INVENTORY CONTROL SYSTEM AND INVENTORY CONTROL METHOD FOR VEHICLES

Abstract

A mount control system and mount control method for vehicles are disclosed, in which a camera of an electronically controlled system with a road preview photographs a road surface condition of a road ahead of a vehicle, a suspension controller determines a road surface condition of the road based on the photographed information of the camera, and a mount controller controls semi-active mounts to be in an on-state or off-state based on the road surface condition determination information transmitted from the suspension controller and values ​​detected by wheel acceleration sensors mounted on wheels of the vehicle, to improve not only NVH performance but also driving vibration damping performance depending on the road surface condition.

Description

BACKGROUND(a) Technical field

[0001] The present disclosure relates to a vehicle mount control system and method. More specifically, it relates to a vehicle mount control system and method that can improve ride vibration through mount damping control using the configuration of an electronically controlled suspension system with a road preview. (b) Background of the invention

[0002] An electronically controlled suspension system with a road preview refers to a system that detects the road surface condition of a road ahead of a vehicle while the vehicle is traveling and performs damping control of the suspensions depending on the detected road surface condition.

[0003] For this purpose, the electronically controlled suspension system with a road preview includes a camera mounted on the front part (the inner upper end of a windshield) of the vehicle, a suspension controller configured to determine a road surface condition of the road based on the photographed information of the camera, and the suspensions configured to control damping thereof depending on the road surface condition determined by the suspension controller.

[0004] Therefore, the shock depending on the road surface condition can be absorbed without being transmitted to the occupants in the vehicle by detecting the road surface condition of the road ahead of the vehicle, such as potholes, bumps, and road surface roughness on the road, by the camera while the vehicle is traveling, determining the road surface condition of the road based on the photographed information of the camera by the suspension controller, and performing independent damping control of the suspensions of the respective wheels depending on the determined road surface condition.

[0005] A powertrain including an engine and a transmission of the vehicle is supported by a plurality of bearings to be attached to a vehicle body, and a drive motor for electric vehicles is supported by a plurality of bearings that distribute a load and have a controllable behavior to be attached to a vehicle body.

[0006] Semi-active bearings are used, which are hydraulic bearings with adjustable dynamic characteristics.

[0007] For this purpose, the semi-active bearing includes an actuator configured to open and close a bypass flow path for a fluid, and the actuator can be controlled by a bearing controller to be turned on or off.

[0008] In this case, switching on the semi-active bearing indicates switching on the actuator of the semi-active bearing and switching off the semi-active bearing indicates switching off the actuator of the semi-active bearing.

[0009] Therefore, the dynamic characteristics of the semi-active bearing can be adjusted by turning the actuator of the semi-active bearing on or off through the bearing controller.

[0010] For example, when the semi-active mount is controlled to be switched on (actuated), the dynamic stiffness of the mount can be set to less than a certain low level in the entire frequency band, and consequently, a noise, vibration, and harshness (NVH) performance is improved, that is, an idling vibration and a booming noise transmitted to the interior of the vehicle are reduced, but the dynamic stiffness and damping force of the mount are set to less than certain levels even in a jump frequency band, which is a main excitation source of the road surface vibration, and consequently, a driving vibration damping effect depending on the road surface condition is poor, as shown in Fig. 1 shown.

[0011] On the other hand, when the semi-active mount is controlled to be turned off (not actuated), the dynamic stiffness and damping force of the mount in the jump frequency band, which is the main excitation source of the road surface vibration, are set to be equal to or greater than certain levels, and consequently, the driving vibration damping effect is large, but the performance on noise, vibration and harshness is poor, that is, the isolation or reduction effect of the idling vibration and the roaring noise is poor, as shown in Fig. 2 shown.

[0012] In principle, with conventional semi-active mounts there is a trade-off between the driving vibration damping behavior and the NVH behavior depending on an on or off control.

[0013] The above information disclosed in this Background section is intended only to enhance the understanding of the background of the disclosure and may therefore contain information that does not constitute prior art already known to someone of ordinary skill in the art in this country. SUMMARY

[0014] The present disclosure has been made in an effort to solve the above-described problems associated with the prior art, and it is an object of the present disclosure to provide a bearing control system and bearing control method for vehicles, in which a camera of an electronically controlled suspension system with a road preview photographs a road surface condition of a road ahead of a vehicle, a suspension controller determines a road surface condition of the road based on photographed information from the camera, and a bearing controller controls semi-active bearings to be in an on-state or off-state based on the road surface condition determination information transmitted from the suspension controller and values ​​detected by wheel acceleration sensors mounted on wheels of the vehicle, in order to improve not only the NVH behavior,but also to improve the driving vibration damping behavior depending on the road surface condition.

