JP7162081B2 - 車両挙動装置 - Google Patents
車両挙動装置 Download PDFInfo
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- JP7162081B2 JP7162081B2 JP2020569468A JP2020569468A JP7162081B2 JP 7162081 B2 JP7162081 B2 JP 7162081B2 JP 2020569468 A JP2020569468 A JP 2020569468A JP 2020569468 A JP2020569468 A JP 2020569468A JP 7162081 B2 JP7162081 B2 JP 7162081B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- 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
- B60G2400/60—Load
-
- 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
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
- B60G2400/91—Frequency
-
- 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
- B60G2401/17—Magnetic/Electromagnetic
- B60G2401/174—Radar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
- B60G2500/22—Spring constant
-
- 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
- B60G2600/18—Automatic control means
- B60G2600/187—Digital Controller Details and Signal Treatment
- B60G2600/1871—Optimal control; Kalman Filters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/916—Body Vibration Control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Description
Claims (8)
- 車両挙動装置であって、該車両挙動装置は、
車両の車体側と車輪側との間に設けられ発生する力を調整可能な力発生機構と、
車両の前方の路面状態を取得する路面状態取得部と、
前記路面状態取得部により得られた路面変位から車両のばね上挙動を予測する車両ばね上挙動予測部と、
前記車両ばね上挙動予測部による予測値に基づき、車両のばね上挙動を小とするための前記力発生機構の発生力を評価関数の値が最小となるように求め、命令信号を出力する力発生機構制御部と、
を有する車両挙動装置。 - 請求項1に記載の車両挙動装置において、
前記力発生機構制御部は、前記車両ばね上挙動予測部による予測値に対し、ばね上挙動を小とするための最適指令値を求めることを特徴とする車両挙動装置。 - 請求項1または2に記載の車両挙動装置において、
前記車両ばね上挙動予測部は、前記車両の車両特性情報を考慮して前記車両のばね上挙動を予測することを特徴とする車両挙動装置。 - 請求項3に記載の車両挙動装置において、
前記車両特性情報は、車体重量、ばね下重量、タイヤばね定数、懸架ばね定数のいずれかを含むことを特徴とする車両挙動装置。 - 請求項1ないし4のいずれか1項に記載の車両挙動装置において、
前記車両ばね上挙動予測部は、前記車両の速度を考慮して前記車両のばね上挙動を予測することを特徴とする車両挙動装置。 - 請求項1ないし5のいずれか1項に記載の車両挙動装置において、
前記車両ばね上挙動予測部は、周波数と変位成分を含む路面変位情報に基づき、前記車両のばね上挙動を予測することを特徴とする車両挙動装置。 - 請求項1ないし6のいずれか1項に記載の車両挙動装置において、
前記路面状態取得部は、車両の前方の路面状態を計測可能な路面状態計測部であることを特徴とする車両挙動装置。 - 請求項1ないし6のいずれか1項に記載の車両挙動装置において、
前記路面状態取得部は、車体外から通信で路面状態を取得することを特徴とする車両挙動装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019012341 | 2019-01-28 | ||
JP2019012341 | 2019-01-28 | ||
PCT/JP2020/000258 WO2020158314A1 (ja) | 2019-01-28 | 2020-01-08 | 車両挙動装置 |
Publications (2)
Publication Number | Publication Date |
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JPWO2020158314A1 JPWO2020158314A1 (ja) | 2021-09-30 |
JP7162081B2 true JP7162081B2 (ja) | 2022-10-27 |
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JP2020569468A Active JP7162081B2 (ja) | 2019-01-28 | 2020-01-08 | 車両挙動装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11884119B2 (ja) |
JP (1) | JP7162081B2 (ja) |
KR (1) | KR102559736B1 (ja) |
CN (1) | CN113365855A (ja) |
DE (1) | DE112020000574T5 (ja) |
WO (1) | WO2020158314A1 (ja) |
Families Citing this family (10)
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EP3734390B1 (en) * | 2019-05-03 | 2022-03-23 | Ningbo Geely Automobile Research & Development Co. Ltd. | Automatic onboarding for service ramp |
DE102019209406A1 (de) * | 2019-06-27 | 2020-12-31 | Robert Bosch Gmbh | Identifikation von Fahrzeugparametern zur Anpassung eines Fahrverhaltens |
JP7247948B2 (ja) * | 2020-04-28 | 2023-03-29 | トヨタ自動車株式会社 | 車両の制振制御装置、制振制御方法 |
JP7307404B2 (ja) * | 2020-10-07 | 2023-07-12 | トヨタ自動車株式会社 | 制振制御装置及びデータ管理装置 |
JP7251538B2 (ja) * | 2020-10-19 | 2023-04-04 | トヨタ自動車株式会社 | 車両の制御方法及び制御装置 |
JP7314902B2 (ja) * | 2020-10-29 | 2023-07-26 | トヨタ自動車株式会社 | 車両の制御方法及び制御装置 |
JP7178440B2 (ja) * | 2021-03-22 | 2022-11-25 | 本田技研工業株式会社 | 車両 |
JP7489367B2 (ja) | 2021-11-09 | 2024-05-23 | 本田技研工業株式会社 | アクティブサスペンション装置、及びアクティブサスペンション装置を備える車両 |
JP2023159788A (ja) * | 2022-04-20 | 2023-11-01 | Thk株式会社 | サスペンション制御装置及びサスペンション制御方法 |
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2020
- 2020-01-08 JP JP2020569468A patent/JP7162081B2/ja active Active
- 2020-01-08 DE DE112020000574.7T patent/DE112020000574T5/de active Pending
- 2020-01-08 US US17/425,437 patent/US11884119B2/en active Active
- 2020-01-08 KR KR1020217017182A patent/KR102559736B1/ko active IP Right Grant
- 2020-01-08 CN CN202080010936.6A patent/CN113365855A/zh active Pending
- 2020-01-08 WO PCT/JP2020/000258 patent/WO2020158314A1/ja active Application Filing
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DE112020000574T5 (de) | 2021-12-02 |
JPWO2020158314A1 (ja) | 2021-09-30 |
KR102559736B1 (ko) | 2023-07-25 |
CN113365855A (zh) | 2021-09-07 |
US20220097473A1 (en) | 2022-03-31 |
WO2020158314A1 (ja) | 2020-08-06 |
US11884119B2 (en) | 2024-01-30 |
KR20210087516A (ko) | 2021-07-12 |
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