Device and method for controlling a suspension of a vehicle

Abstract

The present invention relates to an apparatus and a method for controlling a suspension of a vehicle. The apparatus for controlling a suspension of a vehicle to improve ride comfort of the vehicle includes a sensor that measures an amount of rain around the vehicle, a camera that captures an image of a road surface ahead of the vehicle, and a controller that identifies an obstacle located on the road surface based on the image of the road surface ahead of the vehicle. Specifically, the controller determines a type of the obstacle according to the measured amount of rain around the vehicle, and controls a damping force of the suspension based on control information corresponding to the determined type of the obstacle when the vehicle passes the obstacle.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0128303, filed on October 5, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a technology for improving ride comfort by controlling the vehicle's suspension. Background Technology

[0004] The statements in this section are merely background information in relation to the invention and may not constitute prior art.

[0005] Typically, when a vehicle passes over bumps or potholes in the road at a predetermined speed or higher, it may scrape the undercarriage or cause a safety accident due to impact or vibration.

[0006] A vehicle's suspension is a device that is connected to the axle and is controlled so that vibrations or impacts from the road are not directly transmitted to the vehicle body during vehicle operation, thereby preventing damage to the vehicle body, occupants, or cargo and safety accidents, and improving the vehicle's ride comfort.

[0007] A suspension system, also known as a suspension device, may include chassis springs to absorb impacts from the road, dampers to control the free vibration of the chassis springs to improve ride comfort, and stabilizer bars to prevent vehicle roll.

[0008] The recently released vehicles are equipped with Electronically Controlled Suspension (ECS), which automatically adjusts the suspension strength according to driving conditions or road surface conditions.

[0009] Electronically controlled suspension (ECS) can detect driving status information (such as vehicle speed, steering angle, vertical acceleration, etc.) and road surface information through various sensors, and can electronically and automatically control the spring constant of the suspension, the damping force of the damper, the attitude of the vehicle body, and the vehicle height according to the road conditions.

[0010] Electronically controlled suspension (ECS) can be classified into active suspension and semi-active suspension. Active suspension controls the movement of the vehicle body by applying external energy to the suspension using actuators, while semi-active suspension adjusts the damping force of the actuators.

[0011] Conventional techniques for controlling electronically controlled suspensions control the suspension without predicting the amount of impact exerted on the vehicle due to obstacles in the road (e.g., bumps or potholes) and the corresponding suspension control values ​​for pitch. Therefore, conventional control techniques cannot respond quickly and stably.

[0012] The information disclosed in the background section is intended only to enhance the understanding of the background technology of the present invention, and therefore may contain information that does not constitute any part of the prior art, nor does it constitute prior art that may be implied to those skilled in the art. Summary of the Invention

[0013] The present invention is made to solve the above-mentioned problems in the prior art, while fully retaining the advantages achieved by the prior art.

[0014] One aspect of the present invention provides a vehicle suspension control device and method that identifies obstacles on the road surface in front of the vehicle, determines the type of obstacle based on rainfall around the vehicle, and controls the suspension based on control information corresponding to the type of obstacle when the vehicle passes over the obstacle, thereby improving the ride comfort of the vehicle.

[0015] The technical problems solved by this invention are not limited to those described above, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art through the following description. Furthermore, it will be readily understood that aspects and advantages of this invention can be realized by the means set forth in the appended claims and combinations thereof.

[0016] According to one aspect of the present invention, an apparatus for controlling the suspension of a vehicle includes: a sensor, a camera, and a controller; the sensor measures rainfall around the vehicle; the camera captures an image of the road surface in front of the vehicle; the controller identifies obstacles on the road surface based on the image of the road surface in front of the vehicle, determines the type of the obstacle based on the rainfall around the vehicle, and controls the damping force of the suspension based on control information corresponding to the type of obstacle when the vehicle passes over the obstacle.

[0017] In an exemplary embodiment of the present invention, the obstacle may include at least one bump or pothole located in the road surface on which the vehicle travels.

[0018] In another exemplary embodiment of the invention, the controller may determine the type of bump among a first type of bump, a second type of bump, a third type of bump, a fourth type of bump, and a reference bump.

[0019] In one embodiment of the invention, when the rainfall exceeds a first reference value and is less than or equal to a second reference value, the controller can integrate the criteria for determining a fourth type of bump into the criteria for determining a third type of bump, and can determine the type of the obstacle as one of a first type of bump, a second type of bump, or a third type of bump.

[0020] In another embodiment of the invention, the controller may set multiple control intervals corresponding to the determined type of bump, and when the vehicle passes over the bump, the damping force of the suspension may be controlled in each of the multiple control intervals.

[0021] In another embodiment of the invention, when the rainfall exceeds a second reference value and is less than or equal to a third reference value, the controller can integrate the criteria for determining a first type of bump into the criteria for determining a second type of bump, integrate the criteria for determining a fourth type of bump into the criteria for determining a third type of bump, and determine the type of obstacle as a second type of bump or a third type of bump.

