JP4779716B2 - 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 By changing the notch frequency of the filter based on the correspondence between the drive input to the vehicle body and the movement of the vehicle body, the vibration of the vehicle body with respect to the change in the steering input Based on the driver's driving intention, the notch degree by the notch filter is adjusted so that the width is suppressed and the effect of the suppression and the correspondence of the movement of the vehicle body to the steering input is affected by the notch filter. The present invention proposes a vehicle characterized by being controlled.

  The control of the notch degree based on the driver's driving intention is that the shift position of the manual transmission is 2 when the power switch is turned on, the shift range of the automatic transmission is set to the 2 range or the L range. When the speed position or the first speed position is set, when the accelerator opening is greater than or equal to a predetermined value, or when the accelerator opening increase speed is greater than or equal to a predetermined value, the switch for stopping the operation of the travel stabilization control device is turned on. When the switch that stops the operation of the slip control device is turned on, the notch degree of the notch filter may be made smaller than when the switch is not turned on.

Alternatively, in order to solve the above-described problems, the present invention includes a vehicle body, a drive device, and an electronic control device, and the electronic control device drives the drive based on a steering input by a driver and a driving state of the vehicle. The electronic control device controls the operation of the device and is driven by the drive device so that the vehicle body moves, and the electronic control device is based on the steering input by the driver and the driving state of the vehicle. By providing a notch filter that periodically operates in the transmission path of the drive command signal to be sent to (that is, the notch filter is periodically activated by providing the notch filter) , the drive command signal has a periodicity in strength and weakness And changing the notch frequency of the notch filter based on the correspondence relationship between the drive input to the vehicle body and the motion of the vehicle body, thereby changing the vehicle against the change in the steering input. A gain adjusting element provided in series with the notch filter so as to adjust between the effect of the suppression and the effect of the movement of the vehicle body on the steering input affected by the notch filter. The present invention proposes a vehicle characterized in that the gain is controlled based on the driving intention of the driver.

  In this case, the gain control of the gain adjusting element based on the driver's driving intention is performed when manual switching is performed when the power switch is turned on, when the shift range of the automatic transmission is set to the 2 range or the L range. When the speed change position of the machine is set to the 2nd speed position or the 1st speed position, the operation of the travel stabilization control device is stopped when the accelerator opening is greater than or equal to a predetermined value and when the accelerator opening increase speed is greater than or equal to a predetermined value. When the switch is turned on, or when the switch for stopping the operation of the slip control device is turned on, the gain of the gain adjusting element may be made larger than when the switch is not turned on.

  Further, the notch filter may be controlled such that the notch frequency is a value that suppresses the amplitude of vibration of the vehicle body with respect to a change in the steering input based on the correspondence between the drive input to the vehicle body and the motion of the vehicle body.

  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 depends on the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal. May be performed so that the frequency is suppressed.

  In this case, 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 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 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.

  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 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. Are collected as sample patterns and selected from the collected sample patterns by selecting the sample pattern that minimizes the vibration amplitude of the vehicle body according to each driving state of the vehicle. It may be. 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 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 is specified by calculating the distribution of the vibration amplitude of the vehicle body with respect to the frequency of the drive command signal, or 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. One of those specified by collecting the amplitude correspondence as a sample pattern and 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 Thus, it may be specified by switching between them. 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.

  The steering input by the driver may be the accelerator opening, or the steering input by the driver may be the steering angle, or both.