[0015] In one aspect, the present disclosure provides a bearing control system for vehicles, including a camera configured to photograph a road surface condition of a road ahead of a vehicle, wheel acceleration sensors mounted on front wheels of the vehicle and configured to detect vertical accelerations acting on the front wheels, a suspension controller configured to determine a road surface condition of the road based on the photographed information of the camera and the values ​​detected by the wheel acceleration sensors, and a bearing controller configured to control semi-active bearings to be in an on-state or off-state based on the road surface condition determination information transmitted from the suspension controller and the values ​​detected by the wheel acceleration sensors.

[0016] In a preferred embodiment, the suspension controller may determine the road surface condition of the road as an ordinary road surface condition, a rough road surface condition, or a bumpy road surface condition, and the suspension controller may determine the road surface condition of the road as the ordinary road surface condition when a road surface roughness value of the road is smaller than a reference value, and determine the road surface condition of the road as the rough road surface condition when the road surface roughness value of the road is equal to or larger than another reference value.

[0017] In another preferred embodiment, the suspension controller may determine the road surface condition of the road as the bumpy road surface condition when a bump exists within a predetermined distance ahead of the vehicle or the vehicle travels over a bump.

[0018] In still another preferred embodiment, in a situation where it is determined that the road surface condition of the road transmitted from the suspension controller is the ordinary road surface condition, the bearing controller may control the semi-active bearings to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or greater than yet another reference value.

[0019] In yet another preferred embodiment, the bearing controller may, after controlling the semi-active bearings to transition from the on-state to the off-state, control the semi-active bearings to return from the off-state to the on-state when the value detected by the wheel acceleration sensor becomes smaller than the reference value for a first reference time.

[0020] In yet another preferred embodiment, the bearing controller may, after controlling the semi-active bearings to return from the off state to the on state, control the semi-active bearings to transition from the on state to the off state again when the value detected by the wheel acceleration sensor becomes equal to or greater than the reference value again within a second reference time longer than the first reference time.

[0021] In a further preferred embodiment, the bearing controller may, after controlling the actuators of the semi-active bearings to transition from the on-state to the off-state again, control the semi-active bearings to return from the off-state to the on-state again when the value detected by the wheel acceleration sensor becomes smaller than the reference value for a third reference time that is longer than the first reference time but shorter than the second reference time.

[0022] In another further preferred embodiment, in a case where it is determined that the road surface condition of the road transmitted from the suspension controller is the rough road surface condition, the bearing controller may control the semi-active bearings to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than a value obtained by multiplying still another reference value by a weight of the rough road surface.

[0023] In still another further preferred embodiment, the bearing controller may, after controlling the semi-active bearings to transition from the on-state to the off-state, control the semi-active bearings to return from the off-state to the on-state when the value detected by the wheel acceleration sensor for a first reference time becomes smaller than the value obtained by multiplying the reference value by the weight of the rough road surface.

[0024] In still another further preferred embodiment, the bearing controller may, after controlling the semi-active bearings to return from the off state to the on state, control the semi-active bearings to transition from the on state to the off state again when the value detected by the wheel acceleration sensor again becomes equal to or greater than the value obtained by multiplying the reference value by the weight of the rough road surface within a second reference time longer than the first reference time.

[0025] In yet another further preferred embodiment, the bearing controller may, after controlling the actuators of the semi-active bearings to transition from the on-state to the off-state again, control the semi-active bearings to return from the off-state to the on-state again when the value detected by the wheel acceleration sensor for a third reference time longer than the first reference time but shorter than the second reference time becomes smaller than the value obtained by multiplying the reference value by the weight of the rough road surface.

[0026] In still another preferred embodiment, in a case where it is determined that the road surface condition of the road transmitted from the suspension controller is the bumpy road surface condition, the bearing controller may control the semi-active bearings to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than a value obtained by multiplying still another reference value by a bump weight.