[0022] In one exemplary embodiment of the present invention, the controller may set multiple control intervals corresponding to the determined type of bump, and when the vehicle passes over the determined bump, the damping force of the suspension may be controlled in each of the multiple control intervals.

[0023] In an exemplary embodiment of the present invention, when the rainfall exceeds a third reference value, the controller can determine the type of obstacle as a reference bump.

[0024] In an exemplary embodiment of the present invention, the controller may set multiple control intervals corresponding to the reference bump, and when the vehicle passes over the reference bump, the damping force of the suspension may be controlled in each of the multiple control intervals.

[0025] According to another aspect of the present invention, a method for controlling the suspension of a vehicle includes: measuring the amount of rain around the vehicle by a sensor, capturing an image of the road surface in front of the vehicle by a camera, identifying obstacles on the road surface based on the image of the road surface in front of the vehicle by a controller, determining the type of the obstacle by the controller based on the amount of rain around the vehicle, and controlling the damping force of the suspension based on control information corresponding to the type of obstacle when the vehicle passes over the obstacle.

[0026] In an exemplary embodiment of the present invention, determining the type of obstacle may include: when the rainfall exceeds a first reference value and is less than or equal to a second reference value, integrating the criteria for determining a fourth type of bump into the criteria for determining a third type of bump, thereby determining the type of obstacle as one of a first type of bump, a second type of bump, or a third type of bump.

[0027] In an exemplary embodiment of the present invention, controlling the damping force of the suspension may include: setting multiple control intervals corresponding to the determined bumps, and controlling the damping force of the suspension in each of the multiple control intervals when the vehicle passes over the determined bumps.

[0028] In an exemplary embodiment of the present invention, determining the type of obstacle may include: when the rainfall exceeds a second reference value and is less than or equal to a third reference value, integrating the criteria for determining a first type of bump into the criteria for determining a second type of bump, integrating the criteria for determining a fourth type of bump into the criteria for determining a third type of bump, and determining the type of obstacle as a second type of bump or a third type of bump.

[0029] In an exemplary embodiment of the present invention, controlling the damping force of the suspension may include: setting a plurality of control intervals corresponding to the determined bumps, and controlling the damping force of the suspension in each of the plurality of control intervals when the vehicle passes over the determined bumps.

[0030] In an exemplary embodiment of the present invention, determining the type of obstacle may include: when the rainfall exceeds a third reference value, determining the type of obstacle as a reference bump.

[0031] In an exemplary embodiment of the present invention, controlling the damping force of the suspension may include: setting a plurality of control intervals corresponding to a reference bump, and controlling the damping force of the suspension in each of the plurality of control intervals when the vehicle passes over the reference bump.

[0032] According to another aspect of the invention, an apparatus for controlling the suspension of a vehicle includes a camera and a controller, the camera capturing an image of the road surface in front of the vehicle, the controller identifying obstacles on the road surface based on the image of the road surface in front of the vehicle, estimating rainfall conditions based on the number of reciprocating motions of windshield wipers included in the vehicle, determining the type of the obstacle based on the estimated rainfall conditions, and controlling the damping force of the suspension based on control information corresponding to the type of obstacle when the vehicle passes over the obstacle.

[0033] In another embodiment of the invention, the controller can estimate the rainfall status as one of the following intervals: the interval in which the number of wiper reciprocates within a reference time exceeds a first reference number and is less than or equal to a second reference number; the interval in which the number of wiper reciprocates within a reference time exceeds a second reference number and is less than or equal to a third reference number; or the interval in which the number of wiper reciprocates within a reference time exceeds a third reference number.

[0034] Further applications will become apparent from the description provided herein. It should be understood that this specification and specific examples are for illustrative purposes only and are not intended to limit the scope of the invention. Attached Figure Description

[0035] To better understand the invention, various embodiments of the invention, given by way of example, will be described with reference to the accompanying drawings, in which:

[0036] Figure 1 This is a schematic diagram illustrating the configuration of a vehicle suspension control device according to an exemplary embodiment of the present invention;

[0037] Figure 2 This is an exemplary schematic diagram illustrating the type of obstacle utilized in a vehicle suspension control device according to another embodiment of the present invention;

[0038] Figure 3 This is an exemplary schematic diagram illustrating a road surface image captured by a camera included in a vehicle suspension control device according to an exemplary embodiment of the present invention;

[0039] Figure 4A This is an exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device determines the type of obstacle when the rainfall is less than or equal to a first reference value, according to an exemplary embodiment of the present invention.

[0040] Figure 4B This is an exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device determines the type of obstacle when rainfall exceeds a first reference value and is less than or equal to a second reference value, according to an exemplary embodiment of the present invention.

[0041] Figure 4C This is an exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device determines the type of obstacle when rainfall exceeds a second reference value and is less than or equal to a third reference value, according to an exemplary embodiment of the present invention.

