KR100712350B1 - Apparatus for suspenssion of vehicles using the priority for decision of road surface and method for controlling thereof - Google Patents

Abstract

The suspension apparatus of a vehicle using the road surface determination priority according to the present invention sets a priority for road surface determination in advance when performing suspension control of the vehicle, and sets the priority level among the vibration components generated when the vehicle runs. By determining whether the reference value for performing the suspension control by the vibration component with respect to the vibration component having the first rank is exceeded, and if the reference value is exceeded, suspension control on the vibration component is performed.

In addition, once the vibration component having the first rank exceeds the reference value, the vibration component having the second rank based on the priority among the vibration components may not be performed by not judging separately. By eliminating the determination process for the vibration component having the second rank in advance, it is possible to effectively reduce the load of the process that must be performed overall in the suspension control apparatus of the vehicle.

Suspension, road surface, rough road, kubul, suspension, electronic control

Description

Vehicle suspension using road determination priority and its control method {APPARATUS FOR SUSPENSSION OF VEHICLES USING THE PRIORITY FOR DECISION OF ROAD SURFACE AND METHOD FOR CONTROLLING THEREOF}

1 is a block diagram of a suspension device for a vehicle according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a suspension control unit shown in FIG. 1. FIG.

3 is a flowchart illustrating a suspension control operation of a vehicle according to an exemplary embodiment of the present invention.

4 is a flowchart illustrating a suspension control operation of a vehicle according to another exemplary embodiment of the present invention.

5 to 7 are flowcharts of a suspension control operation of a vehicle according to another embodiment of the present invention.

<Description of Symbols for Main Parts of the Present Invention>

10: body 20: wheel

30: spring 40: shock absorber

50: road surface state detection unit 60: suspension value control unit

61: priority setting unit 62: vibration component extraction unit

63: judgment unit 64: suspension control execution unit

65: data storage 70: actuator

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to suspension control of a vehicle, and more particularly, to a suspension control method of a vehicle and an apparatus for performing suspension control of a vehicle according to the determined road surface condition.

The suspension of the vehicle is installed between the vehicle body and the wheels and connects two rigid bodies with one or more control arms, and is supported by springs and shock absorbers in the vertical direction. By mechanically harmonizing the relative movement between the vehicle body and the wheels, it absorbs various vibrations and shocks transmitted from the road surface while driving and improves riding comfort and turning stability.

Suspension device of the vehicle is required to perform the suspension control to reflect the road surface condition of the road according to the vibration and shock transmitted from the road surface according to the road surface state of the road in which the vehicle is running.

The prior art of performing the suspension control of the vehicle according to the road surface state of the road is Republic of Korea Patent No. 10-0324348 (name of the invention: suspension control device, referred to as a prior patent).

In the prior patent, two different forms of road surface conditions (such as an uneven road that generates a low frequency component detection signal or a rough road that generates a high frequency component detection signal) are determined and transmitted from the road surface. The damping force is controlled on the basis of a predetermined priority when the vibration component of X exceeds a predetermined value at the same time.

For example, in order to control the damping force based on the priority, the damping force for the high frequency vibration component is performed in preference to the damping force control corresponding to the low frequency vibration component.

Another example of controlling the damping force on the basis of priority, for example, when the vehicle speed is low, the damping force control corresponding to the high frequency vibration component is given priority to the damping force control corresponding to the low frequency vibration component. Prior to the damping force control corresponding to the vibration component, the damping force control is performed for the low frequency vibration component.

However, in the prior patent, prior to finally determining whether to perform the damping force control on the low frequency vibration component or the damping force on the high frequency vibration component, the preparation operation and the high frequency vibration component for performing the damping force control on the low frequency vibration component are respectively performed. A preparatory operation for performing damping force control is performed.

Therefore, in spite of finally performing one damping force control operation selected from the two, there is a problem in that the intermediate step performs unnecessary calculation by performing a preliminary operation for performing each damping force control operation.

The technical problem to be solved by the present invention is to determine the state of the road surface (a winding road that generates a detection signal of low frequency components, a rough road that generates a detection signal of high frequency components, etc.) and receive each other from the road surface of the road. The damping force control for the other two or more vibration components are performed, but the damping force control for two or more different vibration components is performed without a conventional unnecessary process performed before the final damping force control operation.