[0027] In yet another preferred embodiment, the bearing controller may, after controlling the semi-active bearings to transition from the on-state to the off-state, control the semi-active bearings to return from the off-state to the on-state when the value detected by the wheel acceleration sensor for a first reference time becomes smaller than the value obtained by multiplying the reference value by the bump weight.

[0028] In yet another preferred embodiment, the bearing controller may, after controlling the semi-active bearings to return from the off state to the on state, control the semi-active bearings to transition from the on state to the off state again when the value detected by the wheel acceleration sensor again becomes equal to or greater than the value obtained by multiplying the reference value by the bump weight within a second reference time longer than the first reference time.

[0029] In still another preferred embodiment, the bearing controller may, after controlling the actuators of the semi-active bearings to transition from the on-state to the off-state again, control the semi-active bearings to return from the off-state to the on-state again when the value detected by the wheel acceleration sensor for a third reference time that is longer than the first reference time but shorter than the second reference time becomes smaller than the value obtained by multiplying the reference value by the bump weight.

[0030] In another aspect, the present disclosure provides a bearing control method for vehicles, including photographing a road surface condition of a road ahead of a vehicle by a camera, detecting vertical accelerations acting on the front wheels by wheel acceleration sensors mounted on front wheels of the vehicle, determining a road surface condition of the road based on the photographed information of the camera and values ​​obtained by the wheel acceleration sensors by a suspension controller, and controlling the semi-active bearings to be in an on-state or off-state based on the road surface condition determination information transmitted from the suspension controller and values ​​detected by the wheel acceleration sensors by a bearing controller.

[0031] In a preferred embodiment, when determining by the suspension controller that the road surface condition of the road is an ordinary road surface condition, a rough road surface condition, or a bumpy road surface condition, it may be determined that the road surface condition of the road is the ordinary road surface condition when a road surface roughness value of the road is smaller than a reference value, the rough road surface condition when the road surface roughness value of the road is equal to or larger than another reference value, and the bumpy road surface condition when a bump exists within a predetermined distance ahead of the vehicle or the vehicle travels over a bump.

[0032] In another preferred embodiment, in a case where it is determined that the road surface condition of the road transmitted from the suspension controller is the ordinary road surface condition, the semi-active bearings may be controlled by the bearing controller to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or greater than yet another reference value.

[0033] In still another preferred embodiment, in a case where it is determined that the road surface condition of the road transmitted from the suspension controller is the ordinary road surface condition, the semi-active bearings may be controlled by the bearing controller to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than a value obtained by multiplying still another reference value by a weight of the rough road surface.

[0034] In still another preferred embodiment, in a case where it is determined that the road surface condition of the road transmitted from the suspension controller is the ordinary road surface condition, the semi-active bearings may be controlled by the bearing controller to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than a value obtained by multiplying yet another reference value by a bump weight.

[0035] Other aspects and preferred embodiments of the disclosure are discussed below.

[0036] The above and other features of the disclosure are discussed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above-mentioned and other features of the present disclosure will now be described in detail with reference to certain exemplary embodiments thereof illustrated in the accompanying drawings, which are included hereinafter for illustrative purposes only and thus do not limit the present disclosure, and in which: Fig. 1 is a graph illustrating a dynamic stiffness of a semi-active bearing in the on state; Fig. 2 is a graph illustrating a dynamic stiffness of the semi-active bearing in the off state; Fig. 3 is a schematic view showing a vehicle inventory control system according to the present disclosure; Fig. 4 is a schematic view showing a vehicle inventory control system according to the present disclosure; Fig. 5 is a flowchart illustrating a vehicle inventory control method according to the present disclosure; Fig. 6 is a flowchart illustrating a vehicle inventory control method according to the present disclosure; Fig. 7 is a flowchart illustrating a vehicle inventory control method according to the present disclosure; Fig. 8 shows graphs of test results illustrating an improvement in vertical vibration of a vehicle body when semi-active mounts based on the mount control system and mount control method according to the present disclosure are controlled to transition from the on-state to the off-state; Fig. 9 shows graphs of test results illustrating an improvement in the vertical vibration of the vehicle body and a powertrain when the semi-active mounts are controlled to transition from the on-state to the off-state while the vehicle is traveling on a Belgian roadway based on the mount control system and mount control method according to the present disclosure; and Fig. 10 shows graphs of test results illustrating an improvement in vertical vibration of the vehicle body and powertrain when the semi-active mounts are controlled to transition from the on-state to the off-state while the vehicle is traveling on a concrete roadway based on the mount control system and mount control method according to the present disclosure.

