WO2023286446A1 - 車両の運動制御装置、車両の運動制御方法 - Google Patents
車両の運動制御装置、車両の運動制御方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 21
- 238000011156 evaluation Methods 0.000 claims abstract description 50
- 230000008859 change Effects 0.000 claims abstract description 25
- 230000001133 acceleration Effects 0.000 claims description 20
- 230000036461 convulsion Effects 0.000 claims description 7
- 201000003152 motion sickness Diseases 0.000 claims description 2
- 239000000725 suspension Substances 0.000 description 21
- 238000010586 diagram Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 10
- 239000003381 stabilizer Substances 0.000 description 8
- 230000035939 shock Effects 0.000 description 6
- 239000006096 absorbing agent Substances 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 5
- 238000013016 damping Methods 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- the present invention relates to the configuration of a control device that controls the motion of a vehicle and its control method, and in particular to a technology that is effective in improving the ride comfort and steering stability of a vehicle.
- Automobiles are required not only as a means of transportation, but also for safety and comfort.In addition to improving fuel efficiency and driving performance, there are expectations for ride comfort such as smooth running and steering stability such as easy driving. very high.
- Patent Document 1 is known as a conventional technology for controlling the suspension actuator to control the vehicle body attitude.
- Patent Document 1 it is possible to maintain at least one of ride comfort and steering stability by adjusting the damping force of the shock absorber and to suppress the temperature rise of the hydraulic oil inside the shock absorber when the vehicle is running. Therefore, the temperature of the hydraulic oil inside the shock absorber is measured or estimated, and the damping amount that maintains at least one of ride comfort and steering stability and the temperature of the hydraulic oil inside the shock absorber are determined according to the temperature. A method of adjusting the attenuation amount between the attenuation amount that suppresses the temperature rise is described.
- Patent Document 1 does not take into consideration the future limitation due to the temperature rise of the hydraulic oil in the shock absorber. It may become impossible to keep it in the middle of the run.
- an object of the present invention is to provide a vehicle motion control device and a vehicle motion control method capable of highly accurate vehicle motion control in consideration of limitations that will occur in the actuator in the future.
- the present invention provides an actuator characteristic change estimator for estimating a characteristic change of an actuator from a current time to a future time, a characteristic change calculated by the actuator characteristic change estimator, and a vehicle target a controllable range estimating unit that calculates a controllable range of vehicle motion from the trajectory and the current vehicle state; a vehicle motion planning unit that creates a motion plan within the controllable range calculated by the controllable range estimating unit; an evaluation value calculation unit that calculates an evaluation value based on the motion plan created by the vehicle motion planning unit; and a determination unit that determines whether the evaluation value calculated by the evaluation value calculation unit is the minimum,
- the controllable range estimating unit refers to the target trajectory of the vehicle and estimates the range of controllable vehicle motion at a future time in consideration of characteristics including at least the output range of the actuator with respect to the motion of the vehicle from the current time.
- the vehicle motion planning unit creates a motion plan by referring to a predetermined evaluation function within the controllable vehicle motion range calculated by the
- the present invention refers to the target trajectory of the vehicle and obtains the range of controllable vehicle motion at a future time in consideration of characteristics including at least the output range of the actuator with respect to the motion of the vehicle from the current time, Within that range, a motion plan is created with reference to a predetermined evaluation function.
- FIG. 1 is a diagram showing a schematic configuration of a vehicle according to Embodiment 1 of the present invention
- FIG. 1 is a functional block diagram of a vehicle motion control device according to Embodiment 1 of the present invention
- FIG. It is a figure which shows the appearance of a vehicle and its running surface.
- FIG. 4 is a diagram showing changes in roll angle that occur in a vehicle when actuators of the vehicle are not operated;
- FIG. 4 is a diagram showing a controllable roll angle range;
- FIG. 4 is a diagram showing characteristics of operating speed and thrust of a suspension actuator;
- FIG. 10 is a diagram showing the upper and lower limits of roll angles that can actually be realized in consideration of actuator characteristics; It is a figure which shows transition of an instantaneous evaluation value.
- FIG. 7 is a diagram showing a flow for determining a roll angle that minimizes an evaluation value;
- FIG. 5 is a diagram showing a roll angle plan that minimizes the evaluation value calculated by the method of the present invention;
- FIG. 1 A vehicle motion control device and its control method according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 10.
- FIG. 1 A vehicle motion control device and its control method according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 10.
- FIG. 1 A vehicle motion control device and its control method according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 10.
- FIG. 1 A vehicle motion control device and its control method according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 10.
- FIG. 1 is a plan view showing a schematic configuration of a vehicle 1 equipped with a vehicle motion control device 2 of this embodiment.