According to an aspect of the present invention for achieving this technical problem, a shock absorbing portion mounted between the vehicle body and the axle of the vehicle to control the damping force by the actuator, and is installed in the vehicle body in accordance with the road surface state during operation of the vehicle A road surface state detection unit for detecting a signal to be used, and a vibration component having a prior priority based on the priority in a state in which a priority for road surface determination is predetermined among at least two other vibration components extracted from the detected signal. Only when the threshold value for performing the suspension control by the component is exceeded, it is judged whether the next order vibration component exceeds the threshold for performing the suspension control by the vibration component, and any vibration component exceeds the reference value. In this case, suspension control according to the road surface state determined by the vibration component is performed. It provides a suspension system of a vehicle including a control unit for performing a shock absorbing component.

Preferably, the suspension control unit includes a priority setting unit for setting a priority for road surface determination, a vibration component extraction unit for extracting at least two different vibration components from a signal detected by the road surface state detection unit, and the vibration component extraction It is determined whether or not the vibration component having the first priority among the vibration components extracted by the unit has exceeded a reference value for performing suspension control by the vibration component. A determination unit for determining a road surface state by judging whether or not the vibration component of the rank exceeds a reference value for performing suspension control by the vibration component; Suspension control execution unit that is set in the absorber to execute the preset suspension control mode. , Stored data on the basis of the set priority, storing data generated when the control performed by the suspension of the vehicle by driving of the program and the program for performing suspension control of the vehicle can comprise parts.

Preferably, the priority may be set such that a high frequency vibration component has a higher priority than a low frequency vibration component among the extracted at least two other vibration components.

Preferably, the priority may be set such that the low frequency vibration component among the extracted at least two other vibration components has a higher priority than the high frequency vibration component.

Preferably, the priority may be set such that one vibration component selected from among low frequency vibration components or high frequency vibration components among the extracted at least two different vibration components has a higher priority.

According to another aspect of the present invention, there is provided a priority setting step of setting a priority for road determination, an extraction step of extracting at least two different vibration components from a signal generated according to the state of the road surface when the vehicle is traveling, and It is determined whether the vibration component having the first rank among the extracted vibration components has exceeded the reference value for performing suspension control by the vibration component. A road surface comprising a judging step of judging whether a reference value for performing suspension control by the vibration component has been exceeded and determining a state of a road surface, and an execution step of executing a preset suspension control mode according to the determined road surface state. A suspension control method of a vehicle using determination priority is provided.

Preferably, the setting of the priority may set the priority such that the high frequency vibration component has a higher priority than the low frequency vibration component among the extracted at least two other vibration components.

Preferably, the priority setting step may set the priority so that the low frequency vibration component has a higher priority than the high frequency vibration component among the extracted at least two other vibration components.

Preferably, the method further comprises the step of measuring a vehicle speed prior to the determining step, wherein the prioritizing step gives a first priority to the low frequency vibration component according to the high speed or low speed vehicle speed to be measured, or the first high frequency vibration component. A priority mode is set to give a priority, and the determining step further includes vehicle speed determination for determining whether the measured vehicle speed is high speed or low speed in order to select a priority mode to be applied to the state determination of the road surface. The vehicle speed determination may be performed before the state determination of the road surface.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram of a suspension device for a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, a suspension device for a vehicle according to an embodiment of the present invention is provided between a vehicle body 10 constituting a vehicle and an axle (not shown) of four wheels 20 (only one is shown in the drawing). The spring 30 and the shock absorbing part 40 which can control a damping force are mounted in parallel, and the vehicle body 10 is supported. The vehicle body 10 is provided with a road surface state detection unit 50 for detecting a signal transmitted to the vehicle body 10 in accordance with the road surface state. As an example of the road surface state detection unit 50, an acceleration sensor that detects an acceleration in the vertical direction with respect to the vehicle body 10 may be used. The acceleration sensor detects the acceleration from the signal generated according to the state of the road surface. Here, the configuration of the road surface state detection unit 50 using the acceleration sensor will be described, but any means capable of detecting a signal generated according to the state of the road surface besides the acceleration sensor can be used. In addition, the road surface state detection unit 50 may be installed on the axle of the wheel 20 as well as the vehicle body 10. O the acceleration signal α detected by the road surface state detection unit 50 is supplied to the suspension control unit 60. In addition, although four shock absorbing parts 40 and the spring 30 are respectively provided corresponding to four wheels 20, only one of them is shown for convenience.

