JP4779715B2 - Vehicle with suppressed body vibration due to driver's steering input - Google Patents

Description

  The present invention relates to suppressing occurrence of pitching vibration and rolling vibration in a vehicle body by a driver's steering input in a vehicle such as an automobile.

For the purpose of providing a vehicle control device that can optimally control the vibration of the vehicle body, the vehicle tire vibration caused by at least one input command of the accelerator operation, the steering operation or the brake operation by the driver, the unsprung state of the vehicle Patent Document 1 below describes that an input command is corrected so as to control the vibration of the vehicle body using a motion model representing the vibration of the vehicle or the vibration on the spring of the vehicle.
JP2004-168148

  As described in Patent Document 1, the input command is corrected by using an acceleration model, a steering operation, or a brake operation as an input command and using a motion model that represents vehicle tire vibration, vehicle unsprung vibration, or springy vibration. In order to suppress vibrations of the vehicle tires, unsprung or sprung, it is necessary to construct a vehicle motion model.

  An object of the present invention is to provide a vehicle capable of suppressing the occurrence of pitching vibration and rolling vibration in a vehicle body by a driver's steering input without requiring the construction of such a vehicle motion model. .

In order to solve the above problems, the present invention includes a vehicle body, a drive device, and an electronic control device, and the electronic control device controls the operation of the drive device based on a steering input by a driver and a driving state of the vehicle. A drive command that the electronic control device sends to the drive device based on the steering input by the driver and the driving state of the vehicle, in a vehicle that is controlled and driven by the drive device so that the vehicle body moves By providing a notch filter that periodically operates in the signal transmission path (that is, when the notch filter is provided, the notch filter is periodically operated) , the drive command signal has a periodicity, and the notch The notch frequency of the filter is changed based on the correspondence relationship between the drive input to the vehicle body and the motion of the vehicle body, and the amplitude of vibration of the vehicle body with respect to the change of the steering input is suppressed. It proposes a vehicle, characterized in that is adapted to control the value.

  The control of the notch frequency of the notch filter based on the correspondence between the drive input to the vehicle body and the motion of the vehicle body is based on the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal. In this case, the frequency may be set so as to suppress the amplitude.

  The notch frequency that suppresses the amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal is a frequency analysis of the response motion of the vehicle body to the drive input to the vehicle body according to each driving state of the vehicle. Then, it may be specified by calculating the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal. In this case, the response motion of the vehicle body may be processed by a low-pass filter in the frequency analysis of the response motion of the vehicle body with respect to the drive input to the vehicle body.

  Alternatively, the notch frequency for suppressing the amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal is the notch frequency and the frequency of the drive input to the vehicle body according to each driving state of the vehicle. The correspondence relationship of the vibration amplitude of the vehicle body is collected as a sample pattern, and it is specified by selecting the sample pattern that minimizes the vibration amplitude of the vehicle body according to each driving state of the vehicle from the collected sample patterns. You may be supposed to. In this case, the switching of the selection of the sample pattern may be performed after the vehicle body vibration that suggests the change of the selection ends.

  Alternatively, the notch frequency for suppressing the amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal is a response motion of the vehicle body to the drive input to the vehicle body according to each driving state of the vehicle. Is analyzed by calculating the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal, or the notch frequency and the frequency of the drive input to the vehicle body according to each driving state of the vehicle By collecting the correspondence relationship of the vibration amplitude of the vehicle body as a sample pattern, and selecting a sample pattern that minimizes the vibration amplitude of the vehicle body according to each driving state of the vehicle from the collected sample patterns It may be specified by switching between them depending on which one is specified. In this case, the switching may be performed by selecting the vehicle vibration suppression based on the frequency analysis and the vehicle vibration suppression based on the sample pattern selection, whichever has the higher effect of vehicle vibration suppression.

  In any of the above cases, the steering input by the driver may be an accelerator opening, a steering angle, or a brake operation amount.

  In any of the above cases, the vibration of the vehicle body may be pitching vibration or rolling vibration of the vehicle body.

