JP4511815B2 - サスペンション制御装置 - Google Patents
サスペンション制御装置 Download PDFInfo
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- JP4511815B2 JP4511815B2 JP2003334695A JP2003334695A JP4511815B2 JP 4511815 B2 JP4511815 B2 JP 4511815B2 JP 2003334695 A JP2003334695 A JP 2003334695A JP 2003334695 A JP2003334695 A JP 2003334695A JP 4511815 B2 JP4511815 B2 JP 4511815B2
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
- B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
- B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
- B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
- B60G21/055—Stabiliser bars
- B60G21/0551—Mounting means therefor
- B60G21/0553—Mounting means therefor adjustable
- B60G21/0555—Mounting means therefor adjustable including an actuator inducing vehicle roll
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/50—Pressure
- B60G2400/51—Pressure in suspension unit
- B60G2400/512—Pressure in suspension unit in spring
- B60G2400/5122—Fluid spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/822—Road friction coefficient determination affecting wheel traction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
- B60G2800/702—Improving accuracy of a sensor signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9122—ARS - Anti-Roll System Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/96—ASC - Assisted or power Steering control
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/22—Suspension systems
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Description
ここで、Lはホイールベース、Nはステアリングギア比、Khはスタビリティファクタである。次に、目標ヨーレイトの絶対値|Yrd|とヨーレイトセンサYRによって検出される実ヨーレイトの絶対値|Yr|とのヨーレイト偏差ΔYr(=|Yrd|−|Yr|)が計算される。そして、ヨーレイト偏差ΔYr>0の場合はアンダステア傾向、ΔYr<0の場合にはオーバステア傾向と判定される。本実施形態では、車両状態量として、ヨーレイトを用いているが、横加速度、車体スリップ角、左右車輪速度差、又は、これらを適宜組み合わせて車両の動的なステア特性を判定することも可能である。
ξ>0の場合は、Fy=μ・Fz・(1−ξ3) …(1)
ξ≦0の場合は、Fy=μ・Fz …(2)
また、
ξ>0の場合は、Tsaa =(l・Ks/6)・λ・ξ3 …(3)
ξ≦0の場合は、Tsaa =0 …(4)
となる。ここで、Fzは接地荷重、lはタイヤ接地面の接地長さ、Ksはトレッド剛性に対応する定数、λは横スリップ(λ=tan(α))であり、αは車輪スリップ角である。
Tsaa =(l・Ks/6)・α・εm …(5)
Tsau =(l・Ks/6)・α …(6)
εm=Tsaa /Tsau …(7)
として求めることができる。この(7)式には路面摩擦係数μがパラメータとして含まれていないことから明らかなように、車輪グリップ度εmは路面摩擦係数μを用いることなく算出することができる。この場合において、基準セルフアライニングトルクTsau の勾配K4(=l・Ks/6)は、前述のブラッシュモデルを用いて予め設定することができる。また、実験的に求めることも可能である。更に、まず初期値を設定し、走行中に車輪スリップ角がゼロ近傍におけるセルフアライニングトルクの傾きを同定し、補正することとすれば、検出精度を向上させることができる。
SPfr, SPfl, SPrr, SPrl スプリング制御手段
EPS 電動パワーステアリングシステム
SW ステアリングホイール
SA 操舵角センサ
ST 操舵トルクセンサ
WHfr, WHfl,WHrr, WHrl 車輪
WSfr,WSfl,WSrr,WSrl 車輪速度センサ
YR ヨーレイトセンサ
XG 前後加速度センサ
YG 横加速度センサ
ECU 電子制御装置
Claims (4)
- 操舵車輪に対する操舵トルクに基づいて当該操舵車輪のセルフアライニングトルクを推定し、該セルフアライニングトルクの変化に基づき当該操舵車輪の車輪グリップ度を推定する車輪グリップ状態推定手段と、車体のロール運動を制御する車体ロール運動制御手段と、該車体ロール運動制御手段の制御パラメータを少なくとも前記車輪グリップ状態推定手段が推定した前記車輪グリップ度に基づいて設定する制御パラメータ設定手段とを備えたことを特徴とするサスペンション制御装置。
- 操舵車輪に対する操舵トルクに基づいて当該操舵車輪のセルフアライニングトルクを推定し、該セルフアライニングトルクの変化に基づき当該操舵車輪の車輪グリップ度を推定する車輪グリップ状態推定手段と、車体のロール運動を抑制するための車体ロール剛性を制御する車体ロール剛性制御手段を備え、該車体ロール剛性制御手段の制御パラメータを少なくとも前記車輪グリップ状態推定手段が推定した前記車輪グリップ度に基づいて設定する制御パラメータ設定手段とを備えたことを特徴とするサスペンション制御装置。
- 操舵車輪に対する操舵トルクに基づいて当該操舵車輪のセルフアライニングトルクを推定し、該セルフアライニングトルクの変化に基づき当該操舵車輪の車輪グリップ度を推定する車輪グリップ状態推定手段と、車両のステア特性を制御するための車体ロール剛性比率を制御する車体ロール剛性比率制御手段を備え、該車体ロール剛性比率制御手段の制御パラメータを少なくとも前記車輪グリップ状態推定手段が推定した前記車輪グリップ度に基づいて設定する制御パラメータ設定手段とを備えたことを特徴とするサスペンション制御装置。