An actuator 70 is provided in the shock absorbing portion 40. The actuator 70 drives a damping force generating mechanism (not shown) of the shock absorbing portion 40 based on the control signal I from the suspension control portion 60 to the shock absorbing portion 40 according to the control signal I. The damping force is generated and the damping force can be adjusted based on the control signal (I).

The suspension control unit 60 determines whether the vibration component having a high rank exceeds the reference value for performing the suspension control in the state where the priority for road determination is determined in advance, and the vibration component having the highest rank is the reference value. Only if it does not exceed, the next highest vibration component is judged whether or not the threshold for performing suspension control by the vibration component is exceeded. Judgment is carried out so that the judgment is performed only when a high ranking judgment is not made.

FIG. 2 is a block diagram illustrating a suspension controller shown in FIG. 1.

Referring to FIG. 2, the suspension controller 60 includes a priority setting unit 61, a vibration component extraction unit 62, a determination unit 63, a suspension control execution unit 64, and a data storage unit ( 65).

The priority setting unit 61 sets the priority for road surface determination. The priority set by the priority setting unit 61 may be set based on the priority in consideration of various situations.

For example, when determining priority, priority can be set for two things: steering stability and ride comfort.

For example, when a higher priority is given to ride comfort, the ride comfort may be considered first by giving higher priority to the control of rough roads (with the damping power soft).

To this end, higher priority is given to the suspension control of the vibration components of the high frequency band than the suspension control of the vibration components of the low frequency band among the vibration components generated according to the road surface condition of the road.

On the other hand, when a higher priority is given to adjustment stability, the adjustment stability can be considered first by giving a higher priority to the control of the winding road (with attenuation hard).

To this end, the higher priority is given to the suspension control of the vibration components of the low frequency band than the suspension control of the vibration components of the high frequency band among the vibration components generated according to the road surface condition of the road.

As another modification, when the steering stability is an important situation, the steering stability of the vehicle may be improved, and when the situation is to be prioritized, control on rough roads (with the damping force in a soft state) may improve the riding comfort.

Therefore, as a specific example, a plurality of priority modes may be set to give higher priority to the low frequency vibration component or higher priority to the high frequency vibration component according to the measured vehicle speed.

That is, it is possible to give higher priority to the low frequency vibration component at the vehicle speed lower than the arbitrarily set reference speed, and to give higher priority to the high frequency vibration component at the high vehicle speed.

Alternatively, a higher priority may be given to the high frequency vibration component at a vehicle speed lower than the arbitrarily set reference speed, and a higher priority may be given to the low frequency vibration component at a vehicle speed higher than the arbitrarily set reference speed.

The vibration component extraction unit 62 extracts at least two different vibration components from the signal detected by the road surface state detection unit 50.

The vibration component extracting unit 62 filters the acceleration signal detected by the road surface state detection unit 50 constituted by the acceleration sensor, and separates and extracts the vibration signal of the low frequency band and the vibration component of the high frequency band.

For the technique of extracting vibration components of different frequency bands from the acceleration signal, the vibration components of the preset frequency bands are extracted by using resonance phenomena between the same frequency bands, or in a state in which an arbitrary reference frequency band is set. Depending on where the vibration component of the frequency band is set relative to the set reference value can be extracted by separating the vibration component of the low frequency band or the vibration component of the high frequency band.

In general, the vibration component of the low frequency band is generated on a winding road, and the vibration component of the high frequency band is often generated on a rough road. Accordingly, the state of the road can be estimated according to the vibration component of the frequency band extracted by the vibration component extraction unit 62.

The determination unit 63 determines whether the vibration component having a higher priority among the vibration components extracted by the vibration component extraction unit 62 has exceeded a predetermined reference value for the vibration component.