As described above, the vehicle includes a vehicle body, a drive device, and an electronic control device. The electronic control device controls the operation of the drive device based on a steering input by a driver and a driving state of the vehicle, and is driven by the drive device. In the vehicle in which the vehicle body moves, the electronic control unit periodically operates on the transmission path of the drive command signal sent to the drive unit based on the steering input by the driver and the driving state of the vehicle. By providing a notch filter (that is, the notch filter is periodically operated by providing the notch filter) , the drive command signal has a periodicity, and the notch frequency of the notch filter is driven to the vehicle body. If the control is performed based on the correspondence between the input and the movement of the vehicle body so that the amplitude of the vibration of the vehicle body with respect to the change of the steering input is controlled, the movement of the vehicle Even if Dell is not constructed, by selecting the notch frequency of the notch filter so that the amplitude of vibration generated in the vehicle body is most suppressed with respect to changes in steering input, periodic fluctuations in the driving force acting on the vehicle body can be reduced. The vibration can be suppressed to the maximum by interfering with the change in the steering input so as to suppress the vibration generated in the vehicle body.

  The control of the notch frequency of the notch filter based on the correspondence between the drive input to the vehicle body and the motion of the vehicle body is such that the notch frequency of the notch filter is an amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal. If the frequency is set to suppress the vibration, it is possible to reliably suppress the occurrence of large vibrations in the vehicle body due to resonance with changes in the steering input.

  The notch frequency that suppresses the amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal analyzes the response motion of the vehicle body with respect to the drive input to the vehicle body according to each driving state of the vehicle, and performs the drive. If it is specified by calculating the distribution of the amplitude of the vibration of the vehicle body relative to the frequency of the command signal, the notch frequency of the notch filter that most effectively suppresses the resonance of the vehicle body with respect to the change of the steering input is It can identify continuously according to the change of a driving | running state. In this case, if the response motion of the vehicle body is processed by the low-pass filter in the frequency analysis of the response motion of the vehicle body with respect to the drive input to the vehicle body, there is a comparison that may occur due to resonance in the vehicle body with respect to the change of the steering input. Therefore, the notch frequency of the notch filter can be specified more accurately by extracting the vehicle body vibration of the low frequency.

  The notch frequency that suppresses the amplitude in the distribution of the amplitude of the vibration of the vehicle body with respect to the frequency of the drive command signal is the amplitude of the vibration of the vehicle body with respect to the notch frequency and the frequency of the drive input to the vehicle body according to each driving state of the vehicle. Is collected as a sample pattern, and it is specified by selecting the sample pattern that minimizes the vibration amplitude of the vehicle body according to each driving state of the vehicle from the collected sample patterns. For example, the notch frequency of the notch filter that suppresses the resonance that occurs in the vehicle body to the change of the steering input to the maximum by the time series method of collecting the sample patterns and selecting and using the optimum sample pattern from time to time. Can be set. According to such a time series method, the continuity of control is inferior to that in the case of performing the frequency analysis described above, but there is an advantage that the capacity of the arithmetic unit can be reduced.

  Further, in this case, if the switching of the selection of the sample pattern is performed after the vehicle body vibration that suggests the change of the selection has ended, the notch frequency of the notch filter during the vibration of the vehicle body. As a result of the change, it is possible to avoid the disadvantage that secondary vibrations occur due to interference between two different damping actions.

  The notch frequency that suppresses the amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal analyzes the response motion of the vehicle body with respect to the drive input to the vehicle body according to each driving state of the vehicle, and performs the drive. Correspondence relationship between the vibration amplitude of the vehicle body and the frequency of the notch frequency and the drive input frequency to the vehicle body specified by calculating the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the command signal or depending on each driving state of the vehicle Are collected as sample patterns, and are selected by selecting a sample pattern that minimizes the vibration amplitude of the vehicle body according to each driving state of the vehicle from the collected sample patterns. If it is specified by switching, vibrations of the vehicle body will be detected using a method that is better suited to the driving conditions of the vehicle at all times. It is possible to Riyoku suppression.

