JPS59149804A - Coarse road detector - Google Patents

Abstract

PURPOSE:To improve safety by detecting car height sequentially and deciding to be coarse road from the frequency where the difference against the time sequential average level will exceed over setting level while performing rolling decision from positive/negative bias of said difference and cancelling the coarse road decision under rolling state. CONSTITUTION:A transmission timing signal (A) is provided from the output ports P3, P4 of microcomputer 8 to supersonic car height detectors 11, 12 which provide sequential car height signals to input ports P1, P2 while port 5 will provide a driving signal to operate front and rear valves 13, 14 through a drive circuit 18 thus to adjust car height. If the frquency where the detected car height and time sequential average value exceed over allowable width exceeds over predetermined level, a microcomputer 8 will decide it to be coarse road. If positive/negative interval of difference exceeding over allowable width is shifting to one way, it is decided to be rolling to cancell decision of coarse road and to correct the car height. Consequently astable operation due to erroneous decision can be prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a rough road detection device that accurately detects rough roads such as gravel roads and uneven roads.

Conventionally, when a vehicle is driving on a rough road like the one described above, the driver can judge the road surface condition by his or her own vision or the vibration of the vehicle body, and take driving maneuvers such as slowing down or avoiding large potholes. I was doing it.

However, relying solely on the driver's senses to judge whether the road surface condition is good or bad can lead to the driver making mistakes in judgment or making it difficult to check the road surface condition on dark roads such as at night. As a result, there is a risk of damage to the vehicle body or an accident.

Therefore, the present inventors developed a rough road detection device (unpublished) that can automatically detect rough roads.

The basic configuration of this rough road detection device is as shown in FIG. A time-series smoothed value (for example, a moving average value) of the detected vehicle height value is determined, and a deviation ΔL (=lL−ゑ1) between the vehicle height value and the time-series smoothed value is determined.

Then, as shown in FIG. 2, it is determined whether the deviation ΔL exceeds a certain permissible fluctuation range ΔLll+, and when the frequency of the deviation ΔL exceeding the permissible fluctuation range Δ1m exceeds a certain value, The system is configured to determine that the vehicle is currently traveling on a rough road.1 In this way, when the vehicle body vibrates significantly up and down exceeding a certain frequency, it is determined that the vehicle is traveling on a rough road such as a bumpy road. By doing this, when the vehicle body momentarily vibrates significantly up and down while driving on a normal road, such as when a large stone or the like has fallen on the road surface, this is not determined to be driving on a rough road.

Applications of the rough road detection device as described above include a vehicle height adjustment device that raises the vehicle height to prevent damage to the lower surface of the vehicle body when it is determined that the vehicle is traveling on a rough road.

By the way, the above-mentioned rough road detection device performs rough road detection based on the deviation Δ
This is done based on the frequency with which L exceeds the permissible variation range ΔLIIl, so when a sharp corner is performed, for example at a sharp curve, the vehicle body leans to either the left or right (rolling), as shown in Figure 3. As a result, the vehicle height fluctuates significantly, and the deviation ΔL continues to exceed the permissible fluctuation range Δl-m, and the rough road detection device determines that the vehicle is traveling on a rough road even though the vehicle is actually traveling on a normal road. Resulting in.

For this reason, when applied to the vehicle height adjustment device, the vehicle height may be raised at a curve point and the vehicle body may roll over.

This invention was made in view of the above-mentioned background, and its purpose is to prevent the vehicle from being determined to be traveling on a rough road due to rolling at curve points on ordinary roads as described above. It's about doing.

The configuration of the present invention will be explained based on the functional block diagram of FIG. 4.

The vehicle height detection means sequentially detects the vehicle height, and the time series smoothed value calculation means calculates a time series smoothed value of the detected vehicle height.

Then, the deviation magnitude determining means determines whether the deviation between the detected vehicle height value and the time-series smoothed value exceeds a predetermined tolerance range, and the frequency magnitude determining means determines whether the deviation exceeds the tolerance range. When the frequency exceeds a certain value, it is determined that the vehicle is currently traveling on a rough road.

In parallel with this, when the deviation size determining means determines that the deviation exceeds the allowable range, the deviation positive/negative determining means distinguishes whether the deviation is positive or negative,
In the positive/negative frequency determining means, it is determined that the vehicle is currently in a rolling state when the differentiated deviation is unevenly distributed in either the positive or negative direction with a frequency exceeding a predetermined frequency.