When the vibration component of the low frequency band has the first priority and the vibration component of the high frequency has the next priority by the set priority, the judging section 63 has a low frequency among the vibration components extracted by the vibration component extraction section 62. It is determined whether the vibration component of the band exceeds a first predetermined reference value. As a result of the determination, when the first predetermined reference value is exceeded, it is determined that the road surface state of the road is a winding road state.

On the other hand, when the determination result that the vibration component of the low frequency band does not exceed the preset reference value, it is determined whether the vibration component of the next higher frequency band has exceeded the second preset reference value. As a result of the determination, when the second reference value is exceeded, it is determined that the road surface condition is a rough road condition.

The suspension control execution unit 64 sets a predetermined damping force control value to the shock absorber 40 according to the road surface state determined by the determination unit 63 to execute the preset suspension control mode.

In other words, the suspension control execution unit 64 determines the suspension surface with respect to the sinuous road as the determination state of the road surface is a sinuous road where the vibration component of the low frequency band exceeds the first reference value. The first mode is set to perform the operation.

When the suspension control execution unit 64 performs the first mode, the shock absorber 40 compares the vibration component extracted by the vibration component extraction unit 62 with a preset reference control value for performing the first mode. The control signal (I) for adjusting the amount of attenuation is generated and applied to the shock absorbing portion (40).

On the other hand, the suspension control execution unit 64 is set to perform the suspension control on the rough road as the determination state 63 determines that the road surface is a rough road where the vibration component of the high frequency band exceeds the second reference value. To perform the second mode.

When the suspension control execution unit 64 performs the second mode, the shock absorber 40 compares the vibration component extracted by the vibration component extraction unit 62 with a preset reference control value for performing the second mode. The control signal (I) for adjusting the amount of attenuation is generated and applied to the shock absorbing portion (40).

The data storage unit 65 stores a program for performing suspension control using the road surface determination priority, and various data generated when the suspension control of the vehicle is performed by driving the program.

Various data stored in the data storage unit 65 are extracted by the acceleration signal detected by the road surface state detection unit 50, the priority information set by the priority setting unit 61, and the vibration component extraction unit 62. Corresponding to each of the vibration component signals, the flag information indicating the road surface state determined by the determination unit 63, and the arithmetic and control data for performing the suspension control in the suspension control unit 64 are applicable.

3 is an operation flowchart of a suspension control method of a vehicle according to an embodiment of the present invention.

Referring to FIG. 3, the priority setting unit 61 assigns a first priority to the rough road control in order to consider the riding comfort first, and gives a second priority to the control for the quirky road (S1). The priority information set by the priority setting unit 61 is stored in the data storage unit 65.

The vibration component extractor 62 filters the acceleration signal detected by the road surface state detection unit 50 composed of an acceleration sensor, and separates and extracts it into a quorum component that is a vibration component of a low frequency band and a humro component that is a vibration component of a high frequency band. (S2).

The determination unit 63 determines whether or not the roughness component having the first rank among the vibration components extracted by the vibration component extraction unit 62 has exceeded the reference value for performing the control for the roughness (S3).

When the extracted hum path component exceeds the reference value as a result of the determination by the determination unit 63, a hum path flag for performing the hum path control is set in the data storage unit 65 (S4).

When the rough path flag is set by the determination unit 63, the suspension control execution unit 64 shock absorbs a predetermined damping force control value to perform the rough path control on the rough path component extracted by the vibration component extraction unit 62. It sets in the part 40, and performs the preset suspension control mode (S5).

On the other hand, when the determined roughness component does not exceed the reference value as a result of the determination by the determination unit 63, the determination unit 63 has a quildo component having a second rank among the vibration components extracted by the vibration component extraction unit 62. It is determined whether or not the reference value for performing control is exceeded with this kubul (S6).

As a result of the determination by the determination unit 63, if the extracted kubuldo component exceeds the reference value, the kubuldo flag for controlling the kuburodo is set in the data storage unit 65 (S7).

When the kubudo flag is set by the judging unit 63, the suspension control execution unit 64 receives a preset damping force control value to perform kubudo control on the kubudoro component extracted by the vibration component extracting unit 62. The suspension absorber 40 is set in the shock absorber 40 to execute a preset suspension control mode (S8).