[0042] Figure 5 This is an exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device according to another embodiment of the present invention adjusts the damping force of the suspension;

[0043] Figure 6 This is an exemplary schematic diagram illustrating a damping force control command generated by a controller included in a vehicle suspension control device according to an exemplary embodiment of the present invention;

[0044] Figure 7 This is an exemplary schematic diagram illustrating the current variation of the suspension and the response characteristics of the solenoid valve controlled by a controller included in a vehicle suspension control device according to an exemplary embodiment of the present invention.

[0045] Figure 8 This is another exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device adjusts the damping force of the suspension according to an exemplary embodiment of the present invention;

[0046] Figure 9 This is a performance analysis diagram of a vehicle suspension control device according to an exemplary embodiment of the present invention;

[0047] Figure 10 This is a performance analysis diagram of a vehicle suspension control device according to an exemplary embodiment of the present invention;

[0048] Figure 11 This is a flowchart illustrating a vehicle suspension control method according to another embodiment of the present invention;

[0049] Figure 12 This is a block diagram illustrating a computational system for performing a vehicle suspension control method according to an exemplary embodiment of the present invention.

[0050] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Detailed Implementation

[0051] Some embodiments of the invention will now be described in detail with reference to the exemplary accompanying drawings. When adding reference numerals to components in each drawing, it should be noted that the same reference numerals designate components even when the same or equivalent components are shown in other drawings. Furthermore, in describing embodiments of the invention, detailed descriptions of well-known features or functions will be omitted to avoid unnecessarily obscuring the spirit of the invention.

[0052] The following description is merely exemplary in nature and is not intended to limit the invention, application, or use. It should be understood that in all the drawings, corresponding reference numerals refer to the same or corresponding parts and features.

[0053] In describing components according to exemplary embodiments of the present invention, terms such as first, second, "A", "B", (a), (b), etc., may be used. These terms are used only to distinguish one component from another, and they do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms used herein (including technical or scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be understood to have meanings equivalent to those in the context of the relevant technical field, and should not be understood to have ideal or overly formal meanings, unless expressly defined as such in this application.

[0054] Figure 1 This is a schematic diagram illustrating the configuration of a vehicle suspension control device according to an exemplary embodiment of the present invention.

[0055] like Figure 1 As shown, the vehicle suspension control device 100 may include a storage device 10, a camera 20, a rain sensor 30, and a controller 40. Depending on the implementation of the vehicle suspension control device 100 according to an embodiment of the present invention, the components may be combined to form a single entity, or some components may be omitted.

[0056] Storage device 10 can store various logics, algorithms and programs required for the following processes: identifying obstacles (e.g., bumps or potholes) on the road surface in front of the vehicle based on road surface images obtained by camera 20, determining the type of obstacle based on rainfall around the vehicle, and controlling suspension 200 based on control information corresponding to the type of obstacle when the vehicle passes over the obstacle.

[0057] The storage device 10 can store control information corresponding to the type of obstacle. The control information (i.e., damping force control information) may include damping control values, sky hook control values, and preview control values.

[0058] The storage device 10 can store a first reference value, a second reference value, and a third reference value. The first, second, and third reference values ​​all represent rainfall amounts and can be changed according to the designer's intention. For example, the first reference value could be the rainfall measured on a drizzly day, the second reference value could be the rainfall measured on a shower day, and the third reference value could be the rainfall measured on a heavy rain day. Therefore, the third reference value can be greater than the second reference value, and the second reference value can be greater than the first reference value. However, the invention is not necessarily limited to this.

[0059] Storage device 10 may include, for example Figure 2 The different types of obstacles shown.

[0060] Figure 2 This is an exemplary schematic diagram illustrating the type of obstacle utilized in a vehicle suspension control device according to an exemplary embodiment of the present invention.

[0061] like Figure 2 As shown, obstacles utilized in a vehicle suspension control device according to an embodiment of the present invention may include bumps and potholes located on the road in which the vehicle travels.

[0062] For example, the first type can be a bump with a height of 7.5 cm and a length of 1 meter, the second type can be a bump with a height of 7.5 cm and a length of 2 meters, the third type can be a bump with a height of 10 cm and a length of 3.6 meters, the fourth type can be a bump with a height of 12.5 cm and a length of 6.1 meters, and the fifth type is a pit.

[0063] Storage device 10 may include at least one type of storage medium selected from flash memory, hard disk memory, micro and card-type (e.g., Security Digital (SD) card or Ultimate Digital (XD) card) memory, random access memory (RAM) type, static RAM (SRAM) type, read-only memory (ROM) type, programmable ROM (PROM) type, electrically erasable PROM (EEPROM) type, magnetic RAM (MRAM) type, disk type and optical disk type memory.

[0064] Camera 20 can be mounted, for example, on the windshield of a vehicle and can capture images of the road surface in front of the vehicle. Camera 20 can identify objects included in the road surface image and extract information about those objects (e.g., the object's height, depth, length, etc.). For example, the road surface image provided by camera 20 to controller 40 is as follows: Figure 3 As shown.

