Damping force control apparatus for vehicle

• US 7,813,853 B2
• Filed: 11/06/2006
• Issued: 10/12/2010
• Est. Priority Date: 12/26/2005
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tomida, Koichi
• Primary Examiner(s): To; Tuan C
• Application Number:
  US11/556,872
• Publication Number:
  US 20070156314A1
• Time in Patent Office: 1,436 Days
• Field of Search: 701/37, 701/72, 701/75, 280/5.5, 280/5.502, 280/5.506, 280/5.507, 280/6.15, 280/5.515, 180/218, 180/6.5
• US Class Current: 701/37
• CPC Class Codes: B60G 17/0152 characterised by the action on a particular type of suspension unit B60G17/01941 takes precedence
• 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 17/0182 involving parameter estimation, e.g. observer, Kalman filter
• CPC Class Codes: B60G 2400/0511 Roll angle
• CPC Class Codes: B60G 2400/0512 Pitch angle
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/40 Steering conditions
• CPC Class Codes: B60G 2500/104 continuous
• CPC Class Codes: B60G 2600/1871 Optimal control; Kalman Filters
• CPC Class Codes: B60G 2800/01 Attitude or posture control
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/0122 Roll rigidity ratio; Warping
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive

Abstract

A damping force control apparatus for a vehicle includes adjustable-damping-force shock absorbers. When the vehicle turns, an electronic controller calculates an actual roll angle of the vehicle body in accordance with sprung accelerations detected by sprung acceleration sensors. The electronic controller also calculates a target roll angle of the vehicle body in accordance with a lateral acceleration detected by a lateral acceleration sensor. The target roll angle is set such that it increases with the lateral acceleration acting on the vehicle during turning and is uniquely determined by the lateral acceleration. The electronic controller sets target damping forces of the shock absorbers such that the actual roll angle coincides with the target roll angle, and controls the damping forces of the shock absorbers in accordance with the set target damping forces.

Claims

1. A damping force control apparatus for a vehicle in which four wheels are suspended by respective suspension systems including respective shock absorbers, and damping forces of the shock absorbers are controlled individually in accordance with turning conditions of the vehicle, the damping force control apparatus comprising:

wheel stroke detection means for detecting respective strokes of the four wheels in relation to a vehicle body;

lateral acceleration detection means for detecting a lateral acceleration acting on the vehicle during turning;

plurality of sprung acceleration detection means for detecting respective sprung accelerations at positions that correspond to the four wheels;

target-posture setting means for setting a target posture of the vehicle body during turning in accordance with the lateral acceleration detected by the lateral acceleration detection means;

actual posture determining means for determining an actual posture of the vehicle body during turning in accordance with the sprung accelerations detected by the plurality of sprung acceleration detection means;

correction posture determining means for determining a correction posture by comparing the target posture and the actual posture;

target-damping-force setting means for setting target damping forces which the shock absorbers are required to generate so as to render the actual posture of the vehicle body determined by the actual posture determining means coincident with the target posture set by the target-posture setting means, wherein the target damping forces are set in accordance with the correction posture and a stroke speed that is based on the strokes; and

damping-force control means for controlling the damping forces of the shock absorbers in accordance with the target damping forces set by the target-damping-force setting means.

2. The damping force control apparatus for a vehicle according to claim 1, wherein

the actual posture is an actual roll angle of the vehicle body about a longitudinal axis of the vehicle, and

the target posture is a target roll angle of the vehicle body about the longitudinal axis which increases with the detected lateral acceleration and is uniquely determined by the lateral acceleration.

3. The damping force control apparatus for a vehicle according to claim 1, wherein

the actual posture is an actual pitch angle of the vehicle body about a lateral axis of the vehicle, and

the target posture is a target pitch angle of the vehicle body about the lateral axis which increases with the detected lateral acceleration and is uniquely determined by the lateral acceleration.

4. The damping force control apparatus for a vehicle according to claim 1,

wherein the actual posture is based on an actual roll angle of the vehicle body about a longitudinal axis of the vehicle and an actual pitch angle of the vehicle body about a lateral axis of the vehicle, and

the target posture is based on a target roll angle of the vehicle body about the longitudinal axis which increases with the detected lateral acceleration and is uniquely determined by the lateral acceleration and a target pitch angle of the vehicle body about the lateral axis which increases with the detected lateral acceleration and is uniquely determined by the lateral acceleration.

5. The damping force control apparatus for a vehicle according to claim 1, wherein the target-damping-force setting means includes:

jack-up-force calculation means for calculating a jack-up force acting from the suspension systems to the vehicle body during turning, and

jack-up-corresponding-target-damping-force calculation means for calculating the target damping forces in consideration of the jack-up force calculated by the jack-up-force calculation means.

