JP5808615B2 - Suspension control device - Google Patents

Description

  The present invention relates to a suspension control device that is mounted on a vehicle such as a four-wheeled vehicle and is preferably used for buffering vibration of the vehicle.

  In general, a vehicle such as an automobile is provided with a damping force adjustment type shock absorber between the vehicle body side and each axle side, and the damping force characteristic by the shock absorber according to the vehicle posture or the like accompanying the braking operation of the brake A suspension control device configured to be variably controlled is mounted (for example, see Patent Document 1).

  In the suspension control device described in Patent Document 1, the damping force adjustment type shock absorber is controlled so that the wheel load of the braking wheel is increased and the wheel load of the non-braking wheel is decreased when the skid prevention device is operated. This is a method in which the braking force is increased by a damping force adjusting shock absorber to improve running stability.

JP 2003-11635 A

  By the way, when the wheel load of the braking wheel is increased, the friction circle is expanded, so that the braking force is improved, but the cornering force is also increased. On the other hand, oversteer suppression by the skid prevention device is performed by generating a braking force on the right front and rear wheels or the left front and rear wheels and generating a yaw moment opposite to the rotation by the braking force. At this time, increasing the load on the front wheel by wheel load control leads to an increase in the cornering force of the front wheel, so that the yaw moment in the direction of rotation by the cornering force increases. Therefore, when the wheel load of the front wheel is increased, the oversteer is further increased. Therefore, in order to suppress the yaw moment increased by the wheel load control, the skid prevention device must further increase the braking force. There is a problem of not becoming.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a suspension control device that reduces oversteer and enhances vehicle stability.

In order to solve the above-described problem, in the suspension control apparatus according to the first aspect of the present invention, the control means for controlling the wheel load adjustment mechanism includes a steering angle detection means for detecting a steering angle, and an actual yaw rate generated in the vehicle body. An actual yaw rate detecting means, a target yaw rate estimating means for estimating a target yaw rate from the detected steering angle, and a vehicle body that determines whether or not the behavior of the vehicle is oversteered by a difference between the actual yaw rate and the target yaw rate And determining the wheel load of both rear wheels of the vehicle body according to a difference between the actual yaw rate and the target yaw rate when the vehicle body behavior determining unit determines that the vehicle is oversteered. a structure for controlling the mechanism, the wheel load adjustment mechanism is adjustable damping force adjustable shock absorber damping force characteristics between soft and hard, When it is determined that the Basutea, of the rear wheels of the vehicle body, the damping force of the contraction stroke hard and is characterized by adjusting the damping force of the extension stroke soft.
In the suspension control apparatus according to the second aspect of the present invention, the control means for controlling the wheel load adjustment mechanism includes a steering angle detection means for detecting a steering angle, and an actual yaw rate detection means for detecting an actual yaw rate generated in the vehicle body. Target yaw rate estimating means for estimating a target yaw rate from the detected steering angle, and vehicle body behavior determining means for determining whether or not the behavior of the vehicle is oversteered based on a difference between the actual yaw rate and the target yaw rate. And when the vehicle body behavior determining means determines that the vehicle is oversteered, the wheel load adjusting mechanism for the two rear wheels of the vehicle body is controlled according to the difference between the actual yaw rate and the target yaw rate. When the control means determines that the vehicle is oversteered, the initial stage during the contraction stroke of both rear wheels of the vehicle body is defined as the hard side. It is characterized by switching the late hard side with switched late soft side, the initial in an extension stroke and a soft side.

  According to the present invention, the above-described configuration can reduce oversteer and increase the stability of the vehicle.

1 is a perspective view showing a four-wheeled vehicle to which a suspension control device according to an embodiment of the present invention is applied. It is a control block diagram which shows the suspension control apparatus by embodiment of this invention. It is a flowchart which shows the damping force control process of each wheel by the controller in FIG. It is a flowchart which shows the control discrimination | determination process in step 6 in FIG. It is a flowchart which shows the wheel load control in FIG. FIG. 5 is a characteristic diagram schematically showing a time change of a steering angle, an actual yaw rate, a yaw rate deviation, a control discrimination coefficient, a piston acceleration, and a rear wheel side damping force command signal according to the embodiment. It is a characteristic diagram which shows the time change of the control discrimination coefficient by embodiment, the damping force command signal of the rear-wheel side, and the wheel load of a left rear wheel. It is explanatory drawing which shows the relationship between the state of the vehicle at the time of left steering, a steering angle, and a yaw rate deviation. It is explanatory drawing which shows the relationship between the state of the vehicle at the time of right steering, a steering angle, and a yaw rate deviation.