If the determination correction means determines that the vehicle is in the rolling state, the determination that the vehicle is traveling on a rough road is canceled.

Embodiments of this invention will be described below with reference to the drawings below. This will be explained in detail using

FIG. 5 is a block diagram showing the electrical configuration of an embodiment of the rough road detection device according to the present invention.

As shown in the figure, this rough road detection device is constructed using a so-called microcomputer 8. This microcomputer 8 uses a built-in RAM as a working memory, and a system stored in a ROM. The rough road detection control according to the present invention is executed according to the program.

Then, the input port PI of the microcomputer 8
, P2 are input with vehicle height data B+ and B2 from two ultrasonic vehicle height detectors 11 and 12.

Also, output boat P! A transmission timing signal A is supplied from 1 and P4 to the vehicle height detector 11.12.

A valve drive signal is output from the output boat P5, and the drive circuit 18 is driven based on this valve drive signal to control the driving of the front and rear valves 13 and 14. By controlling the opening and closing of these valves 13 and 14, the amount of compressed air supplied from the air tank 17 to the front vehicle height adjustment section 15 and rear vehicle height adjustment section 16 shown in FIG. 6 is controlled to adjust the vehicle height. Make adjustments.

As shown in FIG. 6, the vehicle height detectors 11 and 12 are attached with numbers attached to one side edge of the lower front surface of the vehicle body 1 and one side edge of the lower surface of the rear surface of the vehicle body 1, as shown in FIG. It is equipped with a transceiver 2.3 like this.

FIG. 7 is a block diagram showing its specific configuration. In addition, since the two vehicle height detectors 11 and 12 have the same configuration,
One of them will be explained as a representative.

First, in response to the supply of a timing signal A with a repetition period Tp from the microcomputer 8 as shown in FIG. A transmission wave pt of an ultrasonic pulse as shown in FIG. 8(b) is transmitted toward the target.

Next, the reflected wave Pr (shown in FIG. 8 (0)) in which the transmitted wave pt is reflected by the road surface G and returns to the ultrasonic receiver 3
When the received signal is received by the amplifier circuit 5, the received signal is amplified by the amplifier circuit 5, rectified by the rectifier circuit 6, and then by the waveform shaping circuit 7 as shown in FIG. 8(d).
The waveform of the received pulse signal B1 is shaped as shown in FIG. 1, and the received pulse signal B1 is inputted to the microcomputer 8 as a vehicle height data signal. Through a similar operation, vehicle height data B2 is input from the other vehicle height detector 12 to the microcomputer 8.

The microcomputer 8 calculates the delay time Td from the generation timing of the timing signal A to the input timing of the vehicle height data signals B+ and B2, and since this delay time Td is the propagation time of the transmission wave Pt, high)
- (Sound velocity) x Td/2 Based on the calculation formula, the front vehicle height (
A1 (distance to the ground from the front lower surface of the vehicle body) and rear vehicle height (distance to the ground from the rear lower surface of the vehicle body 111ft>lz) are calculated.

FIG. 9 is a flowchart showing the contents of the system program executed by the microcomputer 8 for forming and outputting the timing signal.

The processing shown in the figure is built into the microcomputer 8. The interrupt is executed when the output of the reference timer matches the contents of a predetermined timer register Tr.

When the above interrupt is performed, first in step (1), it is determined whether the content of the output flag F1 is 0''.This output flag F1 indicates that the timing signal A is
When the signal is N, "1" is set, and when the signal is OFF, it is set to "O".

If the above judgment result is YES, the timing signal Δ is O
This indicates that it is an FF, and the process proceeds to step (2) to read the output t1 of the reference timer and store it in a predetermined register SR+, and then proceeds to step (3) to preset the timer output t1. Stored pulse width time T
1 is added and the result of this operation is stored in the timer register Tr.

The above pulse width time T1 is as shown in FIG. 8(a),
This corresponds to the pulse width of the timing signal A.

Next, proceed to step (4) and output boat Ps.

9- Turn on the output of B4, set the above output flag F1 to "1" in step (5), and turn on the timing signal A.
I remember what happened.

Next, the output of the reference timer is the content of the timer register Tr, that is, the time stored in step (3)<
t + +T+ ) (A in Fig. 8(a)
2), an interrupt is made again.

Then, this time, the execution result of step (1) becomes NO, and the process proceeds to step (6). After reading the output t2 of the reference timer and storing it in the register SR2, the process proceeds to step (7), where the timer output t2 is read. A preset and stored pulse interval time T2 is added to the pulse interval time T2, and the result of this calculation is stored in the timer register Tr.

