JP2023070344A - アクティブサスペンション装置、及びアクティブサスペンション装置を備える車両 - Google Patents
アクティブサスペンション装置、及びアクティブサスペンション装置を備える車両 Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 87
- 230000001133 acceleration Effects 0.000 claims description 37
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 16
- 230000001771 impaired effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 15
- 230000010354 integration Effects 0.000 description 8
- 238000013016 damping Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000010419 fine particle Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005291 magnetic effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
-
- 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
- B60G2400/10—Acceleration; Deceleration
- B60G2400/102—Acceleration; Deceleration vertical
-
- 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
-
- 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
-
- 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
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- 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
- B60G2400/824—Travel path sensing; Track monitoring
-
- 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
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/16—GPS track data
-
- 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
- B60G2401/21—Laser
-
- 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
- B60G2401/28—Gyroscopes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/04—Means for informing, instructing or displaying
- B60G2600/042—Monitoring means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
図5は、本発明の実施形態に係るアクティブサスペンション装置1に備わるECU24の荷重制御について説明した説明図である。なお、ECU24の荷重制御は、図4に示したアクティブサスペンション装置1のECU24の機能の一例であり、これに限定されるものではない。
次に、本実施形態に係るアクティブサスペンション装置1の動作について説明する。図6は、本実施形態に係るアクティブサスペンション装置1の動作を示したフローチャートである。適宜、図1から図4を参照しながら説明する。
図7(a)は、前輪のプレビュー制御が成功したときに、ECU24の後輪制御部243が、成功時処理部244により、後輪を制御する概念を示す説明図である。図7(b)は、前輪のプレビュー制御が失敗したときに、ECU24の後輪制御部243が、失敗時処理部245により、後輪を制御する概念を示す説明図である。
3 プレビューセンサ(路面状態検出手段)
10 車両
12 車体
14 前輪タイヤ
16 車輪
18 サスペンションアーム
20 スプリング
22 ダンパ
24 ECU
241 前輪プレビュー制御部
242 プレビュー制御成功判定部(判定部)
243 後輪制御部
244 成功時処理部
245 失敗時処理部
251 情報取得部
252 第1目標荷重算出部
253 第2目標荷重算出部
254 統合部
255 荷重制御部
256 目標荷重算出部
26 車輪速センサ
29 加速度センサ
54 後輪タイヤ
56 車輪
100 路面
102,104 突起
Claims (5)
- 車輪前方の路面の高さを検出する路面状態検出手段と、
前記路面状態検出手段により検出された前記路面の高さの変位によってサスペンションのストロークを制御して、プレビュー制御を実行する制御部と、を有するアクティブサスペンション装置であって、
前記制御部は、
前記路面状態検出手段により検出された前記路面の高さの変位によって前輪のサスペンションのストロークを変更し、プレビュー制御を実行する前輪プレビュー制御部と、
前記前輪プレビュー制御部により前記前輪のサスペンションのストロークを変更して、当該ストロークの制御によるプレビュー制御が成功であるか否かを判定する判定部と、
前記判定部の判定結果に基づいて、対応する後輪のサスペンションのストロークを制御する後輪制御部と、備え、
前記後輪制御部は、
前記判定部により前記前輪のプレビュー制御が成功した旨の判定が行われた場合、対応する後輪に対し、サスペンションのストロークを制御するプレビュー制御とスカイフック制御とを実行し、
前記判定部により前記前輪のプレビュー制御が失敗した旨の判定が行われた場合、対応する後輪に対し、プレビュー制御を解除して、スカイフック制御を実行する、
ことを特徴とするアクティブサスペンション装置。 - 前記後輪制御部は、
前記前輪のプレビュー制御が成功した場合の前記後輪のスカイフック制御を、前記前輪のプレビュー制御が失敗した場合の前記後輪のスカイフック制御からゲインを変更する、
ことを特徴とする請求項1に記載のアクティブサスペンション装置。 - 前記判定部は、
前記前輪のプレビュー制御がオフの場合の動作を仮定した理論車両モデルと、実ボディ動作とを比較して、当該実ボディ動作の値が前記理論車両モデルの値よりも悪化している場合、前記前輪のプレビュー制御が失敗であると判定する、
ことを特徴とする請求項1または2に記載のアクティブサスペンション装置。 - 前記判定部は、
段差を乗り越え時に位置しているときの加速度センサの値が、所定の値以上である場合、前記失敗であると判定する、
ことを特徴とする請求項3に記載のアクティブサスペンション装置。 - 請求項1から4のうちいずれか1項に記載のアクティブサスペンション装置を備える車両。
Priority Applications (3)
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JP2021182452A JP7489367B2 (ja) | 2021-11-09 | 2021-11-09 | アクティブサスペンション装置、及びアクティブサスペンション装置を備える車両 |
CN202211286648.0A CN116101003A (zh) | 2021-11-09 | 2022-10-20 | 主动悬架装置及具备主动悬架装置的车辆 |
US17/972,069 US12030358B2 (en) | 2021-11-09 | 2022-10-24 | Active suspension device and vehicle with active suspension device |
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JP2021182452A JP7489367B2 (ja) | 2021-11-09 | 2021-11-09 | アクティブサスペンション装置、及びアクティブサスペンション装置を備える車両 |
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JP7489367B2 JP7489367B2 (ja) | 2024-05-23 |
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CN (1) | CN116101003A (ja) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US6913594B2 (en) | 2001-12-31 | 2005-07-05 | Biosense Webster, Inc. | Dual-function catheter handle |
US9902229B2 (en) | 2016-02-19 | 2018-02-27 | GM Global Technology Operations LLC | Methods and systems for optimizing vehicle ride using road preview |
WO2020158314A1 (ja) | 2019-01-28 | 2020-08-06 | 日立オートモティブシステムズ株式会社 | 車両挙動装置 |
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- 2021-11-09 JP JP2021182452A patent/JP7489367B2/ja active Active
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- 2022-10-20 CN CN202211286648.0A patent/CN116101003A/zh active Pending
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US20230141330A1 (en) | 2023-05-11 |
CN116101003A (zh) | 2023-05-12 |
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