  Hereinafter, a suspension device according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings, taking as an example a case where the suspension device is applied to a four-wheeled vehicle. In the following, left steering is positive and right steering is negative. Further, the yaw rate at the left steering is positive, and the yaw rate at the right steering is negative. Further, the extension side of the piston is positive and the contraction side is negative.

  1 to 7 show an embodiment of the present invention. In the figure, reference numeral 1 denotes a vehicle body constituting a vehicle body. On the lower side of the vehicle body 1, for example, left and right front wheels 2 (only one shown) and left and right rear wheels 3 (only one shown) are shown. Is provided.

  Reference numerals 4 and 4 are front wheel side suspension devices provided between the left and right front wheel 2 sides and the vehicle body 1, and each suspension device 4 includes left and right suspension springs 5 (hereinafter referred to as springs). 5), and left and right damping force adjustable dampers 6 (hereinafter referred to as damping force variable dampers 6) provided between the left and right front wheels 2 and the vehicle body 1 in parallel with the springs 5. And).

  7 and 7 are rear wheel side suspension devices provided between the left and right rear wheel 3 sides and the vehicle body 1, and each suspension device 7 includes left and right suspension springs 8 (hereinafter referred to as the left and right suspension springs 8). , Springs 8) and left and right damping force adjustable shock absorbers 9 (hereinafter referred to as damping forces) provided between the left and right rear wheels 3 and the vehicle body 1 in parallel with the springs 8. The variable damper 9).

  Here, the damping force variable dampers 6 and 9 of the suspension devices 4 and 7 are configured using a damping force adjustable hydraulic shock absorber. The damping force variable dampers 6 and 9 adjust the wheel load of the wheels 2 and 3 by adjusting the force generated in the distance direction between the vehicle body 1 and the wheels 2 and 3. Here, the damping force variable dampers 6 and 9 have a damping force adjusting valve and an actuator (not shown) for continuously adjusting the damping force characteristic from a hard characteristic (hard characteristic) to a soft characteristic (soft characteristic). Etc.) is attached. For this reason, the damping force variable dampers 6 and 9 constitute a wheel load adjusting mechanism including these valves and actuators.

  Note that the damping force adjustment valve does not necessarily have a configuration in which the damping force characteristic is continuously changed, and may be a configuration in which the damping force characteristic is intermittently adjusted in two stages or three or more stages. As this damping force adjusting valve, a well-known structure such as a pressure control method for controlling the pilot pressure of the damping force generating valve and a flow rate control method for controlling the passage area can be used.

  Reference numeral 10 denotes a plurality of sprung acceleration sensors provided on the vehicle body 1. Each of the sprung acceleration sensors 10 detects the vibration acceleration in the left and right directions in order to detect the vibration acceleration in the upper and lower directions on the vehicle body 1 side above the spring. It is attached to the vehicle body 1 at a position near the upper end side (rod protruding end side) of the damping force variable damper 6 on the front wheel 2 side, and near the upper end side (rod protruding end side) of the damping force variable damper 9 on the rear wheel 3 side. It is attached to the vehicle body 1 even at the position. The sprung acceleration sensor 10 constitutes a road surface state detector that detects the road surface state as upward and downward vibration acceleration while the vehicle is traveling, and outputs the detection signal to the controller 15 described later. The sprung acceleration sensor 10 may be provided on all four wheels, or may be provided with a total of three of the left and right front wheels 2 and the left and right rear wheels 3.

  Reference numeral 11 denotes a plurality of unsprung acceleration sensors provided on each front wheel 2 side and each rear wheel 3 side of the vehicle. The unsprung acceleration sensors 11 include the left and right front wheels 2 side and the left and right rear wheels. On the third side, the vibration acceleration in the upward and downward directions is detected for each wheel, and the detection signal is output to the controller 15 described later.

The unsprung (axle) side acceleration signal from the unsprung acceleration sensor 11 is a sprung (vehicle body) output from the sprung acceleration sensor 10 in a calculation process (see step 4 in FIG. 3) by the controller 15 described later. 1) Subtraction processing is performed on the acceleration signal on the side. By this subtraction process, the piston accelerations a _fr and a _rr between the sprung and unsprung _parts , that is, the expansion and contraction accelerations that are the movement accelerations of the dampers 6 and 9 in the distance direction are calculated. The piston acceleration a _fr is the expansion acceleration of the damping force variable damper 6 on the front wheel side, and the piston acceleration a _rr is the expansion acceleration of the damping force variable damper 9 on the rear wheel side. These piston accelerations a _fr and a _rr are also called piston relative accelerations.

Also, by integrating the piston accelerations a _fr and a _rr , the upper and lower relative speeds between the front wheels 2 and the rear wheels 3 and the vehicle body 1, that is, the expansion and contraction speeds of the dampers 6 and 9 are calculated. The

  A steering angle sensor 12 is a steering angle sensor provided on the vehicle body 1 as a steering angle detection means. The steering angle sensor 12 includes, for example, an angle sensor provided on a steering (not shown), and the steering angle δ of the steering is determined. The detection signal is output to the controller 15 described later.