The above-mentioned pulse interval time T2 corresponds to the pulse interval time of the timing signal A, as shown in FIG. 8(a), and the relationship of repetition period Tp - (T+ + T2) is established.

Next, proceed to step (8) and turn off the output of the output boat P3゜P, and in step (9) reset the output flag F1 and turn off the timing signal A.
I remember what happened.

Then, the output of the reference timer is transferred to the timer register Tr.
When the contents (tz+Tz) match, an interrupt will be made again, and the above-described process will be repeated, and the timing signal A will be output at a constant cycle TI).

Next, FIG. 10 shows that the front vehicle height 1 is calculated based on the vehicle height data B1 detected by the vehicle height detector 11, and the time-series smoothed value of the vehicle height ρ1, in this example, the moving average value. [This is a flowchart showing the process of calculating 1.

In this embodiment, in parallel with the above processing, a process of calculating the rear vehicle height 12 based on the vehicle height data B2 detected by the vehicle height detector 12 and calculating the average value [2] is performed. However, since the difference between the two is simply the difference between ``front IZII and rear'', we will explain the process related to front vehicle height 1 and omit the explanation of the process related to rear vehicle height 2. ,
In FIGS. 11 and 12, for the same reason, the processing related to the front vehicle height 1 is representatively shown, and the processing related to the rear vehicle height 2 is performed in the same manner.

When the process in FIG. 10 starts, first step (10)
In step (11), it is determined whether the content of the output flag F1 is 1101+, that is, whether or not the timing signal A is output. It is determined whether vehicle height data B1 has been input.

If the result of this determination is YES, the process proceeds to step (12), where the output of the reference timer (indicated by t3 in FIG. 8(d)) is read and stored in a predetermined register LR.

Next, the process proceeds to step (13), and from the timer output t3 stored in the register LR, the generation timing t1 of the timing signal A stored in the register SR+ is determined.
Determine the delay time Td by subtracting .

Next, the process proceeds to step (14), where the delay time Td is substituted into the arithmetic expression (vehicle height) - (velocity of sound) x d/2 to calculate 1 for the front vehicle height, and the value is set in a predetermined front vehicle height register. After storing in the FHR, proceed to step (15).

In step (15), a predetermined M number (M is an integer) (7)
L”) State-formed F T FO (First
In -F 1rstQut) The front vehicle height value 1+ is stored in the register at a predetermined update position of the stack memory ST+.

As a result, the latest M pieces of front vehicle height data are always stored in this stack memory ST+.

Next, the process proceeds to step (16), where the stack memory S
A moving average value [1] of M pieces of front vehicle height data within T+ is calculated and stored in a predetermined average value register AR+.

Figure 11 shows that the front vehicle height determined by the above process is
This is a flowchart showing the process of detecting a rough road based on the average value [1], and as described above, the process related to the front vehicle height AI will be described here as a representative. Further, the process shown in the figure is periodically executed by a timer interrupt or the like.

13- When the process shown in the figure is started, first in step (17), the moving average value [1 stored in the average value register AR+ and the front vehicle height value stored in the front vehicle height register FHR] are calculated. ρ1 is read out to find the difference (deviation) ΔL1 between the two and stored in a predetermined deviation register ER+.

Next, proceed to step (18) to determine whether the deviation ΔL1 exceeds a preset allowable width ΔLl11, and if the determination result is NO, proceed to step (19); if YES, proceed to step (19). Proceed to step <20).

In step (20), the front vehicle height value 1 stored in the front vehicle height register FHR is compared with the moving average value [1] stored in the front vehicle height average value register AR+.

If the front vehicle height value A1 is smaller than the moving average value [1], the process proceeds to step <21> and is stored in the stack memory ST2.
“1 1 !1” is memorized, and the front vehicle high value ゑ1 becomes the average value [1
If it is larger, the process advances to step (22) and stores "'1"14- into the stack memory ST2.

The stack memory ST2 has a predetermined number of N (N is an integer).
This is a FIFO type stack formed of registers, and each time the interrupt processing shown in the figure is executed, the first register R1 is
, second register R21..., Nth register RN, first register R+,..., the positions of the registers to store data are cyclically incremented, If you proceed to step (19), “L Q I+,
If you proceed to step (21), ``゛-1''゛, -1''
If the step is "1", processing is performed to store "1".