[0065] Figure 3 This is an exemplary schematic diagram illustrating a road surface image captured by a camera included in a vehicle suspension control device according to an exemplary embodiment of the present invention.

[0066] like Figure 3 As shown, the camera 20 included in the vehicle suspension control device can capture images of the road surface in front of the vehicle and display information about objects on the road surface image.

[0067] For example, the image of the road surface may include the expected travel path 330 of the vehicle's left wheel and the expected travel path 340 of the vehicle's right wheel, and may further include the height 370 of the left side of the bump 400 and the height 380 of the right side of the bump 400. In the reference numerals "370" and "380", the vertical axis represents height and the horizontal axis represents length.

[0068] Camera 20 can send images (image data) of the road surface to controller 40, which include the expected travel path 330 of the vehicle's left wheel, the expected travel path 340 of the vehicle's right wheel, the height 370 of the left side of bump 400, and the height 380 of the right side of bump 400.

[0069] Camera 20 can be electrically connected to controller 40. Camera 20 can also be connected to controller 40 via a vehicle network. Alternatively, camera 20 can be connected to controller 40 via a hard wire. In another scenario, camera 20 can be connected to controller 40 via a printed circuit board (PCB). Camera 20 can transmit images (image data) of the road surface in front of the vehicle to controller 40. Here, the vehicle network may include a Controller Area Network (CAN), a Controller Area Network with Flexible Data Rate (CAN FD), a Local Interconnect Network (LIN), FlexRay, Media-Oriented System Transport (MOST), Ethernet, etc.

[0070] Rain sensor 30 can be mounted, for example, at the center of the top of the windshield of a vehicle, and can measure rainfall using infrared light. Rain sensor 30 can be electrically connected to controller 40 and can transmit the measured rainfall to controller 40.

[0071] The controller 40 provides overall control to enable the components to perform their functions correctly. The controller 40 can be implemented in hardware or software, or a combination thereof. The controller 40 can be implemented using a microprocessor, but is not limited to this.

[0072] Specifically, the controller 40 can perform various controls in the following processes: identifying obstacles (e.g., bumps or potholes) on the road surface in front of the vehicle based on road surface images transmitted from the camera 20; determining the type of obstacle based on the amount of rain around the vehicle; and controlling the suspension 200 based on control information corresponding to the type of obstacle when the vehicle passes over the obstacle.

[0073] The controller 40 can be electrically connected to the suspension 200 and can control the operation of the suspension 200.

[0074] For reference, suspension 200 may include springs (not shown) and dampers (not shown) for each wheel. Suspension 200 is an electronically controlled suspension. The springs reciprocate while being compressed or stretched according to road conditions. The dampers are variable dampers capable of adjusting their damping force. Controller 40 can control the damping force of suspension 200.

[0075] When a vehicle passes over an obstacle, a damper can reduce the vibrations generated by the spring. In other words, a damper can suppress the reciprocating motion of the spring by applying a force in the opposite direction to the force generated by the spring. That is, the force that suppresses the spring's motion is called the damping force.

[0076] The damper includes a piston rod and a solenoid valve. The resistance generated as fluid flows through the fluid passage formed by the piston rod and the solenoid valve is called damping force. The damper generates damping force through compression and rebound strokes. The width of the fluid passage through which the fluid flows can be adjusted according to the movement of the solenoid valve, thereby adjusting the damping force. The suspension 200 can control the damping force of the damper based on damping force control commands and / or damping force control signals input from the controller 40.

[0077] The controller 40 can collect driving information, road information, traffic information, etc. from the navigation device 300. Specifically, the controller 40 can collect information about bumps on the road where the vehicle is traveling (e.g., the position, height and length of the bumps, the separation distance between the bumps and the vehicle, information about the type of bumps, etc.) from the navigation device 300.

[0078] The controller 40 can acquire various information or data required for controlling the suspension 200 from various sensors equipped in the vehicle (e.g., radar, speed sensor, acceleration sensor, gyroscope sensor, etc.).

[0079] For reference, radar may include forward-facing radar and corner radar, and can acquire the relative position and relative speed of surrounding objects (e.g., another vehicle, pedestrian, cyclist, etc.). Radar may be mounted on the grille or bumper of a vehicle. Radar acquires data through transmitted radio waves emitted by a transmitting antenna and reflected radio waves received by a receiving antenna.

[0080] Radar data may include at least one of the following: information about the road surface ahead of the vehicle, or information about the distance and speed of another vehicle located around the vehicle. Information about the road surface ahead may include information about bumps or protrusions on the road. The radar can calculate the relative distance to an object based on the phase difference (or time difference) between the transmitted and reflected radio waves, and can calculate the relative velocity of the object based on the frequency difference between the transmitted and reflected radio waves. The radar can be connected to controller 40 via a vehicle network, hardwired connection, or printed circuit board. The forward radar can transmit forward radar data to controller 40. The aforementioned radar can be replaced by lidar (LiDAR).