  Reference numeral 13 denotes a yaw rate sensor as actual yaw rate detection means. The yaw rate sensor 13 detects an actual yaw rate generated in the vehicle body 1 as an actual yaw rate r, and outputs a detection signal to a controller 15 described later.

  Reference numeral 14 denotes a skid prevention device provided on the vehicle body 1. The skid prevention device 14 obtains the yaw rate deviation Mz based on the steering angle signal from the steering angle sensor 12 and the yaw rate signal from the yaw rate sensor 13, and this yaw rate. Control for preventing a side slip of the vehicle body 1 is performed using the deviation Mz.

  Reference numeral 15 denotes a controller as a control means composed of a microcomputer or the like. As shown in FIG. The output side is connected to an actuator (not shown) of the damping force variable dampers 6 and 9 and the like.

  The controller 15 has a storage unit 15A composed of a ROM, a RAM, a nonvolatile memory, and the like, and the control processing program shown in FIGS. 3 to 5 is stored in the storage unit 15A. Then, the controller 15 calculates a damping force command signal to be output to an actuator (not shown) of each damping force variable damper 6, 9 as a command current value in accordance with the damping force control processing of each wheel shown in FIG. Each of the damping force variable dampers 6 and 9 is controlled so that the generated damping force is variable between hardware and software continuously or in multiple stages according to the command current value (damping force command signal) supplied to the actuator.

  The suspension control apparatus according to the present embodiment has the above-described configuration. Next, processing for variably controlling the damping force characteristics of the damping force variable dampers 6 and 9 by the controller 15 will be described.

  First, the controller 15 executes a damping force control process for each wheel as shown in FIG. That is, initial setting is performed in step 1 in FIG. 3, time management is performed in the next step 2, and the control cycle for performing the control processing after step 3 is adjusted to a value of, for example, about several ms. In step 3, sensor input is performed, and signals from the sprung acceleration sensor 10, the unsprung acceleration sensor 11, the steering angle sensor 12, the yaw rate sensor 13, and the like are read.

In the next step 4, piston accelerations a _fr and a _rr and relative speeds for each wheel are calculated and obtained. In this case, by subtracting the unsprung acceleration signal from the unsprung acceleration sensor 11 and the unsprung acceleration signal from the unsprung acceleration sensor 10, the piston accelerations a _fr and a _rr between the unsprung and unsprung _portions are obtained. Calculated. Further, by integrating the piston accelerations a _fr and a _rr , the relative speeds in the upper and lower directions between the front wheels 2 and the rear wheels 3 and the vehicle body 1 are calculated. For this reason, step 4 in FIG. 3 shows a specific example of acceleration detecting means for detecting piston accelerations a _fr and a _rr as the moving acceleration of the damping force variable dampers 6 and 9 in the distance direction. The piston accelerations a _fr and a _rr and the relative speed are shown with positive on the expansion side of the damper and negative on the contraction side.

  In the next step 5, a damping force command signal according to these calculation results is input. In the next step 6, a control determination coefficient S for determining whether or not the vehicle body 1 is oversteered is calculated based on the steering angle signal from the steering angle sensor 12 and the yaw rate signal from the yaw rate sensor 13. . Specifically, the control discrimination process shown in FIG. 4 is performed to calculate the target yaw rate r0 based on the steering angle δ, and the control discrimination coefficient S is calculated from the steering angle δ, the target yaw rate r0, and the actual yaw rate r. In step 7, it is determined whether or not to execute wheel load control based on the control discrimination coefficient S. The steering angle δ and the actual yaw rate r are shown with the left side of the vehicle as positive and the right side as negative.

If “YES” is determined in step 7, the control discrimination coefficient S becomes a negative value (S <0) and the vehicle is in an oversteer state as will be described later. Control is performed to calculate damping force command signals I _FR and I _RR for each wheel in accordance with the control discrimination coefficient S and the piston accelerations a _fr and a _{rr as shown} in FIG. Then, in the next step 9, a damping force command signal (target damping force signal) is output for each wheel, and the damping force is variably controlled in order to variably control the wheel load for each wheel. Repeat the process.

  Further, when “NO” is determined in step 7, the control determination coefficient S becomes zero or a positive value (S ≧ 0), and the vehicle is understeered in a normal driving state where the target yaw rate r 0 and the actual yaw rate r coincide with each other. Since it is in a state, the process moves to step 10 and the calculation process of the damping force command signal for each wheel is executed as normal control. As normal control, vibration suppression control such as skyhook control, rough road control while traveling on rough roads, roll, anti-dive, squat control, and the like are performed. In the next step 9, the damping force command signal (target damping force signal) of each wheel calculated in step 10 is output to variably control the damping force.