  If the above switching is performed by selecting and executing the vehicle vibration suppression based on the frequency analysis and the vehicle vibration suppression based on the sample pattern selection, which has the higher effect of vehicle vibration suppression, the two methods are combined. The effect can be maximized.

  The vibrations that can be controlled via the drive unit among the vibrations that occur in the vehicle body due to changes in the steering input by the driver include pitching vibrations and rolling vibrations of the vehicle body in response to changes in the accelerator opening, steering angle, and brake operation amount. The above control can be applied to these parameters.

  FIG. 1 is a block diagram showing a main part of a configuration according to the present invention of a vehicle according to the present invention. In the figure, 10 is a vehicle body (VB), 12 is a drive unit (DU), and 14 is an electronic control unit (ECU). The vehicle body 10, the drive device 12, and the electronic control device 14 are not particularly specifically illustrated, but are respectively a four-wheeled vehicle body having a general structure, a combination of an engine and a transmission having a general structure, and a vehicle. It may be an electronic control device provided with a known microcomputer as an electronic control device.

  The accelerator opening and the steering angle, which are the steering inputs by the driver, together with the vehicle speed and the gear ratio, which are parameters indicating the driving state of the vehicle, are provided in the electronic control unit 14 as a part of the functional configuration. It is introduced into the arithmetic unit (PC) 16. The driving force calculation device 16 calculates the driver required driving force based on the accelerator opening, the steering angle, the vehicle speed, the gear ratio, or any other input parameter for calculating the driving force, and a driving command signal based on the calculated driving force. Are provided as a part of the functional configuration in the electronic control unit 14 and are already known in various modes as an electronic fuel injection control unit (EFI) and an electronic transmission control unit (ECT). It transmits to the drive apparatus control apparatus 18 containing a part. However, during the transmission of this drive command signal, transmission of a frequency component corresponding to the notch frequency of the signal is suppressed or blocked by the notch filter 20 provided by the present invention and described below. It is corrected, and is introduced into the drive device controller 18 as a command signal of the corrected driver request drive force. The notch filter 20 may also be provided in the electronic control unit 14 as part of a functional configuration.

  The driving device control device 18 is based on the corrected driver demanded driving force commanded from the driving force calculation device 16 through the notch filter 20, and the vehicle operation that affects the driving control such as the vehicle speed, the engine speed, and the gear ratio. While referring to the parameters, the throttle opening and the gear ratio are determined, and a signal for instructing them is transmitted to the driving device 12.

  The drive device 12 operates according to the commanded throttle opening of the engine portion, and operates according to the commanded gear ratio of the transmission portion to drive the vehicle body 10. The movement of the vehicle body 10 driven by the driving device 12, particularly vibrations such as pitching vibration and rolling vibration, appear as changes in suspension stroke, pitch angle, and roll angle.

  The driving force transmitted from the driving device 12 to the vehicle body 10 and the changes in the suspension stroke, pitch angle, and roll angle generated in the vehicle body are controlled by the notch filter control configured as a part of the functional configuration in the electronic control device 14. It is introduced into the device (FC) 22.

  The notch filter 20 is a filter for suppressing or blocking transmission of a signal in a specific frequency region (notch frequency), and the specific frequency region is variably controlled by the notch filter control device 22. It is. The notch filter control device 22 distributes the amplitude of the pitching vibration and rolling vibration of the vehicle body 10 with respect to the frequency of the drive command signal based on the correspondence relationship between the drive input to the vehicle body 10 and the movement of the vehicle body 10, particularly the pitching and rolling. In the process, the notch frequency of the notch filter is controlled so as to suppress the amplitude of the pitching vibration and rolling vibration of the vehicle body to the maximum.

  As one embodiment, the notch filter control device 22 performs frequency analysis on the response motion of the vehicle body with respect to the drive input to the vehicle body according to each driving state of the vehicle using a Fourier transform technique, and performs vehicle body response to the frequency of the drive command signal. By calculating the amplitude distribution of the pitching vibration and rolling vibration, the notch frequency of the notch filter may be controlled so as to suppress the amplitude to the maximum.

