JP6773881B2 - 車両挙動制御装置 - Google Patents
車両挙動制御装置 Download PDFInfo
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- JP6773881B2 JP6773881B2 JP2019501403A JP2019501403A JP6773881B2 JP 6773881 B2 JP6773881 B2 JP 6773881B2 JP 2019501403 A JP2019501403 A JP 2019501403A JP 2019501403 A JP2019501403 A JP 2019501403A JP 6773881 B2 JP6773881 B2 JP 6773881B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
- B60G17/0182—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
- B60G2401/142—Visual Display Camera, e.g. LCD
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/09—Feedback signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/11—Feedforward signal
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Vehicle Body Suspensions (AREA)
Description
Claims (6)
- 車両挙動制御装置であって、該車両挙動制御装置は、
車両の車体側と車輪側との間に設けられ該車体側及び該車輪側の間で調整可能な力を発生する力発生機構と、
前記車両の前方の路面状態をフィードフォワード路面状態値として検出可能な路面状態検出部と、
前記車両の車体が挙動する状態を検出または推定して前記車体の挙動情報をフィードバック路面状態値として算出する車体挙動情報算出部と、
前記車体挙動情報算出部の値に基づき、前記力発生機構で発生すべき力を求め、その命令信号を前記力発生機構に出力する発生機構制御部と、を備え、
前記発生機構制御部は、前記力発生機構が発生する力の下限となる前記命令信号の下限値を求めるベース制御部を有し、
前記路面状態検出部の検出結果に基づき、前記ベース制御部による前記命令信号の下限値を補正し、
前記発生機構制御部は、前記路面状態検出部によるフィードフォワード路面状態値と前記車体挙動情報算出部によるフィードバック路面状態値とを比較し、高い方の状態値を前記発生機構制御部の入力値に用いることを特徴とする車両挙動制御装置。 - 請求項1に記載の車両挙動制御装置において、
前記ベース制御部は、少なくとも前記車両の走行速度に基づいて制御することを特徴とする車両挙動制御装置。 - 車両挙動制御装置であって、該車両挙動制御装置は、
車両の車体側と車輪側との間に設けられ該車体側及び該車輪側の間で調整可能な力を発生する力発生機構と、
前記車両の前方の路面状態をフィードフォワード路面状態値として検出可能な路面状態検出部と、
前記車両の車体が挙動する状態を検出または推定して前記車体の挙動情報をフィードバック路面状態値として算出する車体挙動情報算出部と、
前記車体挙動情報算出部の値に基づき、前記力発生機構で発生すべき力を求め、その命令信号を前記力発生機構に出力する発生機構制御部と、を備え、
前記発生機構制御部は、前記力発生機構が発生する力の下限となる前記命令信号の下限値を求めるベース制御部を有し、
前記路面状態検出部の検出結果に基づき、前記ベース制御部による前記命令信号の下限値を補正し、
前記路面状態検出部により車両前方の路面がポットホールであることを判断したとき、前記ベース制御部による前記力発生機構が発生する力の命令信号を大きくすることを特徴とする車両挙動制御装置。 - 請求項1または2に記載の車両挙動制御装置において、
前記路面状態検出部により車両前方の路面がうねり路であることを判断したとき、前記ベース制御部による前記力発生機構が発生する力の命令信号を小さくすることを特徴とする車両挙動制御装置。 - 請求項1または2に記載の車両挙動制御装置において、
前記路面状態検出部により車両前方の路面がうねり路であることを判断したとき、前記発生機構制御部は、制御ゲインを下げる命令信号を出すことを特徴とする車両挙動制御装置。 - 車両挙動制御装置であって、該車両挙動制御装置は、
車両の車体側と車輪側との間に設けられ該車体側及び該車輪側の間で調整可能な力を発生する力発生機構と、
前記車両の前方の路面状態をフィードフォワード路面状態値として検出可能な路面状態検出部と、
前記車両の車体が挙動する状態を検出または推定して前記車体の挙動情報をフィードバック路面状態値として算出する車体挙動情報算出部と、
前記車体挙動情報算出部の値に基づき、前記力発生機構で発生すべき力を求め、その命令信号を前記力発生機構に出力する発生機構制御部と、を備え、
前記発生機構制御部は、前記力発生機構が発生する力の下限となる前記命令信号の下限値を求めるベース制御部を有し、
前記路面状態検出部の検出結果に基づき、前記ベース制御部による前記命令信号の下限値を補正し、
前記路面状態検出部の検出結果に基づき、前記ベース制御部による前記命令信号の下限値を補正するとき、前記発生機構制御部による命令信号を大きくすることを特徴とする車両挙動制御装置。
Applications Claiming Priority (3)
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JP2017033353 | 2017-02-24 | ||
JP2017033353 | 2017-02-24 | ||
PCT/JP2018/006404 WO2018155541A1 (ja) | 2017-02-24 | 2018-02-22 | 車両挙動制御装置 |