  Note that the normal control is performed when the control discrimination coefficient S is determined to be zero or a positive value (S ≧ 0) in step 7 in FIG. However, in order to suppress sudden changes in damping force due to repeated switching between normal control and wheel load control, for example, a counter is provided, and the control discrimination coefficient S is zero or positive (S ≧ 0). It is good also as a structure which continues only for predetermined time and switches to normal control, after the state of a vehicle is stabilized.

  Next, the control determination process in FIG. 3 will be described with reference to FIG. First, in step 11, the target yaw rate r0 is calculated by multiplying the steering angle δ by a predetermined coefficient C as shown in the following equation (1). Therefore, step 11 in FIG. 4 shows a specific example of the target yaw rate estimating means for estimating the target yaw rate r0 from the steering angle δ. The coefficient C may be a constant value determined in advance for calculating the target yaw rate r0, and may be variable according to the vehicle speed, for example.

  Next, in step 12, the yaw rate deviation Mz is calculated from the difference between the target yaw rate r0 and the actual yaw rate r as shown in the following equation (2). In the following step 13, the control discrimination coefficient S is calculated by multiplying the yaw rate deviation Mz by the sign of the steering angle δ based on the equation (3). When step 13 ends, the process proceeds to step 14 and returns. At this time, step 13 in FIG. 4 and step 7 in FIG. 3 show specific examples of the vehicle body behavior determining means. As will be described later, when the control determination coefficient S is a negative value (S <0), it is determined that the understeer state is established. Therefore, when the control determination coefficient S is zero or a positive value (S ≧ 0). The control discrimination coefficient S may be saturated to zero (S = 0).

  Here, the sign function sgn (δ) in the equation (3) outputs 1 when the steering angle δ is positive (δ> 0) and is negative (δ <0) as shown in the equation (4). Sometimes -1 is output, and when zero (δ = 0), zero is output.

Next, wheel load control shown in FIG. 5 will be described. First, at step 21, a damping force command signal _IFR that is a front wheel side command current value is calculated from the piston acceleration a _fr based on the following equation (5). In addition, a damping force command signal I _RR that is a rear wheel command current value is calculated from the piston acceleration a _rr based on the following equation (6). When step 21 is completed, the process proceeds to step 22 and returns.

Here, the control gains K _FR , K _RR , I 0 _FR and I 0 _RR may be constant values or variable values. When the control gains K _FR , K _RR , I 0 _FR and I 0 _RR are set to constant values, a constant value determined in advance by tuning may be read by the initial setting in step 1. On the other hand, when the control gains K _FR , K _RR , I 0 _FR and I 0 _RR are variably set, for example, the lateral acceleration, the longitudinal acceleration, the vehicle speed, the steering angular velocity, etc. are used to change according to the driver operation situation and the vehicle situation. A configuration may be adopted. The damping force command signals I _FR and I _RR are calculated as signals that increase from the hardware side to the software side in proportion to the piston accelerations a _fr and a _rr .

The damping force command signals I _FR and I _RR are set to values within a range between the minimum value on the hardware side (hard command signal I _H ) and the maximum value on the software side (soft command signal I _S ). A configuration in which saturation processing is performed may be employed.

In this case, when the damping force command signals I _FR and I _RR are smaller than the hard command signal I _H (I _FR <I _H ), the damping force command signal I _FR is set to the hard command signal I _H (I _FR = I _H ). On the other hand, when the damping force command signals I _FR and I _RR are larger than the soft command signal I _S (I _FR , I _RR > I _S ), the damping force command signals I _FR and I _RR are changed to the soft command signal I _S. Set (I _FR , I _RR = I _S ).

As described above, the controller 15 calculates the damping force command signals I _FR and I _RR using the control discrimination coefficient S and the piston accelerations a _fr and a _rr .

The suspension control apparatus according to the present embodiment executes the control process as described above. Next, characteristics of damping force command signals I _FR and I _RR and wheel load when the vehicle is traveling will be described.

  In the present invention, the concept of the skid prevention device 14 is applied to wheel load control to realize oversteer suppression control by wheel load control.

  Here, the skid prevention device 14 generally calculates the yaw rate deviation Mz based on the difference between the target yaw rate r0 based on the steering angle δ and the actual yaw rate r, and uses the yaw rate deviation Mz to prevent the side slip of the vehicle body 1. Control to prevent it. For this reason, in the normal travel range, the actual yaw rate r is generated following the steering operation, so the yaw rate deviation Mz is zero (Mz = 0). On the other hand, when the yaw rate deviation Mz takes a value other than zero, it can be determined that the vehicle is in the limit travel region in which the oversteer state or the understeer state is set. Therefore, the skid prevention device 14 performs, for example, braking force control of the front wheels 2 when the yaw rate deviation Mz occurs to prevent the vehicle body 1 from skidding.