Next, in step (23), the stack memory S
Among the N pieces of data in T2, the number 02 of "-1" and the number 03 of "1" are counted.

Next, proceed to step (24) to find the sum of the count values C2 and 03, and if this value (C2+Cs) is greater than or equal to the frequency threshold η (for example, set to η/N=0.5), Determine whether it exists or not.

The above total count value (C2+03) is the detected N
It represents the total number of vehicle height data whose deviation from the moving average value [1 exceeds the allowable width Δ1m. Therefore, when this total count value exceeds the frequent repetition threshold η, it indicates that the vehicle is currently relatively large. It can be determined that high changes are occurring frequently.

Next, if the execution result of the above step (24) is YES, the process proceeds to step (25), where the above count values C2 and 03
The absolute value of the difference (102-031) is determined, and it is determined whether this value is equal to or less than a roll determination threshold value m that is set and stored in advance.

As mentioned above, this determines whether the large change in the temporarily detected vehicle height is due to the roll of the vehicle body 1 when the vehicle turns right or left, or whether it is due to unevenness on the road surface. This is a process for preventing the vehicle from being determined to be traveling on a rough road due to the change in vehicle height due to the rolling.

That is, when the vehicle body 1 rolls, as shown in FIG. Step (2o) → (21>, (22) → (2
Through the process of step 3), the vehicle height value t1 is counted to distinguish whether it is higher or lower than the average value [1, and the process of step (25) is performed to determine whether the vehicle height value t1 deviates from the average value [1]. By determining whether there is a bias shown in Figure 3, it is possible to determine whether the vehicle body 1 is rolling.
Alternatively, it is determined whether the vehicle is traveling on a rough road.

Then, if the execution result of step (25) above is YES, the vehicle height value t! , 1 appear approximately evenly above and below the moving average value [1, as shown in FIG. ), the rough road detection flag F2 is set to "1", and a predetermined timer T1 is cleared. The rough road detection flag F2 is set to 1'' when it is determined that the vehicle is on a rough road, and is used to store whether or not it is determined that the vehicle is currently traveling on a rough road.

Also, the execution result of step (25) above is N.

17-, it is determined that the vehicle body 1 is rolling, and the process proceeds to step (27). This step (27) is
It is also executed when the execution result of step (25) is determined to be NO1, that is, the current vehicle height change is relatively small.

In step (27), it is determined whether the rough road has been detected up to the previous processing by determining whether the content of the rough road detection flag F2 is 1''.

If this determination result is NO, it means that no rough road was detected in this processing following the previous processing, and this means that the vehicle is currently traveling on a normal road. .

If the above judgment result is YES, it means that a rough road was detected in the previous process, and the process proceeds to step (28) to determine whether the time measured by the timer T1 has exceeded the preset reference time t4. Determine whether

The timer T1 performs a timing operation according to the output of a clock generator within the microcomputer 8.

The reference time t4 is determined from the state of driving on a rough road.
This is to confirm and determine that the vehicle is traveling on a normal road when the condition in which the vehicle is not determined to be traveling on a rough road in step (25) continues for a period of this reference time t4, for example, for about 20 seconds. It is set.

In this way, when it is confirmed that the vehicle is traveling on a normal road after it is determined that the vehicle is traveling on a rough road, the process proceeds to step (29), resets the rough road detection flag F2, and remembers that the vehicle is currently traveling on a regular road. do.

Next, the flowchart shown in FIG. 12 shows the contents of the process for adjusting the vehicle height based on the presence or absence of the rough road detection, and this process is also periodically executed by a timer interrupt or the like. Ru.

When this interrupt processing is started, first in step (30), the logical sum of the contents of the rough road detection flag F2 and the rough road detection flag F3 is calculated, and this result is stored in the rough road detection flag F4.

The rough road detection flag F3 functions similarly to the rough road detection flag F2 in the rough road detection process based on the rear vehicle height of 2.

Therefore, when a rough road is detected based on either or both of the front vehicle height (1) and the rear vehicle height!2, the rough road detection flag F4 is set to 1''.

Next, the process proceeds to step (31), and the rough road detection flag F is
A binary signal corresponding to the contents of 4 is output.

For example, this output can be supplied to a predetermined alarm drive circuit and used to control the drive of an alarm chime, a light emitting display, etc., thereby informing the driver whether or not the vehicle is traveling on a rough road.