[0081] The controller 40 can calculate the vehicle's pitch rate by processing data transmitted from the accelerometer and gyroscope sensors.

[0082] In the absence of a rain sensor 30 in the vehicle, the controller 40 can directly identify whether it is raining based on the operation of the windshield wipers. When the number of wiper cycles within a reference time exceeds a first reference number (e.g., 10 times) but is less than or equal to a second reference number (e.g., 20 times), the controller 40 can determine that it is drizzling. When the number of wiper cycles within a reference time exceeds the second reference number (e.g., 20 times) but is less than or equal to a third reference number (e.g., 30 times), the controller 40 can determine that it is showering. When the number of wiper cycles within a reference time exceeds the third reference number (e.g., 30 times), the controller 40 can determine that it is raining heavily. In other words, the controller 40 can identify the rainfall level based on the number of wiper cycles within a reference time.

[0083] The following will refer to Figures 4A to 4C The process by which the controller 40 determines the type of obstacle based on the amount of rainfall measured by the rain sensor 30 is described in detail.

[0084] Figure 4A This is an exemplary schematic diagram illustrating, according to another embodiment of the present invention, the process by which a controller included in a vehicle suspension control device determines the type of obstacle when the rainfall is less than or equal to a first reference value.

[0085] When the rainfall measured by the rain sensor 30 is less than or equal to the first reference value, it means that there is no problem identifying obstacles. In such weather, the shape of obstacles is clearly shown in the road surface image captured by the camera 20, so the controller 40 can accurately determine the type of bump based on the road surface image.

[0086] exist Figure 4A In the diagram, region A represents the first type of bump region, region B represents the second type of bump region, region C represents the third type of bump region, and region D represents the fourth type of bump region. The vertical axis represents the height of the shape (bump height), and the horizontal axis represents the length of the shape (bump length).

[0087] like Figure 4A As shown, the controller 40 accurately classifies the first type of bump (triangle) into region A, the second type of bump (quadrilateral) into region B, the third type of bump (X-shape) into region C, and the fourth type of bump (circle) into region D. Therefore, when the rainfall measured by the rain sensor 30 is 0, the controller 40 can control the suspension 200 based on the control information corresponding to each type of bump. At this time, the controller 40 can adjust the control value (damping force) of the suspension 200 as shown in Table 1 below.

[0088] [Table 1]

[0089]

[0090] In Table 1 above, in the fourth type of case, the controller 40 can reduce the vehicle's pitch behavior by increasing the control value. In the first type of case, the controller 40 can improve the impact amount by decreasing the control value. In the second type of case, the controller 40 can improve the impact amount by maintaining the control value, thus preventing rebound impact.

[0091] Figure 4B This is an exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device determines the type of obstacle when rainfall exceeds a first reference value and is less than or equal to a second reference value, according to an exemplary embodiment of the present invention.

[0092] When the rainfall measured by the rain sensor 30 exceeds a first reference value but is less than or equal to a second reference value, it means that it is drizzling. In such weather, due to severe road surface reflection, the partial shape of obstacles cannot be clearly shown in the road surface image captured by the camera 20. Therefore, the controller 40 may not be able to clearly identify the height and length of obstacles, and may not be able to accurately determine the type of bump based on the road surface image.

[0093] It can be seen that, as Figure 4B As shown, the controller 40 can identify the first type of bump, the second type of bump, and the third type of bump relatively accurately, but it cannot accurately identify the fourth type of bump. That is, it can be seen that the controller 40 does not accurately classify the third type of bump and the fourth type of bump.

[0094] Therefore, controller 40 can integrate region D into region C, and can classify the type of obstacle into a first type, a second type, and a third type. That is, controller 40 can determine the type of obstacle as one of the first type, the second type, or the third type, and can control suspension 200 based on control information corresponding to the relevant type.

[0095] Figure 4C This is an exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device determines the type of obstacle when rainfall exceeds a second reference value and is less than or equal to a third reference value, according to an exemplary embodiment of the present invention.

[0096] When the rainfall measured by the rain sensor 30 exceeds the second reference value and is less than or equal to the third reference value, it means that it is raining. In such weather, due to the rain showers, most of the shape of obstacles cannot be clearly shown in the road surface image captured by the camera 20, so the controller 40 may not be able to accurately determine the type of bump based on the road surface image.

[0097] like Figure 4C As shown, the controller 40 did not accurately classify the first type of bump and the fourth type of bump, nor did it accurately classify the third type of bump and the fourth type of bump.

[0098] Therefore, controller 40 can integrate area A into area B, integrate area D into area C, and classify obstacles into second and third types. That is, controller 40 can determine the type of obstacle as second or third type, and can control suspension 200 based on control information corresponding to the relevant type.

