission characteristics due to road surface input and reducing the control amount of S / A3. The above effects can be obtained by determining the control amount of the brake 2 before S / A3.

1 Engine 1a Engine controller (engine control unit)
2 Brake control unit 2a Brake controller (brake control unit)
3 S / A (Damping force variable shock absorber)
3a S / A controller 5 Wheel speed sensor 6 Integrated sensor 7 Steering angle sensor 8 Vehicle speed sensor 20 Brake 31 Driver input control unit 32 Running state estimation unit 33 Sprung vibration suppression control unit 33a Skyhook control unit 33b Frequency response control unit 34 Unsprung vibration suppression control unit 35 Damping force control unit 331 First target posture control amount calculation unit 332 Engine posture control amount calculation unit 333 Second target posture control amount calculation unit 334 Brake posture control amount calculation unit 335 Third target posture control amount Calculation unit 336 Shock absorber attitude control amount calculation unit

FIG. 28 is a saturation restriction map in another embodiment. Thus, in the low stroke speed range, by setting the predetermined region which is offset a selected area of saturation in reduced Attenuation force side damping coefficient, even in the low stroke speed range, a certain degree of attenuation Even if the force is secured and the ride comfort is somewhat sacrificed, the sprung behavior may be further stabilized. As described above, various patterns are assumed for the restriction on the degree of saturation, but there is no particular limitation.

Claims (14)

Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
Stroke speed detecting means for detecting the stroke speed of the damping force variable shock absorber;
The degree of saturation of the damping force variable region of the damping force variable shock absorber when not turning and when the stroke speed is less than or equal to a predetermined value is lower than the saturation when the stroke speed is greater than the predetermined value. In addition, the damping force variable region is set to a region offset to the low damping force side damping characteristic, and the damping force based on the damping force control is varied within the damping force variable region defined by the saturation degree. Damping force control means for output to the shock absorber;
A vehicle control device comprising: Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
Stroke speed detecting means for detecting the stroke speed of the damping force variable shock absorber;
The degree of saturation of the damping force variable region of the damping force variable shock absorber when not turning and when the stroke speed is less than or equal to a predetermined value is lower than the saturation when the stroke speed is greater than the predetermined value. And the damping force variable region is set to a region excluding the high damping force side damping characteristic, and the damping force based on the damping force control is variable within the damping force variable region defined by the saturation degree. Damping force control means for output to the shock absorber;
A vehicle control device comprising: The vehicle control device according to claim 1 or 2,
The vehicle control device characterized in that the non-turning time is a straight traveling time. The vehicle control device according to any one of claims 1 to 3,
A roll rate detecting means for detecting the roll rate of the vehicle is provided,
The damping force control means determines that the vehicle is not turning when the detected roll rate is less than a predetermined value. Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
Stroke speed detecting means for detecting a stroke speed of the damping force variable shock absorber based on wheel speed;
The saturation of the damping force variable region of the damping force variable shock absorber when the stroke speed is less than or equal to a predetermined value is set lower than the saturation when the stroke speed is greater than the predetermined value, and is defined as the saturation. Damping force control means for outputting a damping force based on the damping force control within the range of the damping force variable region to the damping force variable shock absorber;
A vehicle control device comprising: The vehicle control device according to claim 5,
A first computing unit that computes a first wheel speed that is a reference wheel speed of each wheel based on a vehicle body plan view model with the wheel speed as an input;
A second calculation unit that calculates a second wheel speed that is a reference wheel speed of front and rear wheels based on the vehicle body front view model using the first wheel speed as an input;
A third computing unit that computes a third wheel speed that is a reference wheel speed of all wheels based on the vehicle body side view model with the second front wheel and rear wheel speeds as inputs;
A fourth calculation unit that calculates a fourth wheel speed that is a reference wheel speed of each wheel based on the vehicle body plan view model with a value obtained by replacing the front wheel and the rear wheel of the second wheel speed as an input;
The third wheel speed and the fourth wheel speed are input, the third wheel speed is output when the vehicle speed is less than a predetermined vehicle speed, and the fourth wheel speed is output when the vehicle speed is equal to or higher than the predetermined vehicle speed. A switching unit;
A reference wheel speed calculation unit that calculates a reference wheel speed of each wheel based on the vehicle body plan view model with the third wheel speed or the fourth wheel speed output from the vehicle speed switching unit as an input;
The vehicle speed control means for estimating the stroke speed of the damping force variable shock absorber based on the difference between the wheel speed of each wheel and the reference wheel speed. The vehicle control device according to claim 4 or 5,
The sprung behavior detection means includes a bounce term representing the vertical motion of the four wheels, a pitch term representing the vertical motion of the front and rear wheels, a roll term representing the vertical motion of the left and right wheels, and the vertical direction of the diagonal wheels. An apparatus for controlling a vehicle, wherein the sprung speed is estimated by developing into a four-wheel model based on a warp term representing motion. Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
Stroke speed detecting means for detecting the stroke speed of the damping force variable shock absorber;
The degree of saturation of the damping force variable region of the damping force variable shock absorber when the stroke speed is equal to or less than a predetermined speed is lower as the stroke speed is smaller, and the damping force variable region is offset to a low damping force side damping characteristic. A damping force control means configured to output a damping force based on the damping force control to the damping force variable shock absorber within a range of the damping force variable region set in the region and defined by the saturation;
A vehicle control device comprising: Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
Stroke speed detecting means for detecting the stroke speed of the damping force variable shock absorber;
When the stroke speed is less than or equal to a predetermined speed, the saturation of the damping force variable region of the damping force variable shock absorber is lower than the predetermined saturation, and the damping force variable region is offset to the low damping force side damping characteristic. A damping force control means configured to output a damping force based on the damping force control to the damping force variable shock absorber within a range of the damping force variable region set in the region and defined by the saturation;
A vehicle control device comprising: Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
Stroke speed detecting means for detecting the stroke speed of the damping force variable shock absorber;
When the stroke speed is equal to or lower than the first speed, the saturation of the damping force variable region of the damping force variable shock absorber is set to the first saturation,
Above a second speed greater than the first speed, the saturation of the damping force variable region is set to a second saturation higher than the first saturation,
Between the first speed and the second speed, the saturation of the variable damping force region is set to a transition saturation that transitions between the first saturation and the second saturation,
Damping force control means for outputting a damping force based on the damping force control to the damping force variable shock absorber within the range of the damping force variable region defined by the saturation;
A vehicle control device comprising: Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
Stroke speed detecting means for detecting the stroke speed of the damping force variable shock absorber;
When the amplitude of the stroke speed is smaller than the amplitude at the time of sprung resonance detected at the sprung resonance frequency, the saturation degree of the damping force variable region of the variable damping force shock absorber is the saturation at the time of the amplitude at the sprung resonance. Damping force control means for setting the damping force based on the damping force control to be output to the damping force variable shock absorber within a range of the damping force variable region set lower than the degree and defined by the saturation degree;
A vehicle control device comprising: Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber capable of changing the damping force characteristics with respect to the stroke speed;
Stroke speed detecting means for detecting the stroke speed of the damping force variable shock absorber;
When the amplitude of the stroke speed is smaller than the amplitude at the unsprung resonance detected at the unsprung resonance frequency, the saturation of the damping force variable region of the damping force variable shock absorber is the saturation at the unsprung resonance amplitude. Damping force control means for setting the damping force based on the damping force control to be output to the damping force variable shock absorber within a range of the damping force variable region set lower than the degree and defined by the saturation degree;
A vehicle control device comprising: Sprung behavior detecting means for detecting a change in the sprung behavior of the vehicle;
A damping force variable shock absorber that outputs a damping force based on a damping force control that suppresses the change in the sprung behavior;
Stroke speed detecting means for detecting the stroke speed of the damping force variable shock absorber;
The degree of saturation of the damping force variable region of the damping force variable shock absorber when the amplitude of the stroke speed is a predetermined amplitude detected in a predetermined frequency region between the sprung resonance frequency and the unsprung resonance frequency is The damping force based on the damping force control is set to be lower than the saturation at the time of resonance detected at the resonance frequency or the unsprung resonance frequency, and within the range of the damping force variable region defined by the saturation. A damping force control means for outputting the damping force variable shock absorber;
A vehicle control device comprising: The vehicle control device according to claim 12,
The vehicle control apparatus according to claim 1, wherein the predetermined frequency region is a frequency region between 2 Hz and 7 Hz.

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