Next, the process proceeds to step (32), where it is determined whether the content of the rough road detection flag F1 is 0'' or not. If the result is No, it means that a rough road has been detected, and the next step is to proceed to step (32). Proceed to step (35), and the content of the road surface change flag F5 is '1'.
′° is determined.

The road surface change flag F5 is set to "1" when the road surface condition changes from a normal road to a rough road, when this rough road is detected, and when the road surface changes from a rough road to a normal road, "1" is set. It is reset to ``O'' when it is determined that the vehicle is traveling on a road.

Therefore, if the determination result in step (35) is NO, it indicates that the road surface has changed from a normal road to a rough road, and the process proceeds to step (36), where the road surface change flag F5 is set to 1'', and the road surface changes from a normal road to a rough road. Set the vehicle height control flag F6 and the rear vehicle height control flag F7 to "1".

The front vehicle height control flag F6 and rear vehicle height control flag F7 are as follows:
It is set to "1" during vehicle height raising and lowering operation control, and is reset to II O11 when this vehicle height adjustment operation is completed.

Next, the process proceeds to step (37), where the pre-stored reference front vehicle height value H1 is added to the pre-stored front vehicle height increase value h1, and this result is stored in the front vehicle height setting value register Hf. Similarly, the value obtained by adding the rear vehicle height increase value h2 to the reference rear vehicle height value H2 is stored in the rear vehicle height setting value register 1.
-Store to 1r.

The above reference front vehicle height value H1 and reference rear vehicle height value H221- are the appropriate front vehicle height setting value and rear vehicle height setting value when driving on a normal road, and these are determined by the timer interrupt shown in the figure and the step Before the process of (30) is started, the front vehicle height setting value register Hf and the rear vehicle height setting value register 1-
It is preset to 1r.

The above-mentioned front vehicle height increase value h1 and rear vehicle height increase value h2 are set to raise the vehicle height (higher than the normal appropriate vehicle height) because there is a risk of damage to the lower surface of the vehicle body due to large irregularities on the road surface when driving on rough roads. To prevent this, increase the vehicle height (for example, 50n+
m).

On the other hand, if the execution result of the above step (32) is YES, it means that no rough road has been detected, and the process proceeds to step (33) where the content of the road surface change flag F5 is set to 0'°.
Determine whether or not.

If the determination result is No, it means that the road surface has changed from a rough road to a normal road, so the process proceeds to step <34>, where the road surface change flag F5 is reset, and the front vehicle height control flag F6 and the rear vehicle Set the high control flag F7 to '1''.

22- In this way, when the road surface changes, the vehicle height is adjusted by setting the road surface change flag F5 to 111 IT, and when the road changes from a normal road to a rough road, the vehicle height is increased, When the road changes from a rough road to a normal road, an operation is performed to return the vehicle height to the standard vehicle height.

That is, in step (38), it is determined whether the content of the front vehicle height control flag F6 is 1'', and if the road surface has changed, the result of this determination becomes YES and the process proceeds to step (43).

In step (43), 1 is read out from the front vehicle height value stored in the front vehicle height register FHR and compared with the contents of the front vehicle height set value register 1-1r.

Then, the front vehicle height value E1 is the front vehicle height setting value register 1-1.
If it is smaller than the content of f, proceed to step (44);
Outputs front valve drive signal. As a result, the front valve 13 is opened, compressed air is injected into the front vehicle height adjustment section 15 (shown in FIG. 6), and the front vehicle height is controlled to increase.

If the front vehicle height value E1 is larger than the content of the front vehicle height setting value register Hf, the process proceeds to step (46), and a drive signal for opening the front valve 13 is output. As a result, the front valve 13 is opened and the front vehicle height adjustment section 15 is opened.
The compressed air inside is released into the atmosphere to control the lowering of the front vehicle height.

In this way, when the road surface changes from a normal road to a rough road, the front vehicle height is controlled to increase until it reaches the set vehicle height value (t-1+ +h+) in the front vehicle height setting value register Hf. When the number increases by 1 and the road surface returns to a normal road,
The front vehicle height is controlled to lower, and the front vehicle height setting value register H
The front vehicle height 1 is returned to the set vehicle height (Hl) within f.

When the front vehicle height 1 matches the set vehicle height value, the process proceeds from step (43) to step (45), outputs a valve closing instruction signal, closes the front valve 13, and stops the vehicle height adjustment operation. At the same time, the front vehicle height control flag F6 is reset to store that the front vehicle height adjustment operation control has been completed.