- the vehicle 1 of this embodiment has wheels 11, a motor 12, a suspension actuator 13, a steering mechanism 14, a brake mechanism 15, and a stabilizer 16 mounted on a vehicle body 10.
- the vehicle 1 is equipped with a vehicle motion control device 2 and a host controller 3 for controlling the vehicle motion control device 2 .
- the longitudinal direction of the vehicle 1 is the x-axis (the forward direction is positive), the lateral direction is the y-axis (the left direction is positive), and the vertical direction is the z-axis (the upward direction is positive).
- FL is a symbol indicating a configuration corresponding to the front left
- Fr the front right RL the rear left
- Rr the rear right
- 11 Rr are the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, respectively.
- F and R when used alone, it indicates that F corresponds to the front side and R corresponds to the rear side.
- Motors 12 ( 12FL , 12Fr , 12RL , 12Rr ), which are in-wheel motors, are attached to each of the wheels 11, and these motors 12 independently drive and brake the wheels 11. of torque is applied.
- Suspension actuators 13 (13 FL , 13 Fr , 13 RL , 13 Rr ) are provided between each wheel 11 and the vehicle body 10 via the casing of the in-wheel motor. It absorbs vibrations and shocks received by each of the wheels 11 and adjusts the positions of the vehicle body 10 and the wheels 11 to control the posture of the vehicle body 10 .
- Suspension actuators include, for example, semi-active suspensions that combine dampers and coil springs that can change viscosity, and full-active suspensions that can adjust viscosity and spring constant using electromagnetic linear actuators that generate thrust.
- suspension actuator 13 is a full active suspension.
- the steering mechanism 14 is a device for steering the wheels 11 to change the traveling direction of the vehicle 1.
- the front wheels are steered by the front wheel steering mechanism 14F
- the rear wheels are steered by the rear wheel steering mechanism 14R . steer.
- the brake mechanism 15 is a device for braking the rotation of the wheels 11, and in this embodiment, the brake 15 FL for the front left wheel 11 FL , the brake 15 Fr for the front right wheel 11 Fr , and the rear left wheel 11 RL . and a brake 15 Rr for the right rear wheel 11 Rr .
- the stabilizer 16 is a device that suppresses the relative motion of the left and right wheels 11 in the vertical direction to suppress the amount of roll of the vehicle 1.
- the stabilizer 16 of this embodiment is a control stabilizer that can electrically adjust the torsion angle.
- the stabilizer 16F for the front and the stabilizer 16R for the rear are provided.
- FIG. 2 is a functional block diagram showing connection and control of signal lines in the vehicle as a whole, with respect to components related to the present invention and the motion control device 2 for the vehicle.
- the vehicle motion control device 2 receives commands (such as a target trajectory) from the driver's operation and the host controller 3, and the vehicle motion from a combined sensor (not shown) mounted on the vehicle body 10 and the like.
- Motor 12, suspension actuator 13, steering mechanism 14, brake mechanism 15, It is configured to operate each actuator such as the stabilizer 16 .
- the functions of the vehicle motion control device 2 include a vehicle motion control unit 21, an actuator control unit 22, and a future limit calculation unit 23 for the actuator. Input to part 22 .
- the actuator control unit 22 generates individual instructions for each actuator from the input operation instructions.
- the actuator future limit calculator 23 is configured to calculate the future limit of the actuator from the actuator operation information and the target trajectory and transmit it to the vehicle motion control unit 21 .
- FIG. 3 is a diagram showing the state of the vehicle 1 and its running surface. The vehicle 1 travels along the road surface 5 and turns to the left in the traveling direction.
- FIG. 4 shows changes in the roll angle that occur in the vehicle 1 especially when the actuators of the vehicle 1 are not operated.
- the roll angle is plotted as a dimensionless quantity with a maximum value of 1. It should be noted that the figures of this embodiment relating to the roll angle are all plotted as dimensionless quantities.
- the vehicle 1 advances to the center of the corner while gradually turning the rudder so as to run along the road surface 5, and from there, turns the rudder gradually in the reverse direction toward the corner exit.
- the vehicle starts turning at 0 seconds, goes through the center of the corner at 5 seconds, and goes straight through the corner at 10 seconds.
- the lateral acceleration acting on the vehicle 1 is approximately proportional to the steering angle, and becomes convex between 0 and 10 seconds. Further, since the roll angle is approximately proportional to the lateral acceleration, the roll angle of the vehicle 1 similarly takes a convex shape from time 0 to 10 seconds, as shown in FIG. .