6. The damping force control apparatus for a vehicle according to claim 2,

wherein the correction posture is a correction roll angle based on the actual roll angle and the target roll angle, and

wherein the target posture setting means includes means for determining a correction roll moment in accordance with the correction roll angle, a roll stiffness of the vehicle, and an inertia moment of the vehicle about the longitudinal axis of the vehicle.

7. The damping force control apparatus for a vehicle according to claim 6,

wherein the target posture setting means includes means for determining a correction dampening force in accordance with the correction roll moment, and

wherein the target damping forces are further set in accordance with the correction dampening force.

8. The damping force control apparatus for a vehicle according to claim 3,

wherein the correction posture is a correction pitch angle based on the actual pitch angle and the target pitch angle, and

wherein the target posture setting means includes means for determining a correction pitch moment in accordance with the correction pitch angle, a pitch stiffness of the vehicle, and an inertia moment of the vehicle about the lateral axis of the vehicle.

9. The damping force control apparatus for a vehicle according to claim 8,

wherein the target posture setting means includes means for determining a correction dampening force in accordance with the correction pitch moment, and

wherein the target damping forces are further set in accordance with the correction dampening force.

10. The damping force control apparatus for a vehicle according to claim 4, wherein the target posture setting means includes

means for determining a correction roll moment in accordance with the actual roll angle, the target roll angle, a roll stiffness of the vehicle, and an inertia moment of the vehicle about the longitudinal axis of the vehicle

means for determining a correction pitch moment in accordance with the actual pitch angle, the target pitch angle, a pitch stiffness of the vehicle, and an inertia moment of the vehicle about the lateral axis of the vehicle.

11. The damping force control apparatus for a vehicle according to claim 10,

wherein the target posture setting means includes means for determining a correction dampening force in accordance with the correction roll moment and the correction pitch moment, and

wherein the target damping forces are further set in accordance with the correction dampening force.

12. A damping force control apparatus for a vehicle in which four wheels are suspended by respective suspension systems including respective shock absorbers, and damping forces of the shock absorbers are controlled individually in accordance with turning conditions of the vehicle, the damping force control apparatus comprising:

vehicle height sensors that detect strokes of the four wheels in relation to a vehicle body;

a lateral acceleration sensor that detects a lateral acceleration acting on the vehicle during turning;

plurality of sprung acceleration sensors that respectively detect sprung accelerations at positions that correspond to the four wheels; and

an electronic controller, wherein

the electronic controller is configured to set a target posture of the vehicle body during turning in accordance with the lateral acceleration detected by the lateral acceleration sensor,

the electronic controller is configured to determine an actual posture of the vehicle body during turning in accordance with the sprung accelerations detected by the plurality of sprung acceleration sensors,

the electronic controller is configured to determine a correction posture by comparing the target posture and the actual posture,

the electronic controller is configured to set a target damping forces which the shock absorbers are required to generate so as to render the actual posture of the vehicle body coincident with the target posture,

the target damping forces are set in accordance with the correction posture and a stroke speed that is based on the strokes, and

the electronic controller is configured to control the damping forces of the shock absorbers in accordance with the target damping forces.

13. A damping force control apparatus for a vehicle in which four wheels are suspended by respective suspension systems including respective shook absorbers, and damping forces of the shock absorbers are controlled individually in accordance with turning conditions of the vehicle, the damping force control apparatus comprising:

roll angle detection means for detecting an actual roll angle of the vehicle body about a longitudinal axis of the vehicle;

pitch angle detection means for detecting an actual pitch angle of the vehicle body about a lateral axis of the vehicle;

lateral acceleration detection means for detecting a lateral acceleration acting on the vehicle during turning;

target roll angle setting means for setting a target roll angle of the vehicle body about the longitudinal axis of the vehicle in accordance with the lateral acceleration detected by the lateral acceleration detection means, the target roll angle increasing with the detected lateral acceleration;

target pitch angle setting means for setting a target pitch angle of the vehicle body about the lateral axis of the vehicle in accordance with the target roll angle set by the target roll angle setting means, the target pitch angle increasing with the set target roll angle;

target-damping-force setting means for setting target damping forces which the shock absorbers are required to generate so as to render the actual roll angle detected by the roll angle detection means and the actual pitch angle detected by the pitch angle detection means coincident with the target roll angle set by the target roll angle setting means and the target pitch angle set by the target pitch angle setting means respectively; and

damping-force control means for controlling the damping forces of the shock absorbers in accordance with the target damping forces set by the target-damping-force setting means.

14. The damping force control apparatus for a vehicle according to claim 13, wherein the target-damping-force setting means includes:

jack-up-force calculation means for calculating a jack-up force acting from the suspension systems to the vehicle body during turning, and

jack-up-corresponding-target-damping-force calculation means for calculating the target damping forces in consideration of the jack-up force calculated by the jack-up-force calculation means.