  The vibration of the vehicle body may be a pitching vibration of the vehicle body or a 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 having an appropriate notch frequency (that is, when the notch filter is provided, the notch filter is periodically operated) , the drive command signal has a periodicity, and the notch frequency of the notch filter is set. The amplitude of the vibration of the vehicle body with respect to the change of the steering input is suppressed by changing based on the correspondence between the drive input to the vehicle body and the movement of the vehicle body. If, thereby, without vehicle motion model is built, would be able to suppress the amplitude of the vibration of the vehicle body with respect to the change of the steering input. In this case, it is considered that the correspondence of the movement of the vehicle body to the steering input is influenced by the notch filter. The notching of the transmission signal by the notch filter is performed so that the amplitude is notched in a V shape centered on the notch frequency, and if the notch degree (or notch depth) is increased, the vibration suppressing effect is increased. There is a possibility that the reduction in the driving force required by the driver will be conspicuous. Therefore, if the notch degree by the notch filter is controlled based on the driving intention so as to adjust the influence between the vibration suppressing effect and the influence of the motion of the vehicle body on the steering input by the notch filter, vibration suppression Optimal adjustment between the effect and the driver's required driving force maintenance can be achieved.

  Since the influence of the notch filter on the response of the movement of the vehicle body to the steering input is considered to be smaller when the driver intends to drive with a higher driving force than otherwise. The control of the notch degree of the notch filter based on the driver's driving intention is performed when the power switch is turned on, the shift range of the automatic transmission is set to 2 range or L range, and the shift of the manual transmission is changed. When the position is set to the 2nd speed position or the 1st speed position, when the accelerator opening is greater than or equal to a predetermined value, and when the accelerator opening increase speed is greater than or equal to a predetermined value, the switch for stopping the operation of the travel stabilization control device is on. When the switch is turned on, or when the switch that stops the operation of the slip control device is turned on, the degree of notch is made smaller than when it is not It may be than, it is possible to optimize the harmony between the corresponding properties of the body motion relative to the steering input and the degree of suppression of the vibration of the vehicle body caused by a change in steering input by way.

Alternatively, as described above, the vehicle body, the driving device, and the electronic control device are provided, and the electronic control device controls the operation of the driving device based on the steering input by the driver and the driving state of the vehicle. In the vehicle that is driven by the vehicle and the vehicle body moves, the electronic control unit periodically transmits a drive command signal to the drive unit based on a steering input by the driver and a driving state of the vehicle. By providing a notch filter that operates on the motor (that is, when the notch filter is provided, it periodically operates) , the drive command signal has a periodicity, and the notch frequency of the notch filter is set to the vehicle body. When suppressing the amplitude of vibration of the vehicle body with respect to the change of the steering input by changing based on the correspondence between the drive input to and the movement of the vehicle body, If the gain of the gain adjusting element provided in series with the notch filter is controlled on the basis of the driving state of the vehicle, the effect of vibration suppression and the correspondence of the movement of the vehicle body with respect to the steering input can be reduced. Adjustments between the effects of the notch filter can be made.

  In this case, as described above, the influence of the correspondence of the movement of the vehicle body to the steering input by the notch filter should be made smaller when the driver intends to drive with a higher driving force than when the driver does not. Therefore, the gain control of the gain adjustment element provided in series with the notch filter based on the driver's driving intention is controlled when the power switch is turned on. When in the L range, when the shift position of the manual transmission is in the second speed position or the first speed position, when the accelerator opening is greater than or equal to a predetermined value, when the accelerator opening increase speed is greater than or equal to a predetermined value, The switch that stops the operation of the travel stabilization control device is turned on, or the switch that stops the operation of the slip control device is turned on. If this is the case, it is possible to increase the harmony between the degree of suppression of the vibration of the vehicle body caused by the change of the steering input and the correspondence of the movement of the vehicle body to the steering input. Can be optimized.

  In any case, the notch frequency of the notch filter is controlled to a value that appropriately suppresses the amplitude of vibration of the vehicle body with respect to the change in the steering input based on the correspondence between the drive input to the vehicle body and the movement of the vehicle body. Thus, it is possible to reliably suppress the occurrence of large vibrations in the vehicle body in resonance with changes in the steering input.

  In this case, the control of the notch frequency of the notch filter based on the correspondence relationship 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. If the frequency is set so as to suppress the amplitude, the optimum adjustment between the vibration suppression effect by the notch filter and the maintenance of the driver-requested driving force can be performed more accurately.

  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.