Next, if there is no change in the road surface condition on which you are currently driving, that is, if you are continuously driving on a normal road or if you are continuously driving on a rough road, the vehicle height will be set to the set vehicle height f' Control is performed to finely adjust the vehicle height so that it does not deviate from s+.

That is, if there is no change in the road surface, step (3) is not performed.
The execution results of steps 3) and (35) are YES, and the process proceeds to step (38) with the front vehicle height control flag F6 and the rear vehicle^ control flag F7 reset.

Therefore, the execution result of step (38) is NO.
Next, proceed to step (39>), read 1 to the front vehicle height value stored in the front vehicle height register FHR, and calculate the difference (lJ+ −f−1ff) from the contents of the front vehicle height setting value register Hf.
is determined, and it is determined whether or not this difference is equal to or less than a fine adjustment width (for example, 10101l1) that is set and stored in advance.

If the determination result is YES, it is determined that the front vehicle height E1 matches the front vehicle height setting value, and fine adjustment control of the front vehicle height is not performed.

Further, if the above determination result is No, step (41)
Then, it is determined whether the measured time 25- of the predetermined timer T2 exceeds a predetermined reference time t5 (for example, 20 seconds).

The timer T2 operates in the same manner as the timer T1, and is configured such that the time measurement contents are cleared in step (40) every time the execution result of step (39) becomes YES.

Therefore, when the state in which the front vehicle height p'1 deviates from the front vehicle height set value by exceeding the fine adjustment width ΔA continues for the reference time t5, the execution result of step (41) becomes YES. The program then proceeds to step (42), where the front vehicle height control flag F6 is set to ``1''. As a result, in the subsequent process, the process proceeds from step (38) to step (43), and the vehicle height adjustment operation is performed until the front vehicle height matches the front vehicle height setting value.

Note that the configuration of step (47) is similar to that of step (38) above.
) to (46), and in parallel with the above front vehicle height adjustment control processing being executed, similar processing is performed on the rear vehicle height. It is also done against

26- Note that in the above embodiment, the deviation between the detected vehicle height value and its moving average value is calculated, but in the present invention, instead of the moving average value, another time series is calculated. Smoothed values, e.g. simple average values.

A similar effect can be obtained by using a weighted average value or the like.

As explained in detail above, the rough road detection device of the present invention can automatically and accurately detect rough roads such as gravel roads and uneven roads, and can also detect curved points on ordinary roads. It is possible to prevent the vehicle from being determined to be traveling on a rough road due to rolling of the vehicle body, etc., and to improve safety.

[Brief explanation of drawings]

Figure 1 is a diagram showing a specific example of the mounting position of the vehicle height detector, Figure 2
The figure shows the output of each part of the rough road detection device while driving on a rough road, Figure 3 shows the output of each part of the device at a curve point, Figure 4 is a block diagram of the present invention, and Figure 5 shows the output of each part of the device at a curve point. A block diagram showing the hardware configuration of an embodiment of the rough road detection device according to the present invention, FIG. 6 is a diagram showing the arrangement of a vehicle height detector and a vehicle height adjustment mechanism of the device, and FIG. 7 is a diagram showing the arrangement of a vehicle height detector and a vehicle height adjustment mechanism of the device. Fig. 8 is a timing chart showing the main outputs of the vehicle height detector, and Fig. 9 shows the contents of the timing signal forming process among the processes executed by the microcomputer of the device. FIG. 10 is a flowchart showing the details of the vehicle height/average value calculation process, FIG. 11 is a flowchart showing the details of the rough road detection process according to the present invention, and FIG. 12 is a flowchart showing the details of the vehicle height adjustment control process. It is a flowchart which shows. 8・・・・・・・・・・・・・・・Microcomputer 11.12・・・Vehicle height detector Patent applicant Nissan Motor Co., Ltd. Figure 11

Claims (1)

[Claims] (1) Vehicle height detection means that sequentially detects the vehicle height from the road surface to a predetermined portion on the side of the vehicle body; Time series smoothed value calculation means that calculates a time series smoothed value of the detected vehicle height value; deviation magnitude determining means for determining whether or not the deviation between the vehicle height value and the time-series smoothed value exceeds a predetermined tolerance range; means for determining whether the deviation exceeds the permissible range is positive or negative; and means for determining whether the deviation exceeds the permissible range is positive or negative. positive/negative slope determining means for determining that the vehicle is currently in a rolling state if the vehicle is unevenly distributed on one side more than a predetermined frequency; A rough road detection device comprising: judgment correction means for canceling the judgment.