  In the suspension control according to the present invention, an oversteer state is first determined by comparing the direction of the yaw rate deviation Mz and the steering angle δ, and this is multiplied by the wheel load control. Realize oversteer suppression control. This is because oversteer suppression control is performed using the yaw rate deviation Mz in the same manner as in the skid prevention device 14, and if control is realized simultaneously with the skid prevention device 14, coordinated oversteer suppression can be realized.

  In the wheel load control, in the oversteer state, if the control is performed so as to increase only the rear wheel load, the cornering force of the front wheel 2 does not increase, so the skid prevention device 14 does not increase the braking force. Since the stability of the rear wheel 3 increases, the braking force generated by the skid prevention device 14 can be reduced.

  Specifically, in the present embodiment, control is performed as follows.

  First, the controller 15 determines the yaw rate deviation Mz. The yaw rate deviation Mz is obtained from the difference between the target yaw rate r0 calculated from the steering angle δ and the actual yaw rate r based on the above-described equation (2). If the yaw rate deviation Mz or equivalent can be obtained from the skid prevention device 14, it is used. In this case, calculation of the yaw rate deviation Mz becomes unnecessary. When calculating the yaw rate deviation Mz, if necessary, the target yaw rate r0 may be filtered using a bandpass filter or the like, for example.

  Here, the meaning of the yaw rate deviation Mz will be described.

  First, as shown in FIG. 8, a case of left steering where the steering angle δ is positive (δ> 0) will be described. When the target yaw rate r0 and the actual yaw rate r are equal, the yaw rate deviation Mz is zero (Mz = 0). The actual yaw rate r may rise following the steering, and it can be determined that the vehicle is in a normal traveling state where the vehicle can turn in response to the steering of the vehicle.

  On the other hand, when the yaw rate deviation Mz becomes a positive value (Mz> 0), the actual yaw rate r is smaller than the target yaw rate r0. In this case, it can be determined that the actual yaw rate r does not respond to steering and the vehicle is not bent with respect to the steering amount, that is, the understeer state.

  On the other hand, when the yaw rate deviation Mz becomes a negative value (Mz <0), the actual yaw rate r that is larger than the target yaw rate r0 rises, so that the vehicle is excessively bent with respect to the steering amount, that is, over It can be determined that the vehicle is in the steer state.

  Next, as shown in FIG. 9, a case of right steering where the steering angle δ is negative (δ <0) will be described. Even in this case, when the yaw rate deviation Mz is zero (Mz = 0), since the target yaw rate r0 and the actual yaw rate r are equal, it can be determined that the vehicle is in the normal running state.

  On the other hand, when the yaw rate deviation Mz is a negative value (Mz <0), the steering angle δ is in the reverse direction, so that it can be determined that the vehicle is in an understeer state unlike the case where the steering angle δ is positive. Conversely, when the yaw rate deviation Mz becomes a positive value (Mz> 0), it can be determined that the vehicle is in an oversteer state.

  In summary, when the yaw rate deviation Mz is zero (Mz = 0), it can be determined that the vehicle is in the normal traveling state regardless of the steering angle δ. On the other hand, when the yaw rate deviation Mz is a positive value (Mz> 0), when the steering angle δ becomes a positive value (δ> 0), an understeer state is established, and the steering angle δ is a negative value (δ <0). When it becomes, it can be judged that it is in an oversteer state. When the yaw rate deviation Mz is a negative value (Mz <0), the steering angle δ is a positive value (δ> 0), and the steering angle δ is a negative value (δ <0). When it becomes, it can be judged that it is an understeer state.

  That is, when the yaw rate deviation Mz is zero (Mz = 0), it can be determined that the vehicle is in the normal traveling state. When the yaw rate deviation Mz is a positive or negative value, the signs of the yaw rate deviation Mz and the steering angle δ are determined. It is possible to determine oversteering or understeering in combination. Specifically, the yaw rate deviation Mz and the steering angle δ can be determined as understeer with the same sign, and the yaw rate deviation Mz and the steering angle δ can be determined as oversteer with different signs.

  From this, in the present invention, it is determined whether it is oversteer or understeer, and the control discrimination coefficient S for performing control discrimination is calculated based on the above-described equation (3). Thereby, if the control discrimination coefficient S is a positive value (S> 0), it can be determined as understeer, and if it is a negative value (S <0), it can be determined as oversteer. Therefore, in the present invention, specialized control is performed when it is determined that the control discrimination coefficient S is a negative value (S <0) and the oversteer state.