  Of the vibrations generated in the vehicle body by changes in the steering input by the driver, the vibrations that can be controlled via the drive unit include pitching vibrations and rolling vibrations of the vehicle body in response to changes in the accelerator opening and the steering angle. 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.

  The notch filter 20 has its notch frequency controlled by the notch filter control device 22 and at the same time its notch degree (depth of the V-shaped notch) is not shown in the figure. When the switch that enables the rotation speed to be increased to a high speed with the same gear as in the normal mode by controlling the AT shift line is automatically turned on When the shift range of the transmission is set to the 2 range or the L range, and the shift position of the manual transmission is set to the 2nd speed position or the 1st speed position, the accelerator opening when the accelerator pedal is depressed is equal to or greater than a predetermined value. When the accelerator opening increase speed is greater than or equal to a predetermined value, when the switch for stopping the operation of the travel stabilization control device (VSC) is turned on, or When the switch for stopping the operation of the control unit (TRC) Ri is ON, so that the notch of the notch filter 20 is controlled so as to be smaller than otherwise. The magnitude of the notch degree may be controlled by switching between a plurality of notch patterns or changing notch dimensions. This is because if the notch degree is increased as described above, the vibration suppression effect is increased, but the driver's required driving force may be significantly reduced. In order to reduce the drive command signal by the notch filter, the notch degree by the notch filter is reduced so as to reduce the influence that appears in the change of the driving state of the vehicle, while realizing the driver's driving force requirement more faithfully. A higher vibration suppression effect is achieved.

  In the illustrated embodiment, the notch filter 20 has its notch frequency controlled by the notch filter control device 22, and at the same time, the notch degree depends on the power switch, the automatic transmission select lever, and the manual transmission shift. The operating state of at least one of a lever, an accelerator pedal, an operation stop switch of the travel stabilization control device, or an operation stop switch of the slip control device indicates that the driver is demanding a higher driving force. The notch filter 20 controls the pitching vibration of the vehicle body or the rolling vibration of the vehicle body in response to a change in one or both of the accelerator opening and the steering angle. Of a given notch frequency that is optimal for suppressing one or both of Depending on the operating state of at least one of the power switch, the automatic transmission select lever, the manual transmission transmission lever, the accelerator pedal, the travel stabilization control device operation stop switch, or the slip control device operation stop switch, It may be controlled as follows.

  Further, a detection value related to at least one of a power switch, a selection lever of an automatic transmission, a transmission lever of a manual transmission, an accelerator pedal, an operation stop switch of a travel stabilization control device, or an operation stop switch of a slip control device. When it is determined that there is an abnormality based on comparison with other operating parameters, the notch filter 20 may be bypassed, or the notch degree may be controlled to be zero.

  Further, in the present invention, as shown in FIG. 2, a gain adjusting element 26 is interposed in series with the notch filter 20 in a path for transmitting a drive command signal from the driving force calculating device 16 to the driving device control device 18. The gain adjustment element is at least one of a power switch, an automatic transmission select lever, a manual transmission transmission lever, an accelerator pedal, a travel stabilization control device operation stop switch, or a slip control device operation stop switch. When the power switch is turned on, when the shift range of the automatic transmission is set to the 2 range or L range, when the shift position of the manual transmission is set to the 2nd speed position or the 1st speed position, Operation of the travel stabilization control device when the accelerator opening by the depression of the accelerator pedal is greater than or equal to a predetermined value, and when the acceleration opening increase speed is greater than or equal to a predetermined value When the switch for stopping is ON, or when the switch for stopping the operation of the slip control system is turned on, may be adapted to be controlled so as to be larger than otherwise. Also according to this procedure, when the power switch is turned on, when the shift range of the automatic transmission is set to the 2 range or the L range, the shift position of the manual transmission is set to the 2nd speed position or the 1st speed position. When the accelerator opening by depression of the accelerator pedal is greater than or equal to a predetermined value, when the accelerator opening increase speed is greater than or equal to a predetermined value, when the switch for stopping the operation of the travel stabilization control device is turned on, or When the switch that stops the operation of the slip control device is turned on, the influence of the notch filter on the response of the vehicle's movement to the steering input is less affected, taking into account the driver's intention for driving force To optimize the harmony between the degree of suppression of the body vibration caused by changes in the steering input and the response of the body movement to the steering input It is possible. Similarly, in this case, at least one of a power switch, a shift range of the automatic transmission, a shift position of the manual transmission, an accelerator, an operation stop switch of the travel stabilization control device, or an operation stop switch of the slip control device. When it is determined that there is an abnormality in the detected value based on comparison with other operating parameters, the notch filter 20 is bypassed or control is performed so that the gain of the gain adjusting element 26 is maximized. It may be.

