JP2016000612A - サスペンション制御装置 - Google Patents
サスペンション制御装置 Download PDFInfo
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- JP2016000612A JP2016000612A JP2015133541A JP2015133541A JP2016000612A JP 2016000612 A JP2016000612 A JP 2016000612A JP 2015133541 A JP2015133541 A JP 2015133541A JP 2015133541 A JP2015133541 A JP 2015133541A JP 2016000612 A JP2016000612 A JP 2016000612A
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- 239000000725 suspension Substances 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 claims description 35
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
- B60G2401/142—Visual Display Camera, e.g. LCD
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
乗物前方の景色を照明し、その画像を繰り返し撮影する工程と、
前記繰り返し撮影された画像における地形的特徴を特定する工程と、
地表面からの前記地形的特徴の大きさを求める工程と、
前記乗物の速度を求める工程と、
前記地形的特徴の大きさと前記乗物が特徴に到達するときの予想速度に基づいて、前記特徴に到達する前に前記乗物のサスペンションパラメータを自動的に調整する工程を含む。
Claims (17)
- 前方に向けられたカメラを有する車載式TOFカメラ装置を備えた乗物用サスペンション制御システムであって、
前記カメラ装置は、乗物前方の景色を照明してその画像を繰り返し撮影するように構成されており、
前記システムは、前記景色中の地形的特徴を特定し、前記乗物の速度を特定し、前記地形的特徴と前記乗物が前記地形的特徴に到達するときの前記乗物の予想速度にしたがって、前もって前記乗物のサスペンションパラメータを自動的に調整するように構成されている、乗物用サスペンション制御システム。 - 繰り返し撮影された前記画像中に関心点を特定し、前記関心点に対する前記乗物の移動速度を求めるように構成されている、請求項1のシステム。
- 前記特徴の地表面からの前記地形的特徴の大きさの最大値に応じて、前記乗物の車高を変化させるように構成されている、請求項1又は2のシステム。
- 前記特徴の地表面からの前記地形的特徴の大きさの最大値に応じて、前記サスペンションの硬さを変えるように構成されている、請求項1〜3のいずれかのシステム。
- 複数の前記地形的特徴を連続的に評価して平均粗さを求め、前記平均粗さに応じてサスペンションパラメータを調整するように構成されている、請求項1〜4のいずれかのシステム。
- 平均表面粗さの複数の幅が最小と最大の間で定義され、前記複数の幅はそれぞれ予め決められたサスペンション設定の1つに対応している、請求項5のシステム。
- 前記平均表面粗さから離れた大きな突出物又は窪みを特定し、前記大きな突出物又は窪みが前記乗物の走行経路にあるか否か判断し、前記乗物が前記大きな突出物又は窪みに到達する前に前もって前記サスペンションパラメータを一時的に調整するように構成されている、請求項5又は6のシステム。
- 前記サスペンションパラメータの調整を前記乗物のドライバに警告するための警報を含む、請求項1〜7のいずれかのシステム。
- 前記サスペンションパラメータの調整にしたがって乗物の最大速度を制限するように構成されている、請求項1〜8のいずれかのシステム。
- 前記乗物の最大速度は前記乗物のドライバによって設定可能である、請求項8のシステム。
- TOFカメラを前方に向けて乗物に設ける工程と、
前記乗物前方の景色を照明するとともに前記景色の画像を繰り返し撮影する工程と、
繰り返し撮影した前記画像の中で地形的特徴を特定する工程と、
前記地形的特徴の地表面からの突出物又は窪みを求める工程と、
前記乗物の速度を求める工程と、
前記突出物又は窪みと前記乗物が地形的特徴に到達するときの前記乗物の予想速度とにしたがって、前記乗物が前記地形的特徴に到達する前に前記乗物のサスペンションパラメータを自動的に調整する工程を有する、乗物のサスペンションパラメータを調整する方法。 - 前記乗物の前記速度を求める工程は、
繰り返し撮影した前記画像の中に関心点を特定する工程と、
前記関心点に対する前記乗物の速度を求める工程を含む、請求項11の方法。 - 前記突出物又は窪みは平均表面粗さの幅として求められ、前記サスペンションパラメータは前記幅にしたがって調整される、請求項11又は12の方法。
- 前記突出物又は窪みはこれが予め決められた大きさを超えている場合に大きな突出物又は窪みとし、前記乗物が前記大きな突出物又は窪みに出会うか否かを判断する工程と、該判断の結果に応じて前記サスペンションパラメータを調整する工程を含む、請求項11〜13のいずれかの方法。
- 前記突出物又は窪みが大きくなるにしたがって前記乗物のサスペンションを上昇させる工程と、前記突出物又は窪みが小さくなるにしたがって前記乗物のサスペンションを下降させる工程を含む、請求項11〜14のいずれかの方法。
- 前記突出物又は窪みが大きくなるにしたがって前記乗物のサスペンションダンピングを調整する工程を含む、請求項11〜15のいずれかの方法。
- 前記乗物のドライバによって前記サスペンションの設定が行われることを許可する工程を含む、請求項11〜16のいずれかの方法。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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GB1115398.8 | 2011-09-06 | ||
GB1115400.2 | 2011-09-06 | ||
GB1115398.8A GB2494413A (en) | 2011-09-06 | 2011-09-06 | Vehicle speed determination |
GB1115400.2A GB2494415A (en) | 2011-09-06 | 2011-09-06 | A vehicle suspension control including a vehicle mounted time of flight camera |
Related Parent Applications (1)
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JP2014527698A Division JP2014531357A (ja) | 2011-09-06 | 2012-09-04 | サスペンション制御装置 |
Publications (2)
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JP2016000612A true JP2016000612A (ja) | 2016-01-07 |
JP6266565B2 JP6266565B2 (ja) | 2018-01-24 |
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Family Applications (2)
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JP2014527698A Pending JP2014531357A (ja) | 2011-09-06 | 2012-09-04 | サスペンション制御装置 |
JP2015133541A Active JP6266565B2 (ja) | 2011-09-06 | 2015-07-02 | サスペンション制御装置 |
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JP2014527698A Pending JP2014531357A (ja) | 2011-09-06 | 2012-09-04 | サスペンション制御装置 |
Country Status (5)
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US (1) | US9662955B2 (ja) |
EP (1) | EP2758260B1 (ja) |
JP (2) | JP2014531357A (ja) |
GB (1) | GB2494528B (ja) |
WO (1) | WO2013034561A1 (ja) |
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US20140222287A1 (en) | 2014-08-07 |
EP2758260A1 (en) | 2014-07-30 |
US9662955B2 (en) | 2017-05-30 |
GB201215780D0 (en) | 2012-10-17 |
JP6266565B2 (ja) | 2018-01-24 |
EP2758260B1 (en) | 2019-07-10 |
JP2014531357A (ja) | 2014-11-27 |
GB2494528B (en) | 2014-01-29 |
WO2013034561A1 (en) | 2013-03-14 |
GB2494528A (en) | 2013-03-13 |
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