On the other hand, when the determination result of the determination unit 63 does not exceed the reference value of the extracted kubuldo, the determination unit 63 maintains the flag for performing the normal road control set by default.

Accordingly, the suspension control execution unit 64 sets the damping force control value preset for the general road suspension control to the shock absorber 40 to execute the preset suspension control mode (S9).

4 is a flowchart illustrating a suspension control method for a vehicle according to another exemplary embodiment of the present invention.

Referring to FIG. 4, the priority setting unit 61 assigns a first priority to the control for the road control and gives a second priority to the control for the bad road in order to consider adjustment stability first (S11). The priority information set by the priority setting unit 61 is stored in the data storage unit 65.

The vibration component extractor 62 filters the acceleration signal detected by the road surface state detection unit 50 composed of an acceleration sensor, and separates and extracts it into a quorum component that is a vibration component of a low frequency band and a humro component that is a vibration component of a high frequency band. (S12).

The determination unit 63 determines whether or not the component having the first rank among the vibration components extracted by the vibration component extraction unit 62 has exceeded the reference value for performing control with the Kuburo (S13).

As a result of the determination by the determination unit 63, if the extracted kubuldo component exceeds the reference value, the kuburdo flag is set in the data storage unit 65 for performing the kuburdo control (S14).

If the kududo flag is set by the judging section 63, the suspension control execution section 64 sets a predetermined damping force control value to perform kududo control on the kududo component extracted by the vibration component extraction section 62. Is set in the shock absorber 40 to execute the preset suspension control mode (S15).

On the other hand, when the determination result of the determination unit 63, if the component does not exceed the reference value extracted Kuburo, the determination unit 63 has a dwarf component having a second rank among the vibration components extracted by the vibration component extraction unit 62. It is determined whether or not the reference value for performing the rough path control has been exceeded (S16).

When the extracted hum path component exceeds the reference value as a result of the determination by the determination unit 63, a hum path flag for performing the hum path control is set in the data storage unit 65 (S17).

When the rough path flag is set by the determination unit 63, the suspension control execution unit 64 shock absorbs a predetermined damping force control value to perform the rough path control on the rough path component extracted by the vibration component extraction unit 62. It sets in the part 40, and performs the preset suspension control mode (S18).

On the other hand, when the determined roughness component does not exceed the reference value as a result of the determination by the determination unit 63, the determination unit 63 maintains a flag for performing normal road control set as a default.

Accordingly, the suspension control execution unit 64 sets the damping force control value preset for the general road suspension control to the shock absorber 40 to execute the preset suspension control mode (S19).

5 is an operation flowchart of a suspension control method of a vehicle according to another embodiment of the present invention.

Referring to FIG. 5, when the vehicle speed is low, the priority setting unit 61 gives a first priority to the rough road control in order to give priority to the ride comfort, and gives a second priority to the control of the road. When the mode is selected and the vehicle speed is high speed, the priority is set so that the high speed mode which gives the first priority to the control for the roadway and the second priority to the control for the rough road is selected in order to give priority to the adjustment stability. (S21). The priority information set by the priority setting section 61 is set in the data storage section 65.

The vibration component extractor 62 filters the acceleration signal detected by the road surface state detection unit 50 composed of an acceleration sensor, and separates and extracts it into a quorum component that is a vibration component of a low frequency band and a humro component that is a vibration component of a high frequency band. (S22).

The determination unit 63 determines whether the vehicle speed of the current vehicle is lower than the preset reference value by the acceleration signal detected by the road surface state detection unit 50 constituted by the acceleration sensor (S23).

As a result of the determination by the determination unit 63, if the current vehicle speed of the vehicle is lower than the preset reference value, the determination unit 63 may generate a low speed flag for performing the low speed mode among the priority modes set in the priority setting unit 61. It sets in the storage part 65 (S24).

On the other hand, if the determination unit 63 determines that the current vehicle speed of the vehicle is not at a lower speed than the preset reference value and is at a high speed state, the determination unit 63 selects the high speed mode from among the priority modes set in the priority setting unit 61. A high speed flag for performing is set in the data storage section 65 (S25).