[0099] Meanwhile, when the rainfall measured by the rain sensor 30 exceeds the third reference value, it means that it is raining heavily. In such weather, due to the heavy rain, the shape of obstacles cannot be captured at all. Therefore, the controller 40 can identify the location of obstacles captured by the camera 20, but may be completely unable to identify the type of obstacle.

[0100] Therefore, during heavy rain, the controller 40 can identify the obstacle as a reference bump (virtual type) and control the suspension 200 based on the control information corresponding to the reference bump. The reference bump can be a bump with a height of 5 cm and a length of 3.6 m. The control information corresponding to the reference bump can have characteristics similar to those corresponding to the control information for a third type of wet obstacle. As a reference, due to reduced friction, the vehicle can smoothly pass over the wet bump.

[0101] As rainfall increases, it becomes difficult to classify bumps. Therefore, the controller 40 can group bumps of similar size into groups, determine the representative type of each group, and control the suspension 200 based on control information corresponding to the determined bump types.

[0102] The following will refer to Figures 5 to 7 Describe in detail the process by which controller 40 controls suspension 200.

[0103] Figure 5 This is an exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device adjusts the damping force of the suspension according to one embodiment of the present invention. Figure 6 This is an exemplary schematic diagram illustrating, according to another embodiment of the invention, a damping force control command generated by a controller included in a vehicle suspension control device. Figure 7 This is an exemplary schematic diagram illustrating, according to another embodiment of the invention, the current variation of the suspension and the response characteristics of the solenoid valve controlled by a controller included in a vehicle suspension control device. Figure 5In this context, "suspension control ON" indicates that the suspension 200 is controlled according to the method (preview) of the present invention, while "suspension control OFF" indicates that the suspension is controlled according to the method in the related art.

[0104] refer to Figure 5 The controller 40 can estimate the distance to the bump 400 and the time taken to reach it, and can control the suspension 200 based on control information (damping force adjustment information) corresponding to the type of bump 400 when the vehicle passes over the bump 400. When the vehicle passes over the bump 400, the controller 40 can control the suspension 200 in each of multiple control intervals. The controller 40 can set multiple control intervals corresponding to the type of bump 400.

[0105] For example, controller 40 can control suspension 200 to reduce damping force in the boundary area between the road surface and bump 400. This includes the area where the vehicle's front wheels enter bump 400. Figure 6 In the d0-d1 phase, the vehicle rises and the spring is compressed. In this situation, an impact may be applied to the vehicle, and the controller 40 can reduce the impact by decreasing the damping force. That is, the controller 40 can operate the suspension 200 in soft mode 510.

[0106] Controller 40 can control suspension 200 so that when the front wheels of the vehicle enter the area of ​​bump 400 ( Figure 6 The damping force is increased in d1-d2). After the front wheels of the vehicle enter the bump 400, the vehicle may vibrate significantly immediately. In this case, the controller 40 can reduce the change in vehicle behavior by increasing the damping force. That is, the controller 40 can operate the suspension 200 in hard mode 520.

[0107] In the area where the front wheels of the vehicle are 400 away from the bump ( Figure 6 In the d2-d3 phase, the vehicle may be subjected to another impact. Even in this case, the controller 40 can reduce the impact by decreasing the damping force. That is, the controller 40 can operate the suspension 200 in soft mode 530.

[0108] Even after the rear wheels of the vehicle have completely passed over bump 400, the vehicle may still vibrate, so controller 40 can detect vibrations in the interval immediately following the vehicle's departure from bump 400. Figure 6 In the interval d3-d4, the damping force is increased again to reduce the change in vehicle behavior. In this case, the damping force can be less than the damping force in the interval d1-d2.

[0109] Even in subsequent intervals ( Figure 6Following d4, controller 40 can also continue to perform damping force control to reduce changes in vehicle behavior. That is, by adjusting the damping force in each of the multiple control intervals as the vehicle passes over bump 400, controller 40 can reduce vehicle vibration (pitch rate) and reduce the impact transmitted to the vehicle body.

[0110] When it rains, drivers tend to pass over bump 400 more quickly than in sunny weather, so the rebound impact applied to the vehicle may be stronger. Therefore, when it rains, the controller 40 can increase the damping force compared to sunny weather.

[0111] Simultaneously, the control information of the pre-set suspension 200 in response to a bump 400 on the road surface in front of the vehicle can be defined as a suspension adjustment function. Furthermore, the vehicle can be equipped with a user interface for inputting the execution or stopping of the suspension adjustment function preview function.

[0112] refer to Figure 7 It shows that according to Figure 6 The damping force control command shown is applied to the current in the drive circuit of the suspension 200 and the response of the actuator. That is, in order to control the damper's actuator, the controller 40 can apply current to the drive circuit of the suspension 200. The response time of the damper's actuator can be delayed compared to the time it takes for the controller 40 to apply the control current. However, the delay time is very short. The damping force can be adjusted according to the operation of the damper's actuator.