  Here, the control command Iu for increasing the wheel load and the control command Id for decreasing the wheel load can be expressed by the following equations (7) and (8). In Equations 7 and 8, a is the piston acceleration, and K and I0 are constants.

  As the control commands Iu and Id, a command that becomes softer is output as the piston acceleration a becomes larger on the positive side (extension side), and a command that becomes harder as the piston acceleration a becomes larger on the negative side (contraction side). It means that. Further, the control command Iu and the control command Id have opposite phases.

  For example, the control command Iu becomes harder as the piston acceleration a becomes larger on the contraction side (becomes larger), and becomes softer as the piston acceleration a becomes larger on the elongate side (becomes larger). The control command Id is opposite to the control command Iu.

  This control is a method of controlling the wheel load by controlling the damping force command for one wheel, but there are three points: (1) what time, (2) which wheel load is increased or decreased (3). Is not included.

  Therefore, in the present invention, the control discrimination coefficient S for determining the above-described oversteer and understeer is introduced into this control equation. In the present invention, since the rear wheel load at the time of oversteer is increased, (1) when the control discrimination coefficient S is negative (S <0), (2) the load on the rear wheel 3 is increased (3). Make a decision. Therefore, the wheel load control in which the control discrimination coefficient S is introduced can be expressed as the above-described equations 5 and 6.

-S is multiplied so that the damping force command signal I _RR on the rear wheel side when the control discrimination coefficient S is negative becomes the control command Iu for increasing the wheel load. On the other hand, in order to increase the rear wheel load, the front wheel load must be decreased. Therefore, the damping force command signal _IFR is set so that the front wheel side damping force command signal IFR becomes the control command Id for reducing the wheel load. _The phase is opposite to that of _RR .

  The wheel load control described above is quicker as the control discriminating factor S is larger, that is, the difference between the target yaw rate r0 and the actual yaw rate r is larger, and the oversteer becomes steeper, and the switching of the control command becomes steeper. The damping force can be switched.

The effect of the wheel load control described above will be specifically described with reference to FIG. FIG. 6 schematically shows changes over time in the damping force command signal I _{RR of} one rear wheel when the vehicle is traveling.

Although FIG. 6 shows only the damping force command signal I _{RR for} only one rear wheel, the front wheel side damping force command signal I _FR can be obtained in the same manner based on the equation (5). For example, when the actual yaw rate r occurs with respect to the steering angle δ shown in FIG. 6 and the piston acceleration a _{fr of} one front wheel changes the same as the piston acceleration a _{rr of the} rear wheel shown in FIG. The wheel damping force command signal _IFR has the opposite phase to the damping force command signal _{IRR for} one rear wheel shown in FIG.

However, the damping force command signals I _FR and I _RR for the piston accelerations a _fr and a _rr of the front wheel 2 and the rear wheel 3 depend on the parameter tuning of the control gains K _FR , K _RR , I 0 _FR and I 0 _RR . For this reason, even if the piston accelerations a _fr and a _rr have the same magnitude, the damping force command signals I _FR and I _{RR for} the front wheels 2 and the rear wheels 3 do not always output the same value. Moreover, the damping force of the damping force variable dampers 6 and 9 with respect to the damping force command signals I _FR and I _RR depends on the respective conditions of the front wheels 2 and the rear wheels 3 and the specifications of the damping force variable dampers 6 and 9. For this reason, even if the damping force command signals I _FR and I _RR have the same value, the damping force variable dampers 6 and 9 do not always generate the same damping force.

As shown in FIG. 6, when the driver performs left steering, for example, when the left steering angle δ is small, the target yaw rate r0 and the actual yaw rate r match, and the behavior of the vehicle is a normal running state corresponding to the steering angle δ. It becomes. However, when the steering angle δ in the left direction increases, a yaw rate deviation Mz occurs between the target yaw rate r0 and the actual yaw rate r, and the behavior of the vehicle does not follow the steering angle δ and enters an oversteer state. At this time, the controller 15 outputs a signal of the hard side or soft end in accordance with the magnitude of the piston acceleration a _rr as a damping force command signal I _RR of the rear wheel side.

  Next, when the driver switches from the left steering to the right steering, the vehicle body operation exceeding the steering angle δ occurs and the vehicle is in an understeer state. At this time, the controller 15 performs normal control without performing wheel load control.

When the driver performs further right steering and the steering angle δ in the right direction increases, the vehicle again enters the oversteer state, so that the controller 15 determines the magnitude of the piston acceleration a _rr as the rear wheel side damping force command signal I _RR. In response to this, the hardware side or software side signal is output. When the steering angle δ in the right direction decreases, the normal traveling state is restored, and the controller 15 also performs normal control again.