- the controllable roll angle is between the upper limit of the controllable roll angle and the lower limit of the controllable roll angle. range of angles.
- Fig. 5 shows the range of controllable roll angles in which the upper and lower limits are plotted with dashed lines. If the roll angle is planned to minimize a predetermined evaluation function within the controllable roll angle range, the vehicle motion suitable for the evaluation can be realized.
- the target of roll angle control is 0 degrees, and the sum of the squares of the roll angles is used as the evaluation function. As a result, the roll angle that minimizes the planned evaluation value is shown in FIG.
- FIG. 6 shows the operating speed and thrust characteristics of the suspension actuator 13 used in this embodiment.
- This actuator is a type that uses electromagnetic force to generate thrust, and has instantaneous characteristics and rated characteristics.
- a large amount of electric power can be applied and a large thrust force can be produced. Therefore, when the coil temperature rises, it is necessary to reduce the applied power, and the thrust decreases.
- the former characteristic when it is cold is the instantaneous characteristic
- the latter characteristic when the power is reduced to prevent excessive temperature rise is the rated characteristic.
- the maximum thrust of the instantaneous characteristics can be operated for about 5 seconds.
- Fig. 7 is a diagram showing the upper and lower limits of the roll angle that can actually be realized with the characteristics of the actuator taken into consideration. As shown in FIG. 7, rather than the upper and lower limits of the controllable roll angle obtained from the maximum thrust indicated by the dashed line, the actually achievable upper and lower limits that take into account the characteristics of the actuator are respectively the actuators of the vehicle 1. The direction of the roll angle that would occur in the vehicle 1 if it were not turned on would be approached, and the controllable range would become smaller.
- Fig. 8 shows the transition of the instantaneous evaluation value when the vehicle cannot be controlled to the planned roll angle due to deviation. Compared to the evaluation value when the roll angle can be controlled as planned indicated by the dashed line, the evaluation value rises sharply from the time of failure, 4 seconds in FIG. 8, and a discontinuity occurs. Understand. This means that the occupant of the vehicle 1 experiences a phenomenon in which the roll angle changes abruptly and feels uncomfortable, resulting in deterioration of ride comfort.
- the roll angle is controlled according to the flow shown in FIG.
- the actuator characteristic change estimator 91 estimates changes in the output characteristic of the suspension actuator 13 at future times from the current time.
- the future temperature of the coil is estimated from the estimated current temperature of the actuator coil and the required thrust of the actuator assumed to run on the target trajectory, and the change in output characteristics is estimated from that temperature.
- a vehicle motion controllable range estimating unit 92 can control the vehicle motion based on the estimated value of the actuator (change in output characteristics calculated by the actuator characteristic change estimating unit 91), the target trajectory, and the current vehicle state. Find the range.
- the output characteristic of the suspension actuator 13 at a future time calculated by the actuator characteristic change estimator 91 corresponds to the roll angle that occurs in the vehicle 1 when the actuator of the vehicle 1 is not operated.
- the upper limit of the roll angle that can be controlled and the lower limit of the roll angle that can be controlled are determined in consideration of the change in .
- the vehicle motion planning unit 93 makes a motion plan within the controllable range calculated by the vehicle motion controllable range estimating unit 92 .
- the evaluation value calculation unit 94 calculates the evaluation value C*.
- the sum of squares of the difference between the ideal roll angle ⁇ i and the actual roll angle ⁇ is obtained.
- the determination unit 95 determines whether or not the evaluation value C* calculated by the evaluation value calculation unit 94 is the minimum. If it is not the minimum (NO), it returns to the vehicle motion planner 93 and re-plans. If it is the minimum (YES), the motion plan is taken as the decision value.
- the vehicle is controlled by the vehicle control unit 96 based on the determined motion plan.
- the sum of the squares of the difference between the ideal roll angle ⁇ i and the actual roll angle ⁇ , the ideal pitch angle ⁇ i and the actual pitch angle ⁇ may be obtained.
- Equation (3) the evaluation values of the motion of the vehicle 1 in the six degrees of freedom may be calculated, and the motion of the vehicle 1 may be planned so that these values are minimized.
- the evaluation function is MSI (motion sickness incidence), G (acceleration), Jerk (jerk), or the weighted addition value of G (acceleration) and Jerk (jerk), or these It may be a weighted addition value.
- the evaluation function may be a function that determines the outside of the controllable range from the vehicle motion range.
- FIG. 10 shows a roll angle plan that minimizes the evaluation value calculated by the method of the present invention shown in FIG.
- the roll angle motion plan can be set taking into account future changes in the output characteristics of the actuators, which can prevent control failure, prevent deterioration of ride comfort, and control the roll angle to the optimum level. .