  Thus, according to the present invention, as shown in the block diagram of FIG. 1 or FIG. 2, the vehicle body 10, which may be a vehicle body of a normal four-wheeled vehicle, is composed of a combination of a normal engine and a transmission. Driven by the device 12, the drive device 12 itself has various configurations based on the steering input by the driver such as the accelerator opening and the steering angle and the parameters indicating the driving state of the vehicle such as the vehicle speed and gear ratio. In a vehicle that is computer-controlled through EFI or ECT that is already known and implemented, the driver's steering input such as the accelerator opening and the steering angle, and the driving state of the vehicle such as the vehicle speed and gear ratio are shown. A drive command signal transmitted to the EFI or ECT from the driving force calculation device 16 that calculates the driving force requested by the driver based on the parameter is in the middle of the transmission path. The notch filter 20 has a constant notch frequency or is controlled to a value at which the amplitude of the vibration of the vehicle body with respect to a change in the steering input is suppressed based on the correspondence between the drive input to the vehicle body and the movement of the vehicle body. With this configuration, it is not necessary to build a vehicle motion model, and the driver's driving force requirement is respected by the occurrence of pitching vibration and rolling vibration in the vehicle body when the accelerator pedal is depressed, released or steered. However, it can be suppressed.

  In this case, in particular, the notch degree of the notch filter is a power switch, an automatic transmission select lever, a manual transmission transmission lever, an accelerator pedal, an operation stop switch of a travel stabilization control device, or an operation stop of a slip control device. When the power switch is turned on by the operating state of at least one of the switches, the shift range of the automatic transmission is set to the second range or the L range, the shift position of the manual transmission is set to the second speed position or When the first speed position is set, when the accelerator opening degree by depressing the accelerator pedal is greater than or equal to a predetermined value, or when the accelerator opening increase speed is greater than or equal to a predetermined value, the switch for stopping the operation of the travel stabilization control device is turned on. Smaller when not switched on or when the switch to stop the operation of the slip control is switched on If the gain of the gain adjustment element provided in series with the notch filter is controlled to be increased, the degree of suppression of the vibration of the vehicle body due to the change of the steering input and the movement of the vehicle body with respect to the steering input The harmony between the responsiveness can be optimized in light of the driver's desire for driving force, and the notch frequency of the notch filter 20 is transmitted from the driving device 12 to the vehicle body 10 and the response. If the amplitude of the vibration of the vehicle body with respect to the change in the steering input is controlled to a value that is appropriately suppressed based on the correspondence relationship with the motion generated in the vehicle body 10, a large vibration is generated in the vehicle body in resonance with the change in the steering input. It can suppress more reliably that it arises.

  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. The block diagram which shows the principal part of the structure which concerns on this invention of the vehicle by this invention which changed a part of structure shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Car body, 12 ... Drive device, 14 ... Electronic control device, 16 ... Driving force calculating device, 18 ... Drive device control device, 20 ... Notch filter, 22 ... Notch filter control device, 24 ... Low pass filter, 26 ... Gain adjustment element

Claims (28)