  In this case, the signal indicating the pitching or rolling of the vehicle body further introduced into the notch filter control device 22 is low-pass filtered by a low-pass filter as indicated by a broken-line block 24 in FIG. In this way, the vehicle body vibration with a relatively low frequency of about 1 to 2 Hz, which may be caused by resonance in the vehicle body with respect to changes in the steering input such as the accelerator opening and the steering angle, can be extracted better. The notch frequency of the notch filter can be controlled more accurately.

  Alternatively, as another embodiment, the notch filter control device 22 corresponds to the amplitude of the pitching vibration or rolling vibration of the vehicle body with respect to the notch frequency and the frequency of the drive input to the vehicle body 10 according to each driving state of the vehicle. The relationship is collected as a sample pattern, and the notch frequency is set by selecting the sample pattern that minimizes the amplitude of the body pitching vibration and rolling vibration from the collected sample patterns according to each driving state of the vehicle. It may be configured to. The collection of sample patterns and the control for selecting the optimum pattern based on the collection are known as time-series control techniques.

  In this case, when the driving state of the vehicle changes and it is judged that the effect of suppressing the pitching vibration and rolling vibration of the vehicle body is improved by switching to one other sample pattern than the sample pattern used so far, The switching of the selection of the sample pattern is preferably performed after the pitching vibration or rolling vibration of the vehicle body 10 once ends. By doing so, the notch frequency of the notch filter is switched while the vehicle body 10 is causing pitching vibration or rolling vibration, thereby avoiding inconvenience that two different vibration control actions interfere with each other to generate secondary vibration. Thus, it can be used for the next pitching vibration or rolling vibration.

  Alternatively, as another embodiment, the notch filter control device 22 performs frequency analysis on the response motion of the vehicle body with respect to the drive input to the vehicle body 10 according to each driving state of the vehicle as described above using a Fourier transform method. And calculating the distribution of the amplitude of the pitching vibration and rolling vibration of the vehicle body 10 with respect to the notch frequency of the notch filter, thereby controlling the notch frequency of the notch filter so as to suppress the amplitude to the maximum, and the vehicle Correspondence of the pitching vibration and rolling vibration amplitude of the vehicle body to the notch frequency and the frequency of the drive input to the vehicle body 10 is collected as a sample pattern according to each driving state, and each operation of the vehicle is collected from the collected sample patterns. Depending on the state, the sample path at which the amplitude of the pitching vibration or rolling vibration of the vehicle body 10 is minimized. It may be switched between having a structure to set the notch frequency by selecting over emissions. As an example, one of the control modes is implemented while the notch filter control devices having the above two configurations are always operated in parallel, and a predetermined threshold is set for the amplitude of pitching vibration or rolling vibration of the vehicle body. A value may be provided, and the control mode may be switched to the other each time the amplitude of the pitching vibration or rolling vibration of the vehicle body exceeds the threshold value.

  Thus, according to the present invention, as shown in the block diagram of FIG. 1, the vehicle body 10 which may be a vehicle body of a normal four-wheel vehicle is driven by a drive device 12 comprising a combination of a normal engine and transmission. Driven, the drive unit 12 is already known in various configurations on the basis of driving input by the driver such as the accelerator opening and steering angle and parameters indicating the driving state of the vehicle such as vehicle speed and gear ratio. In a vehicle that is computer-controlled through EFI or ECT that is being implemented, it is based on a driver's steering input such as the accelerator opening and steering angle, and parameters indicating the vehicle's driving state such as vehicle speed and gear ratio. The drive command signal transmitted to the EFI or ECT from the driving force calculation device 16 that calculates the driving force required by the driver is notched in the middle of the transmission path. 20, and the notch frequency of the notch filter is determined based on the correspondence between the driving force transmitted from the driving device 12 to the vehicle body 10 and the motion generated in the vehicle body 10 in response thereto. It is necessary to construct a vehicle body motion model with a configuration in which the frequency component that causes resonance in the drive command is set to a value that suppresses or cuts off, and transmission is controlled to a frequency that suppresses or cuts off the transmission of the same frequency component in the drive command. Therefore, it is possible to suppress the occurrence of pitching vibration or rolling vibration in the vehicle body by depressing or releasing the accelerator pedal or steering.