  As described above, when the controller 15 determines that the vehicle is in an oversteer state, the initial stage during the contracting stroke of the rear wheel 3 is set to the hard side and the latter stage is switched to the soft side, and the initial stage during the extending stroke of the rear wheel 3 is set to the soft side. Switch to the hardware side later.

  As a result, in the present embodiment, the rear wheel load at the time of oversteer can be increased, the stability of the rear wheel 3 can be increased, the oversteer can be reduced, and the vehicle stability can be improved. .

  In order to verify the effectiveness of the present embodiment, a running experiment using a full vehicle simulation was performed. The time change of the wheel load of the left rear wheel at that time is shown in FIG. In FIG. 7, the solid line indicates the present embodiment in which normal control and wheel load control are performed, and the broken line indicates a comparative example in which only normal control in which the wheel load is fixed on the soft side is performed. As shown in FIG. 7, in the present embodiment, compared to the comparative example, in the oversteer state in which the control discrimination coefficient S is a negative value (S <0), the wheel load loss of the rear wheel 3 is reduced. It can be seen that the increase in the wheel load of the rear wheel 3 is increased.

  Thus, in the present embodiment, when the controller 15 determines that the vehicle is oversteering, the wheels of the two rear wheels 3 of the vehicle body 1 according to the yaw rate deviation Mz that is the difference between the target yaw rate r0 and the actual yaw rate r. Control the load. Specifically, since wheel load control is performed based on the formulas (5) and (6), the initial stage during the contraction stroke of both rear wheels 3 is set to the hard side and the latter stage is switched to the soft side, The initial stage can be set to the soft side and the latter stage can be switched to the hard side. Thereby, by increasing the rear wheel load at the time of oversteering, the stability of the rear wheel 3 can be increased to reduce oversteer, and the stability of the vehicle can be improved.

  In addition, since the oversteer is reduced by controlling the wheel load of the rear wheel 3, the braking force generated by the skid prevention device 14 can be reduced. In addition, the stability of the vehicle can be improved even in a vehicle without the skid prevention device 14.

  Furthermore, since wheel load control is performed using the yaw rate deviation Mz similar to that of the skid prevention device 14, it is possible to suppress oversteer in cooperation with the skid prevention device 14 and to improve the oversteer suppression effect of the skid prevention device 14. be able to.

  In the above-described embodiment, the suspension devices 4 and 7 are configured to include the damping force variable dampers 6 and 9 including damping force adjusting hydraulic shock absorbers called so-called semi-active dampers. However, the present invention is not limited to this, and a configuration using a pressure cylinder capable of adjusting the wheel load by increasing or decreasing the internal pressure by supplying or discharging fluid, such as an active suspension of pneumatic pressure or hydraulic pressure, may be used. Good. Further, the present invention can be applied not only to a suspension device using a fluid but also to a ball screw type or electromagnetic type active suspension.

In the above embodiment, in the oversteer state, both the wheel loads (damping force command signals I _FR and I _RR ) on the front wheel side and the rear wheel side are controlled, but only the wheel load on the rear wheel side is controlled. It is good also as a structure which controls.

Furthermore, in the said embodiment, although it was set as the structure provided with the skid prevention apparatus 14, it is good also as a structure which omits the skid prevention apparatus 14. FIG. In the embodiment, the piston accelerations a _fr and a _rr are obtained by calculation using the sprung acceleration sensor 10 and the unsprung acceleration sensor 11. However, the present invention is not limited to this. For example, the piston accelerations a _fr and a _rr may be obtained by calculation using signals from a vehicle height sensor that detects the height of the vehicle body 1, and various sensors are used. Thus, the piston accelerations a _fr and a _rr may be directly detected.

  In the above embodiment, the understeer area and the oversteer area are divided by the control discrimination coefficient S. However, a dead zone area may be provided in the area before and after the zero crossing.

  Next, the invention included in the embodiment will be described. That is, according to the present invention, the control means has vehicle body behavior determination means for determining whether or not the vehicle behavior is oversteering based on the difference between the actual yaw rate and the target yaw rate, and the vehicle body behavior determination means performs oversteering. When it is determined that there is, the wheel load adjusting mechanism for both rear wheels of the vehicle body is controlled according to the difference between the actual yaw rate and the target yaw rate. Therefore, by increasing the rear wheel load during oversteering according to the difference between the actual yaw rate and the target yaw rate, the stability of the rear wheel can be increased to reduce oversteer and improve vehicle stability. Can do.

  Further, according to the present invention, the wheel load adjusting mechanism is a damping force adjusting type shock absorber capable of adjusting the damping force characteristic between soft and hard, and the damping force of the contraction stroke of both rear wheels of the vehicle body is obtained. The structure is such that the damping force of the extension stroke is adjusted softly. Thereby, the wheel load omission of the rear wheel can be reduced and the wheel load of the rear wheel can be increased.

