Integrated Vehicle Body Attitude Control Apparatus

• US 20080262690A1
• Filed: 04/22/2008
• Published: 10/23/2008
• Est. Priority Date: 04/23/2007
• Status: Abandoned Application

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.)
• Inventors: Tanaka, Wataru, Hidaka, Seiji
• Application Number:
  US12/107,566
• Publication Number:
  US 20080262690A1
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 17/018 characterised by the use of a specific signal treatment or control method
• CPC Class Codes: B60G 2202/135 Stabiliser bar and/or tube
• CPC Class Codes: B60G 2202/40 Type of actuator
• CPC Class Codes: B60G 2202/442 Rotary actuator
• CPC Class Codes: B60G 2204/82 left and right unit on same axle
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2500/104 continuous
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2600/09 Feedback signal
• CPC Class Codes: B60G 2600/11 Feedforward signal
• CPC Class Codes: B60G 2600/1874 Modal analysis
• CPC Class Codes: B60G 2800/01 Attitude or posture control
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/164 Heaving; Squatting
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60G 2800/912 Attitude Control; levelling control
• CPC Class Codes: B60G 2800/9122 : ARS - Anti-Roll System Control

Abstract

An integrated vehicle body attitude control apparatus includes a detecting portion detecting a vehicle state including a vehicle speed and a steering state, an integrated vehicle body control model calculation portion setting a model rotation axis of a vehicle body and calculating an integrated vehicle body control model including a model value, a distribution controller combining pitch components, heave components and roll components calculated by a first calculator and a second calculator, distributing a combined resultant of the pitch components and the heave components for controlling damping force by the shock absorber controller and distributing a combined resultant of the roll components for controlling the torsional force by the stabilizer controller, and an actuation controller controlling actuation of a shock absorber and a stabilizer in response to a distribution result by the distribution controller.

Claims

1. An integrated vehicle body attitude control apparatus, comprising:

a shock absorber control portion for controlling damping force of a shock absorber adapted to be provided at each wheel of a vehicle,

a stabilizer control portion controlling a torsional force of a stabilizer adapted to be arranged between wheels at right and left of the vehicle,

a detecting portion detecting a vehicle state including a vehicle speed and a steering state,

an integrated vehicle body control model calculation portion setting a model rotation axis of a vehicle body based on at least the vehicle speed and the steering state among detected results by the detecting means as well as a specification of the vehicle and calculating an integrated vehicle body control model including a model value having the model rotation axis as a center,

a first calculating portion calculating a pitch component, a heave component and a roll component when performing feed-forward control on the basis of the integrated vehicle body control model calculated by the integrated vehicle body control model calculation portion,

a second calculating portion calculating a pitch component, a heave component and a roll component when performing feedback control on the basis of a difference between the vehicle state detected by the detecting portion and the model value calculated by the integrated vehicle body control model calculation portion,

a distribution control portion combining the pitch components, the heave components and the roll components calculated by the first calculating portion and the second calculating portion, distributing a combined resultant of the pitch components and the heave components for controlling damping force by the shock absorber control portion and distributing a combined resultant of the roll components for controlling the torsional force by the stabilizer control portion, and

an actuation control portion controlling actuation of the shock absorber and the stabilizer in response to a distribution result by the distribution control portion.

2. An integrated vehicle body attitude control apparatus, according to claim 1, further comprising:

a human sensitivity function calculating portion determining a value dividing a difference between the vehicle state detected by the detecting portion and the model value calculated by the integrated vehicle body control model calculation portion by an absolute value of the model value as a human sensitivity function, wherein

the second calculating portion calculates the pitch component, the heave component and the roll component when performing the feedback control on the basis of a calculation result by the human sensitivity function calculating portion.

3. An integrated vehicle body attitude control apparatus, according to claim 1, wherein the detecting means estimating the vehicle state when a rear wheel of the vehicle passes the subject portion on a road surface on the basis of the vehicle state when a front wheel of the vehicle passes the subject portion on the road surface, and wherein the second calculating portion calculates the pitch component, the heave component and the roll component when performing the feedback control on the basis of a difference between the estimated vehicle state and the model value.

4. An integrated vehicle body attitude control apparatus, according to claim 1, wherein, when the combined resultant of the roll component exceeds a roll component limit which is applicable to a control of the torsional force by the stabilizer control portion, the distribution control portion distributes the excessive roll component to control damping force by the shock absorber control portion.

5. An integrated vehicle body attitude control apparatus, according to claim 2, wherein, when the combined resultant of the roll component exceeds a roll component limit which is applicable to a control of the torsional force by the stabilizer control portion, the distribution control portion distributes the excessive roll component to control damping force by the shock absorber control portion.

6. An integrated vehicle body attitude control apparatus, according to claim 3, wherein, when the combined resultant of the roll component exceeds a roll component limit which is applicable to a control of the torsional force by the stabilizer control portion, the distribution control portion distributes the excessive roll component to control damping force by the shock absorber control portion.

7. An integrated vehicle body attitude control apparatus according to claim 1, wherein the distribution control portion compares damping forces of the shock absorbers adapted to be provided at wheels diagonally arranged from each other of the vehicle, and distributes the heave component in response to the result of comparison by the distribution control portion.

8. An integrated vehicle body attitude control apparatus according to claim 2, wherein the distribution control portion compares damping forces of the shock absorbers adapted to be provided at wheels diagonally arranged from each other of the vehicle, and distributes the heave component in response to the result of comparison by the distribution control portion.

9. An integrated vehicle body attitude control apparatus according to claim 3, wherein the distribution control portion compares damping forces of the shock absorbers adapted to be provided at wheels diagonally arranged from each other of the vehicle, and distributes the heave component in response to the result of comparison by the distribution control portion.

10. An integrated vehicle body attitude control apparatus according to claim 4, wherein the distribution control portion compares damping forces of the shock absorbers adapted to be provided at wheels diagonally arranged from each other of the vehicle, and distributes the heave component in response to the result of comparison by the distribution control portion.