When the low speed flag is set by the judging unit 63, the judging unit 63 determines that the dross path component having the first priority among the vibration components extracted by the vibrating component extraction unit 62 has a first priority by setting the priority of the low speed mode. It is determined whether or not the reference value for performing the control has been exceeded (S26).

When the determined hum path component exceeds the reference value as a result of the determination by the determination unit 63, a hum path flag for performing the hum path control is set in the data storage unit 65 (S27).

When the rough path flag is set by the determination unit 63, the suspension control execution unit 64 shock absorbs a predetermined damping force control value to perform the rough path control on the rough path component extracted by the vibration component extraction unit 62. It sets in the part 40, and performs the preset suspension control mode (S28).

On the other hand, when the determined roughness component does not exceed the reference value as a result of the determination by the determination unit 63, the determination unit 63 has a quildo component having a second rank among the vibration components extracted by the vibration component extraction unit 62. It is determined whether or not the reference value for performing control is exceeded with this kubul (S29).

As a result of the determination by the determination unit 63, if the extracted kubuldo component exceeds the reference value, a kubuldo flag for controlling the kuburodo is set in the data storage unit 65 (S30).

When the flag is set by the judging unit 63, the suspension control execution unit 64 receives a preset damping force control value to control the kuburodo component with respect to the kubuldo component extracted by the vibration component extraction unit 62. The suspension absorber 40 is set in the shock absorber 40 to execute a preset suspension control mode (S31).

On the other hand, when the determination result of the determination unit 63 does not exceed the reference value of the extracted kubuldo, the determination unit 63 maintains a flag for performing normal road control set by default.

Accordingly, the suspension control execution unit 64 sets the damping force control value preset for the general road suspension control to the shock absorber 40 to execute the preset suspension control mode (S32).

On the other hand, when the high speed flag is set by the determination unit 63, the determination unit 63 is a quilky road having a first priority among the vibration components extracted by the vibration component extraction unit 62 by setting the priority of the high speed mode. It is determined whether the component has exceeded the reference value for performing the control with a bulge (S33).

As a result of the determination by the determination unit 63, if the extracted kubuldo component exceeds the reference value, the kuburdo flag for setting the kubuldo control is set in the data storage unit 65 (S34).

When the kubudo flag is set by the judging unit 63, the suspension control execution unit 64 receives a preset damping force control value to perform kubudo control on the kubudoro component extracted by the vibration component extracting unit 62. The suspension absorber 40 is set to execute the preset suspension control mode (S35).

On the other hand, when the determination result of the determination unit 63, if the component does not exceed the reference value extracted Kuburo, the determination unit 63 has a dwarf component having a second rank among the vibration components extracted by the vibration component extraction unit 62. It is determined whether or not the reference value for performing the rough path control has been exceeded (S36).

If the extracted hum path component exceeds the reference value as a result of the determination by the determination unit 63, a hum path flag for performing hum path control is set in the data storage unit 65 (S37).

When the rough path flag is set by the determination unit 63, the suspension control execution unit 64 shock absorbs a predetermined damping force control value to perform the rough path control on the rough path component extracted by the vibration component extraction unit 62. The preset suspension control mode is executed by setting in the unit 40 (S38).

On the other hand, when the determined roughness component does not exceed the reference value as a result of the determination by the determination unit 63, the determination unit 63 maintains a flag for performing normal road control set as a default.

Accordingly, the suspension control execution unit 64 sets the damping force control value preset for the general road suspension control to the shock absorber 40 to execute the preset suspension control mode (S39).

The present invention has been described with reference to preferred embodiments. However, those skilled in the art will understand that many other embodiments other than those specifically described also fall within the spirit and scope of the invention.

According to the present invention, when performing suspension control of a vehicle, a priority for road surface determination is set in advance, and among vibration components having a first priority according to the priority among vibration components generated when the vehicle is running. It is determined whether the reference value for performing the suspension control by the vibration component is exceeded, and when the reference value is exceeded, the suspension control on the vibration component is performed.