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JPWO2018155541A1 JPWO2018155541A1 (ja) | 2019-12-19 |
JP6773881B2 true JP6773881B2 (ja) | 2020-10-21 |
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US (1) | US11305600B2 (ja) |
JP (1) | JP6773881B2 (ja) |
KR (1) | KR102245115B1 (ja) |
CN (1) | CN110267832B (ja) |
DE (1) | DE112018001006B8 (ja) |
WO (1) | WO2018155541A1 (ja) |
Cited By (1)
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US20210283972A1 (en) * | 2020-03-11 | 2021-09-16 | Ford Global Technologies, Llc | Method for controlling a vertical vibration damping of at least one wheel of a vehicle and vehicle vertical vibration damping of at least one wheel |
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CN112996680B (zh) * | 2018-10-12 | 2023-12-15 | 日立安斯泰莫株式会社 | 悬架控制装置 |
JP7162081B2 (ja) * | 2019-01-28 | 2022-10-27 | 日立Astemo株式会社 | 車両挙動装置 |
CN111137093B (zh) * | 2020-01-08 | 2021-06-29 | 北京理工大学 | 一种分布式驱动车辆悬架轮毂电机系统控制方法及系统 |
JP6993452B2 (ja) * | 2020-03-19 | 2022-01-13 | 本田技研工業株式会社 | 電動サスペンション装置 |
JP7290137B2 (ja) | 2020-06-10 | 2023-06-13 | トヨタ自動車株式会社 | 車両の制振制御装置及び制振制御方法 |
CN111873744B (zh) * | 2020-07-15 | 2023-03-28 | 吉林大学 | 基于相机传感器路面信息识别的主动悬架预瞄控制方法 |
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JP7281498B2 (ja) * | 2021-03-22 | 2023-05-25 | 本田技研工業株式会社 | 電動サスペンション装置 |
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- 2018-02-22 US US16/485,916 patent/US11305600B2/en active Active
- 2018-02-22 CN CN201880008810.8A patent/CN110267832B/zh active Active
- 2018-02-22 DE DE112018001006.6T patent/DE112018001006B8/de active Active
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20210283972A1 (en) * | 2020-03-11 | 2021-09-16 | Ford Global Technologies, Llc | Method for controlling a vertical vibration damping of at least one wheel of a vehicle and vehicle vertical vibration damping of at least one wheel |
US11970037B2 (en) * | 2020-03-11 | 2024-04-30 | Ford Global Technologies, Llc | Method for controlling a vertical vibration damping of at least one wheel of a vehicle and vehicle vertical vibration damping of at least one wheel |
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Publication number | Publication date |
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US20200023705A1 (en) | 2020-01-23 |
WO2018155541A1 (ja) | 2018-08-30 |
KR20190099487A (ko) | 2019-08-27 |
DE112018001006T5 (de) | 2019-11-07 |
CN110267832A (zh) | 2019-09-20 |
DE112018001006B4 (de) | 2023-04-20 |
JPWO2018155541A1 (ja) | 2019-12-19 |
KR102245115B1 (ko) | 2021-04-28 |
US11305600B2 (en) | 2022-04-19 |
CN110267832B (zh) | 2023-01-31 |
DE112018001006B8 (de) | 2023-06-22 |
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