  In the above, the basic configuration of the present invention and some embodiments for carrying out the present invention have been described in detail. However, various modifications can be made to these embodiments within the scope of the present invention. This will be apparent to those skilled in the art.

The block diagram which shows the principal part of the structure which concerns on this invention of the vehicle by this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Vehicle body, 12 ... Drive apparatus, 14 ... Electronic control apparatus, 16 ... Driving force calculating apparatus, 18 ... Drive apparatus control apparatus, 20 ... Notch filter, 22 ... Notch filter control apparatus, 24 ... Low pass filter

Claims (13)

A vehicle body, a drive device, and an electronic control device, wherein the electronic control device controls the operation of the drive device based on a steering input by a driver and a driving state of the vehicle, and is driven by the drive device to A notch filter that periodically operates on a transmission path of a drive command signal that the electronic control device sends to the driving device based on a steering input by the driver and a driving state of the vehicle, for a vehicle that is adapted to move. for providing to have a periodicity in the strength of the drive command signals by Rukoto, correspondence between changes in steering input by changing based on the said vehicle body movement and the drive input of the notch frequency of the notch filter to the vehicle body A vehicle that is controlled to a value that suppresses the amplitude of vibration of the vehicle body.   The control of the notch frequency of the notch filter based on the correspondence between the drive input to the vehicle body and the motion of the vehicle body is based on the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal. The vehicle according to claim 1, wherein the vehicle has a frequency that suppresses the amplitude. The notch frequency that suppresses the amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal is a frequency analysis of the response motion of the vehicle body to the drive input to the vehicle body according to each driving state of the vehicle. The vehicle according to claim 2 , wherein the vehicle is specified by calculating a distribution of vibration amplitude of the vehicle body with respect to a frequency of the drive command signal. The vehicle according to claim 3 , wherein the response motion of the vehicle body is processed by a low-pass filter in the frequency analysis of the response motion of the vehicle body with respect to the drive input to the vehicle body.   The notch frequency which suppresses the amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal is the vibration of the vehicle body with respect to the notch frequency and the frequency of the drive input to the vehicle body according to each driving state of the vehicle. The correspondence relationship between the amplitudes of the vehicle body is collected as a sample pattern, and it is specified by selecting a sample pattern that minimizes the vibration amplitude of the vehicle body according to each driving state of the vehicle from the collected sample patterns. The vehicle according to claim 2, wherein   6. The vehicle according to claim 5, wherein the switching of the selection of the sample pattern is performed after the vehicle body vibration that suggests the change of the selection ends.   The notch frequency that suppresses the amplitude in the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal is a frequency analysis of the response motion of the vehicle body to the drive input to the vehicle body according to each driving state of the vehicle. Or by calculating the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal, or depending on each driving state of the vehicle, the notch frequency and the frequency of the drive input to the vehicle body Whether the vibration amplitude correspondence is collected as a sample pattern, and is identified by selecting the sample pattern that minimizes the vibration amplitude of the vehicle body according to each driving state of the vehicle from the collected sample patterns The vehicle according to claim 2, wherein the vehicle is specified by switching between them.   8. The switching is performed so as to select and execute a vehicle vibration suppression based on the frequency analysis and a vehicle vibration suppression based on the sample pattern selection, which has a higher effect of vehicle vibration suppression. Vehicle.   The vehicle according to any one of claims 1 to 8, wherein the steering input by the driver is an accelerator opening.   The vehicle according to claim 1, wherein the steering input by the driver is a steering angle.   The vehicle according to any one of claims 1 to 8, wherein a steering input by a driver is a brake operation amount.   The vehicle according to claim 1, wherein the vibration of the vehicle body is a pitching vibration of the vehicle body.   The vehicle according to claim 1, wherein the vibration of the vehicle body is rolling vibration of the vehicle body.

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