- 前記車輪グリップ状態推定手段が推定した前記車輪グリップ度に基づき前記操舵車輪の前記路面に対する摩擦係数を推定する摩擦係数推定手段を備え、少なくとも該摩擦係数推定手段が推定した摩擦係数に基づき、前記制御パラメータ設定手段が前記制御パラメータを設定するように構成したことを特徴とする請求項1乃至3の何れか1項に記載のサスペンション制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003334695A JP4511815B2 (ja) | 2003-09-26 | 2003-09-26 | サスペンション制御装置 |
DE602004011716T DE602004011716T2 (de) | 2003-09-26 | 2004-09-23 | Aufhängungssteuerungsvorrichtung |
EP04022631A EP1518721B8 (en) | 2003-09-26 | 2004-09-23 | Suspension control device |
US10/947,370 US7600762B2 (en) | 2003-09-26 | 2004-09-23 | Suspension control device |
CNB200410012000XA CN100379629C (zh) | 2003-09-26 | 2004-09-27 | 悬架控制装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003334695A JP4511815B2 (ja) | 2003-09-26 | 2003-09-26 | サスペンション制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005096672A JP2005096672A (ja) | 2005-04-14 |
JP4511815B2 true JP4511815B2 (ja) | 2010-07-28 |
Family
ID=34191508
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003334695A Expired - Fee Related JP4511815B2 (ja) | 2003-09-26 | 2003-09-26 | サスペンション制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7600762B2 (ja) |
EP (1) | EP1518721B8 (ja) |
JP (1) | JP4511815B2 (ja) |
CN (1) | CN100379629C (ja) |
DE (1) | DE602004011716T2 (ja) |
Families Citing this family (75)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4046005B2 (ja) * | 2003-05-12 | 2008-02-13 | 株式会社デンソー | 電動モータ駆動装置及び電動パワーステアリング装置 |
JP4213994B2 (ja) * | 2003-05-28 | 2009-01-28 | 株式会社豊田中央研究所 | タイヤグリップ度推定装置及び方法、走行状態制御方法 |
WO2005037580A1 (en) * | 2003-10-17 | 2005-04-28 | Active Air Suspensions Limited | Vehicle suspension control |
DE102005004523A1 (de) * | 2005-01-31 | 2006-08-10 | Zf Friedrichshafen Ag | Verfahren zum Bestimmen einer Steuervorgabe einer von einer Steuervorrichtung ansteuerbaren aktiven Lenkeinrichtung eines Fahrzeugs |
DE102005004601A1 (de) * | 2005-02-01 | 2006-08-10 | Bayerische Motoren Werke Ag | Fahrdynamik-Steuerungs- oder Regelsystem für ein zweispuriges zweiachsiges Kraftfahrzeug |
US8165749B2 (en) * | 2005-03-31 | 2012-04-24 | Honda Motor Co., Ltd | Control system for adjustable damping force damper |
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FR2927047B1 (fr) * | 2008-02-04 | 2010-04-16 | Jtekt Europe Sas | Systeme de direction assistee electrique de vehicule automobile |
US8290662B2 (en) * | 2008-04-25 | 2012-10-16 | Ford Global Technologies, Llc | System and method for tire cornering power estimation and monitoring |
JP5136189B2 (ja) * | 2008-04-28 | 2013-02-06 | トヨタ自動車株式会社 | 車両制御装置 |
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JP2011057215A (ja) * | 2010-10-01 | 2011-03-24 | Mitsubishi Electric Corp | 車両制御装置 |
JP5956219B2 (ja) * | 2012-03-30 | 2016-07-27 | 富士重工業株式会社 | 車両のパワートレーン支持構造 |
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Also Published As
Publication number | Publication date |
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CN100379629C (zh) | 2008-04-09 |
EP1518721A1 (en) | 2005-03-30 |
JP2005096672A (ja) | 2005-04-14 |
US20050067213A1 (en) | 2005-03-31 |
CN1600619A (zh) | 2005-03-30 |
US7600762B2 (en) | 2009-10-13 |
EP1518721B1 (en) | 2008-02-13 |
EP1518721B8 (en) | 2008-05-28 |
DE602004011716D1 (de) | 2008-03-27 |
DE602004011716T2 (de) | 2009-02-12 |
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