[0113] Figure 8 This is another exemplary schematic diagram illustrating the process by which a controller included in a vehicle suspension control device adjusts the damping force of the suspension according to an exemplary embodiment of the present invention.

[0114] refer to Figure 8 When the obstacle is a pothole, the controller 40 controls the suspension 200 to increase the damping force in the pothole's entrance section (hard mode). When an impact is anticipated in the pothole's exit section, the controller 40 can control the suspension 200 to decrease the damping force in the pothole's exit section (soft mode). When a vehicle passes over a pothole, the vehicle's wheels may collide with one end of the pothole (the exit end) without contacting the bottom. In this case, the controller 40 can increase the damping force in the pothole's entrance section to keep the wheels in place and decrease the damping force in the pothole's exit section to absorb the impact. Therefore, vehicle vibration and the impact transmitted to the vehicle can be reduced. Figure 8 In this context, "suspension control activation" indicates the situation where the suspension 200 is controlled according to the method (preview) of the present invention, while "suspension control deactivation" indicates the situation where the suspension is controlled according to the method in the related art.

[0115] Figure 9This is a performance analysis diagram of a vehicle suspension control device according to an exemplary embodiment of the present invention. Figure 9 The image shows the vehicle motion when it passes a third type of bump at a speed of 30 kph.

[0116] like Figure 9 As shown, the vehicle motion when the present invention is applied (suspension control activated) is less than the vehicle motion when the present invention is not applied (suspension control deactivated).

[0117] Figure 10 This is a performance analysis diagram of a vehicle suspension control device according to an exemplary embodiment of the present invention. Figure 10 The image shows the vehicle motion when it passes a third type of bump at a speed of 30 kph.

[0118] like Figure 10 As shown, the impact amount (impact force) applied to the vehicle when the present invention (suspension control activation) is applied is less than the impact amount applied to the vehicle when the present invention (suspension control deactivation) is not applied.

[0119] Figure 11 This is a flowchart illustrating a vehicle suspension control method according to another embodiment of the present invention.

[0120] First, the rain sensor 30 measures the amount of rain around the vehicle (step 1101).

[0121] Next, camera 20 captures an image of the road surface in front of the vehicle (step 1102).

[0122] Then, the controller 40 identifies obstacles on the road surface based on the image of the road surface in front of the vehicle (step 1103).

[0123] Then, the controller 40 determines the type of obstacle based on the amount of rain around the vehicle (step 1104).

[0124] When the vehicle passes an obstacle, the controller 40 controls the damping force of the suspension based on control information corresponding to the type of obstacle (step 1105).

[0125] Figure 12 This is a block diagram illustrating a computational system for performing a vehicle suspension control method according to another embodiment of the invention.

[0126] refer to Figure 12 The vehicle suspension control method can be implemented through a computing system. The computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700, all interconnected via a system bus 1200.

[0127] Processor 1100 may be a central processing unit (CPU) or semiconductor device for processing instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) 1310 and random access memory (RAM) 1320.

[0128] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly in hardware or software modules executed by processor 1100, or in a combination thereof. The software modules can reside on a storage medium (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable hard disk, or CD-ROM. An exemplary storage medium can be coupled to processor 1100, and processor 1100 can read information from and record information in the storage medium. Alternatively, the storage medium can be integrated with processor 1100. Processor 1100 and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside within a user terminal. In another case, processor 1100 and storage medium can reside as separate components in the user terminal.

[0129] As described above, the vehicle suspension control device and method according to embodiments of the present invention identify obstacles on the road surface in front of the vehicle, determine the type of obstacle based on the amount of rain around the vehicle, and control the suspension based on control information corresponding to the type of obstacle when the vehicle passes over the obstacle, thereby improving the ride comfort of the vehicle.

[0130] Although the present invention has been described above with reference to exemplary embodiments and accompanying drawings, the invention is not limited thereto. Various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

[0131] Therefore, exemplary embodiments of the present invention have been provided to illustrate the spirit and scope of the invention, but are not limited thereto; thus, the spirit and scope of the invention are not limited by the embodiments. The scope of the invention should be interpreted based on the appended claims, and all technical concepts within the scope of the claims should be included within the scope of the invention.

Claims

1. A device for controlling the suspension of a vehicle, the device comprising: A sensor configured to measure rainfall around the vehicle; A camera configured to capture images of the road surface in front of the vehicle; as well as The controller is configured as follows: Based on images of the road surface in front of the vehicle, obstacles located on the road surface are identified. The type of obstacle is determined based on the measured rainfall around the vehicle. When the vehicle passes an obstacle, the damping force of the suspension is controlled based on control information corresponding to the type of obstacle identified.

2. The device for controlling the suspension of a vehicle according to claim 1, wherein, The obstacle includes at least one bump or pothole located in the road surface where the vehicle travels.

3. The device for controlling the suspension of a vehicle according to claim 2, wherein, The controller is configured to determine the type of bump among a first type of bump, a second type of bump, a third type of bump, a fourth type of bump, and a reference bump.