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. provided to have a periodicity in the strength of the drive command signals by Rukoto, the steering input by Rukoto varied based the notch frequency of the notch filter to the corresponding relationship between the vehicle body movement and the driving input to the vehicle body The amplitude of the vibration of the vehicle body with respect to the change of the vehicle body is suppressed, and the adjustment between the effect of the suppression and the influence of the motion of the vehicle body with respect to the steering input is affected by the notch filter. Vehicle, characterized in that is adapted to control on the basis of the notches of the driving intention of the driver by the notch filter so as to achieve.   2. The vehicle according to claim 1, wherein the notch degree of the notch filter is made smaller when the power switch is turned on than when the power switch is not turned on.   3. The vehicle according to claim 1, wherein the notch degree of the notch filter is made smaller when the shift range of the automatic transmission is set to 2 range or L range than when not.   The vehicle according to claim 1 or 2, wherein the notch degree of the notch filter is made smaller when the shift position of the manual transmission is set to the second speed position or the first speed position than when not.   The vehicle according to claim 1 or 2, wherein the notch degree of the notch filter is made smaller when the accelerator opening is not less than a predetermined value than when the accelerator opening is not.   The vehicle according to claim 1 or 2, wherein the notch degree of the notch filter is made smaller when the accelerator opening increase speed is not less than a predetermined value than when the accelerator opening increasing speed is not.   The vehicle according to claim 1 or 2, wherein the notch degree of the notch filter is made smaller when the switch for stopping the operation of the travel stabilization control device is on than when the switch is not turned on.   The vehicle according to claim 1 or 2, wherein the notch degree of the notch filter is made smaller when the switch for stopping the operation of the slip control device is turned on than when the switch is not turned on. 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. provided to have a periodicity in the strength of the drive command signals by Rukoto, the steering input by Rukoto varied based the notch frequency of the notch filter to the corresponding relationship between the vehicle body movement and the driving input to the vehicle body The amplitude of the vibration of the vehicle body with respect to the change of the vehicle body is suppressed, and the adjustment between the effect of the suppression and the influence of the motion of the vehicle body with respect to the steering input received by the notch filter Vehicle, characterized in that is adapted to control on the basis of the gain of the gain adjustment element provided in series with the driving intention of the driver to the notch filter so as to achieve.   The vehicle according to claim 9, wherein the gain of the gain adjusting element is made larger when the power switch is turned on than when the power switch is not turned on.   11. The vehicle according to claim 9, wherein the gain of the gain adjusting element is increased when the shift range of the automatic transmission is set to the 2 range or the L range.   11. The vehicle according to claim 9, wherein the gain of the gain adjusting element is made larger when the shift position of the manual transmission is at the second speed position or the first speed position than when it is not.   The vehicle according to claim 9 or 10, wherein the gain of the gain adjusting element is increased when the accelerator opening is greater than or equal to a predetermined value than when the accelerator opening is not.   The vehicle according to claim 9 or 10, wherein the gain of the gain adjusting element is increased when the accelerator opening increase speed is not less than a predetermined value than when the accelerator opening increasing speed is not.   11. The vehicle according to claim 9, wherein the gain of the gain adjusting element is made larger when the switch for stopping the operation of the travel stabilization control device is turned on than when the switch is not turned on.   The vehicle according to claim 9 or 10, wherein the gain of the gain adjusting element is made larger when the switch for stopping the operation of the slip control device is turned on than when the switch is not turned on.   The notch frequency of the notch filter is controlled to a value at which the amplitude of vibration of the vehicle body with respect to a change in the steering input is suppressed based on a correspondence relationship between a drive input to the vehicle body and a motion of the vehicle body. The vehicle according to any one of claims 1 to 16.   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 17, 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. 19. The vehicle according to claim 18, 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 19, 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 18, wherein:   The vehicle according to claim 21, 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 18, wherein the vehicle is specified by switching between them.   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 24, wherein the steering input by the driver is an accelerator opening.   The vehicle according to any one of claims 1 to 24, wherein the steering input by the driver is a steering angle.   27. The vehicle according to claim 1, wherein the vibration of the vehicle body is pitching vibration of the vehicle body.   27. The vehicle according to claim 1, wherein the vibration of the vehicle body is rolling vibration of the vehicle body.

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