- the vehicle motion control device 2 of the present embodiment includes the actuator characteristic change estimating section 91 for estimating the actuator characteristic change from the current time to the future time, and the actuator characteristic change estimating section 91.
- a controllable range estimator 92 that calculates a controllable range of vehicle motion from characteristic changes, a target trajectory of the vehicle, and the current vehicle state;
- a vehicle motion planning unit 93 that creates an evaluation value calculation unit 94 that calculates an evaluation value based on the motion plan created by the vehicle motion planning unit 93. A determination is made as to whether the evaluation value calculated by the evaluation value calculation unit 94 is the minimum.
- the controllable range estimating unit 92 refers to the target trajectory of the vehicle and estimates the motion of the vehicle from the current time to the future time in consideration of characteristics including at least the output range of the actuator.
- a vehicle motion planning unit 93 refers to a predetermined evaluation function within the controllable vehicle motion range calculated by the controllable range estimating unit 92 to formulate a motion plan. create.
- the motion of the vehicle is the motion of the vehicle 1 with six degrees of freedom, namely acceleration in the longitudinal direction, acceleration in the lateral direction, acceleration in the vertical direction, roll angle, pitch angle, and yaw rate.
- it is the vehicle motion with six degrees of freedom of the longitudinal acceleration, lateral acceleration, vertical position, roll angle, pitch angle, and yaw rate of the vehicle 1 .
- the characteristics including at least the output range of the actuator are the future characteristics of the output range and movable range of the actuator on the time axis.
- controllable vehicle motion at the future time and the motion by the vehicle motion planning unit 93 are calculated based on the state.
- the controllable range of motion of the vehicle is defined as the margin of motion of the vehicle for traveling on the target trajectory without using the plan.
- the vehicle motion planning unit 93 creates a motion plan that minimizes a predetermined evaluation function within the range of controllable vehicle motion.
- the predetermined evaluation function is a function that obtains a controllable range from the range of vehicle motion when considering characteristics including at least the output range of the actuator, and maximization of this function is evaluated.
- the motion plan is the posture angle of the vehicle body 10 such as roll angle and pitch angle.
- an operation command for each actuator is issued in consideration of temperature rise caused by operation of the actuator and limitations that will occur in the future due to depletion of the power source. can be calculated to maintain good ride comfort and steering stability.
- the present invention is not limited to the above-described embodiments, and includes various modifications.
- the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations.
- it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.