In addition, once the vibration component having the first rank exceeds the reference value, the vibration component having the second rank based on the priority among the vibration components may not be performed by not judging separately. By eliminating the determination process for the vibration component having the second rank in advance, it is possible to effectively reduce the load of the process that must be performed overall in the suspension control apparatus of the vehicle.

Furthermore, in the above-described embodiment, a case in which only two components are used as parameters for the control of the rough road and the control for the control of the road is used as an example. However, when the number of parameters used for suspension control increases, the present invention is used. The effect of eliminating unnecessary judgment processes can be more pronounced.

Claims (9)

A shock absorber mounted between the vehicle body and the axle to control the damping force by an actuator, A road surface state detection unit installed in the vehicle body and detecting a signal generated according to a road surface state while the vehicle is in operation; Among the at least two other vibration components extracted from the detected signals, the vibration component of the priorities based on the priorities is determined based on the priority of the at least two other vibration components extracted from the detected signals. Only if the vibration component of the next rank exceeds the reference value for performing the suspension control by the vibration component only when the vibration component is not exceeded, and if any vibration component exceeds the reference value, the road surface determined by the vibration component Suspension device of a vehicle comprising a control unit for performing the suspension control according to the state to the shock absorber. The method according to claim 1, wherein the suspension control unit, A priority setting unit for setting a priority for road determination; A vibration component extraction unit for extracting at least two different vibration components from the signal detected by the road surface state detection unit; It is determined whether the vibration component having the first priority among the vibration components extracted by the vibration component extraction unit has exceeded a reference value for performing suspension control by the vibration component, and exceeds the determination result. If not, the determination unit for determining the road surface state by determining whether the vibration component of the next rank exceeds the reference value for performing the suspension control by the vibration component; A suspension control execution unit that sets a predetermined damping force control value according to the road surface state determined by the determination unit to execute the preset suspension control mode; And a program for performing suspension control of the vehicle based on the set priority, and a data storage unit for storing data generated when the suspension control of the vehicle is executed by driving the program. Suspension of vehicles using rankings. The method according to claim 1, wherein the priority is, A suspension apparatus for a vehicle using a road determination priority set among the extracted at least two other vibration components so that a high frequency vibration component has a higher priority than a low frequency vibration component. The method according to claim 1, wherein the priority is, A suspension apparatus for a vehicle using a road determination priority set among the extracted at least two other vibration components so that a low frequency vibration component has a higher priority than a high frequency vibration component. The method according to claim 1, wherein the priority is, A suspension apparatus for a vehicle using a road determination priority set so that one vibration component selected from among low frequency vibration components or high frequency vibration components among the extracted at least two other vibration components has a higher priority. A priority setting step of setting a priority for road determination; An extraction step of extracting at least two different vibration components from a signal generated according to the state of the road surface when the vehicle is running; It is determined whether the vibration component having the first priority among the extracted vibration components has exceeded a reference value for performing suspension control by the vibration component, and if not, the vibration component of the next rank. A determination step of judging whether or not the reference value for performing suspension control by the vibration component has been exceeded to determine the state of the road surface; A suspension control method for a vehicle using a road surface determination priority comprising an execution step of executing a preset suspension control mode according to the determined road surface state. The method of claim 6, wherein the priority setting step, A suspension control method of a vehicle using the road surface determination priority which sets a priority among the extracted at least two other vibration components so that a high frequency vibration component has a higher priority than a low frequency vibration component. The method of claim 6, wherein the priority setting step, A suspension control method of a vehicle using the road surface determination priority which sets the priority among the extracted at least two other vibration components so that a low frequency vibration component has a higher priority than a high frequency vibration component. The method according to claim 6, Further comprising a vehicle speed measuring step of measuring the vehicle speed before the determining step, The priority setting step may include setting a priority mode to give a first priority to the low frequency vibration component or to give a first priority to the high frequency vibration component according to the high or low speed vehicle speed to be measured, In the determining step, the vehicle speed determination is further performed to determine whether the measured vehicle speed is high speed or low speed in order to select a priority mode to be applied to the state determination of the road surface, and the vehicle speed determination is performed before the state determination of the road surface. Suspension control method of a vehicle using the road surface determination priority, characterized in that carried out on.

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