4. The device for controlling the suspension of a vehicle according to claim 3, wherein, The controller is configured as follows: When the measured rainfall exceeds the first reference value but is less than or equal to the second reference value, the criteria used to determine the fourth type of bump will be integrated into the criteria used to determine the third type of bump. The obstacle is classified as one of the following: a first type of bump, a second type of bump, or a third type of bump.

5. The device for controlling the suspension of a vehicle according to claim 4, wherein, The controller is configured to set multiple control intervals corresponding to the determined type of bump, and when the vehicle passes over the bump, control the damping force of the suspension in each of the multiple control intervals.

6. The device for controlling the suspension of a vehicle according to claim 3, wherein, The controller is configured as follows: When the measured rainfall exceeds the second reference value but is less than or equal to the third reference value, the criteria used to determine the first type of bump will be integrated into the criteria used to determine the second type of bump. The criteria used to determine the fourth type of bump will be integrated into the criteria used to determine the third type of bump. The obstacle type is determined to be either a second-type bump or a third-type bump.

7. The device for controlling the suspension of a vehicle according to claim 6, wherein, The controller is configured to set multiple control intervals corresponding to the determined type of bump, and when the vehicle passes over the bump, control the damping force of the suspension in each of the multiple control intervals.

8. The device for controlling the suspension of a vehicle according to claim 3, wherein, When the measured rainfall exceeds a third reference value, the controller is configured to identify the type of obstacle as a reference bump.

9. The device for controlling the suspension of a vehicle according to claim 8, wherein, The controller is configured to set multiple control intervals corresponding to the reference bump, and when the vehicle passes the reference bump, control the damping force of the suspension in each of the multiple control intervals.

10. A method for controlling the suspension of a vehicle, the method comprising: The amount of rain around the vehicle is measured by sensors; Images of the road surface in front of the vehicle are captured by a camera; The controller identifies obstacles on the road surface based on images of the road ahead of the vehicle; The controller determines the type of obstacle based on measurements of rainfall around the vehicle; When the vehicle passes an obstacle, the controller adjusts the damping force of the suspension based on control information corresponding to the type of obstacle.

11. The method according to claim 10, wherein, The obstacle includes at least one bump or pothole located in the road surface where the vehicle travels.

12. The method of claim 11, further comprising: The controller classifies bumps into one of the following types: first type bumps, second type bumps, third type bumps, fourth type bumps, and reference bumps.

13. The method according to claim 12, wherein, Determining the type of obstacle includes: In response to determining that the measured rainfall exceeds a first reference value and is less than or equal to a second reference value, the criteria used to determine the fourth type of bump are integrated into the criteria used to determine the third type of bump. The obstacle type is determined as a first type of bump, a second type of bump, or a third type of bump.

14. The method according to claim 13, wherein, The damping forces controlling the suspension include: Set multiple control zones corresponding to the determined type of bump; When the vehicle passes over a bump, the damping force of the suspension is controlled in each of the multiple control zones.

15. The method according to claim 12, wherein, Determining the type of obstacle includes: In response to determining that the measured rainfall exceeds a second reference value and is less than or equal to a third reference value, the standard used to determine the first type of bump is integrated into the standard used to determine the second type of bump; the standard used to determine the fourth type of bump is integrated into the standard used to determine the third type of bump; The obstacle type is determined to be either a second-type bump or a third-type bump.

16. The method according to claim 15, wherein, The damping forces controlling the suspension include: Set multiple control zones corresponding to the determined type of bump; When the vehicle passes over a bump, the damping force of the suspension is controlled in each of the multiple control zones.

17. The method according to claim 12, wherein, Determining the type of obstacle includes: In response to determining that the measured rainfall exceeds a third reference value, the type of obstacle is identified as a reference bump.

18. The method according to claim 17, wherein, The damping forces controlling the suspension include: Set multiple control zones corresponding to the reference bump; As the vehicle passes the reference bump, the damping force of the suspension is controlled in each of the multiple control zones.

19. A device for controlling the suspension of a vehicle, the device comprising: A camera configured to capture images of the road surface in front of the vehicle; as well as The controller is configured as follows: Based on images of the road surface in front of the vehicle, obstacles located on the road surface are identified. Rainfall levels are estimated based on the number of times the vehicle's windshield wipers move back and forth. The type of obstacle is determined based on the estimated rainfall conditions. When the vehicle passes an obstacle, the damping force of the suspension is controlled based on control information corresponding to the type of obstacle identified.

20. The device for controlling the suspension of a vehicle according to claim 19, wherein, The controller is configured as follows: Rainfall conditions are estimated as one of the following: the interval in which the number of wiper swipes within a reference time exceeds the first reference number but is less than or equal to the second reference number; the interval in which the number of wiper swipes within a reference time exceeds the second reference number but is less than or equal to the third reference number; or the interval in which the number of wiper swipes within a reference time exceeds the third reference number.

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