- Steering mechanism 15 (15 FL , 15 Fr , 15 RL , 15 Rr ) Brake mechanism 16 (16 F , 16 R ) Stabilizer 21 Vehicle motion control unit 22 Actuator control unit 23 Actuator future limit calculation unit 91 Actuator characteristic change estimation unit 92 Vehicle motion controllable range estimation unit 93 Vehicle motion planning unit 94 Evaluation value calculation unit 95 Judgment unit 96 Vehicle control unit
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Abstract
Description
Claims (15)
- 現在の時刻から将来の時刻におけるアクチュエーターの特性変化を推定するアクチュエーター特性変化推定部と、
前記アクチュエーター特性変化推定部で算出した特性変化と、車両の目標軌道と、現在の車両状態から、車両運動の制御可能範囲を算出する制御可能範囲推定部と、
前記制御可能範囲推定部で算出した制御可能範囲内で運動計画を作成する車両運動計画部と、
前記車両運動計画部で作成した運動計画に基づいて評価値を算出する評価値計算部と、 前記評価値計算部で算出した評価値が最小か否かを判別する判断部と、を備え、
前記制御可能範囲推定部は、前記車両の目標軌道を参照して、現在の時刻から車両の運動についてアクチュエーターの少なくとも出力範囲を含む特性を考慮して将来の時刻における制御可能な車両の運動の範囲を算出し、
前記車両運動計画部は、前記制御可能範囲推定部で算出した制御可能な車両の運動の範囲内で所定の評価関数を参照して運動計画を作成する車両の運動制御装置。 - 請求項1に記載の車両の運動制御装置において、
前記車両の運動は、前後方向の加速度、横方向の加速度、上下方向の加速度、ロール角、ピッチ角、ヨーレートの6自由度の車両運動である車両の運動制御装置。 - 請求項1に記載の車両の運動制御装置において、
前記車両の運動は、前後方向の加速度、横方向の加速度、上下方向の位置、ロール角、ピッチ角、ヨーレートの6自由度の車両運動である車両の運動制御装置。 - 請求項1に記載の車両の運動制御装置において、
前記アクチュエーターの少なくとも出力範囲を含む特性は、出力範囲および可動範囲について時間軸で将来にわたる特性である車両の運動制御装置。 - 請求項1に記載の車両の運動制御装置において、
前記車両が前記目標軌道を追従しており、その追従に必要なアクチュエーターの出力が決定している場合、その状態から将来の時刻における制御可能な車両の運動と、前記車両運動計画部による運動計画を用いずに目標軌道を走行するための車両の運動との余裕範囲を、制御可能な車両の運動の範囲とする車両の運動制御装置。 - 請求項5に記載の車両の運動制御装置において、
前記制御可能な車両の運動の範囲内で、所定の評価関数を最小にする運動計画を作成する車両の運動制御装置。 - 請求項1に記載の車両の運動制御装置において、
前記所定の評価関数は、MSI(動揺病発症率),G(加速度),Jerk(加加速度)、または、GとJerkの重み付け加算値、または、これらの重み付け加算値の計算を基にする関数である車両の運動制御装置。 - 請求項1に記載の車両の運動制御装置において、
前記所定の評価関数は、車両運動の範囲から、アクチュエーターの少なくとも出力範囲を含む特性を考慮した場合に制御が可能な範囲を求める関数であり、これを最大化することを評価とする車両の運動制御装置。 - 請求項1に記載の車両の運動制御装置において、
前記運動計画は、車体の姿勢角である車両の運動制御装置。 - 車両の目標軌道を参照して、現在の時刻から車両の運動についてアクチュエーターの少なくとも出力範囲を含む特性を考慮して将来の時刻における制御可能な車両の運動の範囲を求め、
その範囲内で、所定の評価関数を参照して運動計画を作成する車両の運動制御方法。 - 請求項10に記載の車両の運動制御方法において、
前記車両の運動は、前後方向の加速度、横方向の加速度、上下方向の加速度、ロール角、ピッチ角、ヨーレートの6自由度の車両運動である車両の運動制御方法。 - 請求項10に記載の車両の運動制御方法において、
前記車両の運動は、前後方向の加速度、横方向の加速度、上下方向の位置、ロール角、ピッチ角、ヨーレートの6自由度の車両運動である車両の運動制御方法。 - 請求項10に記載の車両の運動制御方法において、
前記アクチュエーターの少なくとも出力範囲を含む特性は、出力範囲および可動範囲について時間軸で将来にわたる特性である車両の運動制御方法。 - 請求項10に記載の車両の運動制御方法において、
前記車両が前記目標軌道を追従しており、その追従に必要なアクチュエーターの出力が決定している場合、その状態から将来の時刻における制御可能な車両の運動と、前記車両の運動制御方法による運動計画を用いずに目標軌道を走行するための車両の運動との余裕範囲を、制御可能な車両の運動の範囲とする車両の運動制御方法。 - 請求項14に記載の車両の運動制御方法において、
前記制御可能な車両の運動の範囲内で、所定の評価関数を最小にする運動計画を作成する車両の運動制御方法。
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JP2004175125A (ja) * | 2002-11-22 | 2004-06-24 | Toyota Motor Corp | ショックアブソーバ作動油温度の高温化を抑制する減衰力特性制御装置および減衰力関連量取得プログラム |
WO2006013922A1 (ja) * | 2004-08-06 | 2006-02-09 | Honda Motor Co., Ltd. | 車両の制御装置 |
JP2017067227A (ja) * | 2015-10-01 | 2017-04-06 | ジヤトコ株式会社 | 油圧回路の制御装置及び油圧回路の制御方法 |
JP2020026189A (ja) * | 2018-08-10 | 2020-02-20 | 日産自動車株式会社 | 走行支援方法及び走行支援装置 |
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2022
- 2022-05-18 CN CN202280049454.0A patent/CN117651666A/zh active Pending
- 2022-05-18 EP EP22841793.7A patent/EP4371792A1/en active Pending
- 2022-05-18 WO PCT/JP2022/020684 patent/WO2023286446A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004175125A (ja) * | 2002-11-22 | 2004-06-24 | Toyota Motor Corp | ショックアブソーバ作動油温度の高温化を抑制する減衰力特性制御装置および減衰力関連量取得プログラム |
WO2006013922A1 (ja) * | 2004-08-06 | 2006-02-09 | Honda Motor Co., Ltd. | 車両の制御装置 |
JP2017067227A (ja) * | 2015-10-01 | 2017-04-06 | ジヤトコ株式会社 | 油圧回路の制御装置及び油圧回路の制御方法 |
JP2020026189A (ja) * | 2018-08-10 | 2020-02-20 | 日産自動車株式会社 | 走行支援方法及び走行支援装置 |
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