  Further, according to the present invention, the control means sets the initial stage during the contraction stroke of both rear wheels to the hard side and switches the latter stage to the soft side, sets the initial stage during the extension stroke to the soft side, and sets the latter stage to the hard side. It was set as the structure switched to.

の関係となる構成とした。これにより、後輪側の輪荷重を増加してオーバーステアを軽減し、車両の安定性を向上することができる。 Specifically, in the present invention, the control means includes the steering angle δ, the actual yaw rate r, the piston acceleration a _fr and a _rr as the movement acceleration on the front and rear wheels, the coefficient C of the target yaw rate, and the tuning control gain K. _{By using FR} , K _RR , I0 _FR , I0 _RR and sign function sgn, the front wheel side damping force command signal _IFR and / or the rear wheel side damping force command signal _IRR is

It was set as the structure used as the relationship. Thereby, the wheel load on the rear wheel side can be increased to reduce oversteer, and the stability of the vehicle can be improved.

DESCRIPTION OF SYMBOLS 1 Car body 2 Front wheel 3 Rear wheel 4,7 Suspension device 5,8 Spring 6,9 Damping force variable damper (damping force adjustment type shock absorber)
DESCRIPTION OF SYMBOLS 10 Sprung acceleration sensor 11 Unsprung acceleration sensor 12 Steering angle sensor (steering angle detection means)
13 Yaw rate sensor (actual yaw rate detection means)
15 Controller (control means)

Claims (4)

A wheel load adjusting mechanism provided between a vehicle body and a wheel of the vehicle and capable of adjusting a wheel load of the wheel by adjusting a force generated in a distance direction between the vehicle body and the wheel; An acceleration detection means for detecting the movement acceleration of the wheel load adjustment mechanism in the distance direction; and a control means for controlling the wheel load adjustment mechanism,
The control means includes a steering angle detection means for detecting a steering angle, an actual yaw rate detection means for detecting an actual yaw rate generated in the vehicle body, a target yaw rate estimation means for estimating a target yaw rate from the detected steering angle, Vehicle behavior determination means for determining whether the behavior of the vehicle is oversteering based on a difference between an actual yaw rate and the target yaw rate,
When the vehicle body behavior determining means determines that the vehicle is oversteered, the wheel load adjusting mechanism for both rear wheels of the vehicle body is controlled according to the difference between the actual yaw rate and the target yaw rate .
The wheel load adjusting mechanism is a damping force adjusting type shock absorber capable of adjusting a damping force characteristic between soft and hard, and when it is determined that the vehicle is oversteering, a contraction stroke of both rear wheels of the vehicle body. The suspension control device is characterized in that the damping force is adjusted hard and the damping force in the extension stroke is adjusted softly . A wheel load adjusting mechanism provided between a vehicle body and a wheel of the vehicle and capable of adjusting a wheel load of the wheel by adjusting a force generated in a distance direction between the vehicle body and the wheel; An acceleration detection means for detecting the movement acceleration of the wheel load adjustment mechanism in the distance direction; and a control means for controlling the wheel load adjustment mechanism,
The control means includes a steering angle detection means for detecting a steering angle, an actual yaw rate detection means for detecting an actual yaw rate generated in the vehicle body, a target yaw rate estimation means for estimating a target yaw rate from the detected steering angle, Vehicle behavior determination means for determining whether the behavior of the vehicle is oversteering based on a difference between an actual yaw rate and the target yaw rate,
When the vehicle body behavior determining means determines that the vehicle is oversteered, the wheel load adjusting mechanism for both rear wheels of the vehicle body is controlled according to the difference between the actual yaw rate and the target yaw rate.
When the control means determines that it is oversteer, the initial stage during the contraction stroke of both rear wheels of the vehicle body is set to the hard side and the latter stage is switched to the soft side, and the initial stage during the extension stroke is set to the soft side. features and to salicylate scan Pension control device switching the late hard side while. The control means includes a steering angle δ, an actual yaw rate r, front and rear wheel piston accelerations a _fr and a _rr , a target yaw rate coefficient C, tuning control gains K _FR , K _RR , I 0 _FR , I 0 _RR and sign using the function sgn, damping force command signal I _RR of the front wheel side damping force command signal I _FR and rear wheel side

Suspension controller according to claim 1 or 2, characterized in that the configuration in which the relationship between the. The control means uses the steering angle δ, the actual yaw rate r, the rear wheel side piston acceleration a _rr , the target yaw rate coefficient C, the tuning control gains K _RR and I 0 _RR, and the sign function sgn, and the rear wheel side damping force. Command signal I _RR is

The suspension control device according to claim 1, wherein the suspension control device is configured as follows.

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