[0038] It should be understood that the accompanying drawings are not necessarily to scale and present a somewhat simplified representation of various preferred features illustrative of the basic principles of the disclosure. The specific embodiments of the present disclosure disclosed herein, including, for example, particular dimensions, orientations, locations, and shapes, will be determined in part by the particular intended application and environment of use.

[0039] In the figures, reference numbers refer to like or equivalent parts of the present disclosure throughout the several figures of the drawing. DETAILED DESCRIPTION

[0040] Specific structural or functional descriptions in embodiments of the present disclosure set forth in the following description are provided by way of example to describe the embodiments of the present disclosure, and the present disclosure may be embodied in many alternative forms. Furthermore, it will be understood that the present disclosure is not to be construed as being limited to the embodiments set forth herein, and the embodiments of the present disclosure are provided only to fully disclose the disclosure and to cover modifications, equivalents, or alternatives that are within the spirit and scope of the disclosure.

[0041] In the following description of the embodiments, terms such as "first" and "second" are used merely to describe various elements, and these elements should not be construed as being limited by these terms. These terms are used merely to distinguish one element from other elements. For example, a first element described below may be referred to as a second element, and similarly, a second element described below may be referred to as a first element, without departing from the scope of the disclosure.

[0042] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0043] The Fig. 3 and Fig. 4 are schematic views showing a vehicle inventory control system according to the present disclosure.

[0044] In relation to Fig. 3, an electronically controlled suspension system with a road preview includes a camera mounted on the front part (the inner upper end of a windshield) of a vehicle, and a suspension controller configured to determine a road surface condition of a road based on photographed information of the camera and perform damping control of the suspensions depending on the determined road surface condition.

[0045] The present disclosure is directed to adjusting the dynamic stiffness of the semi-active mounts and a damping amount of the suspensions with respect to a driving vibration depending on the road surface condition through cooperative control between the suspension controller of the electronically controlled suspension system with a road preview and a mount controller configured to control the semi-active mounts to be turned on or off.

[0046] As in the Fig. 3 and Fig. 4, the bearing control system for vehicles according to the present disclosure may include, for this purpose, a camera 10 configured to photograph a road surface condition of a road ahead of a vehicle, wheel acceleration sensors 20 mounted on front wheels of the vehicle or at positions around the front wheels to detect vertical accelerations acting on the front wheels, a suspension controller 30 configured to determine a road surface condition of the road based on the photographed information of the camera 10 and values ​​detected by the wheel acceleration sensors 20, and a bearing controller 40 configured to control the semi-active bearings 50 to be turned on or off based on the road surface condition determination information transmitted from the suspension controller 30 and the values ​​detected by the wheel acceleration sensors 20.

[0047] The suspension controller 30 is configured to determine the road surface condition of the road as an ordinary road surface condition, a rough road surface condition, or a bumpy road surface condition based on the photographed information of the camera 10 and the values ​​detected by the wheel acceleration sensors 20.

[0048] Specifically, the suspension controller 30 determines the road surface condition of the road as the ordinary road surface condition when a road surface roughness value (RRV) of the road is smaller than a reference value prvG, and the road surface condition of the road as the rough road surface condition when the road surface roughness value (RRV) of the road is equal to or larger than a reference value prvF.

[0049] For example, the road surface roughness value (RRV) may be an index value calculated by integrating the values ​​detected by the wheel acceleration sensors 20, the reference value prvF may be a parameter value for determining the road surface condition as the rough road surface condition and for activating a rough road surface mode, which may be set to 5, and the reference value prvG may be a parameter value for determining the road surface condition as the ordinary road surface condition and for enabling the activation of the rough road surface mode, which may be set to 3.

[0050] In addition, the values ​​detected by the wheel acceleration sensors 20 are values ​​of vertical acceleration acting on the wheels and increase with increased road surface roughness and decrease with decreased road surface roughness, and therefore the road surface roughness value can be obtained as an index value calculated by integrating the values ​​detected by the wheel acceleration sensors 20.

[0051] Further, the suspension controller 30 determines the road surface condition of the road as the bumpy road surface condition based on the photographed information of the camera 10 when a bump exists within a predetermined distance (for example, 20 m) in front of the vehicle or the vehicle runs over a bump.

[0052] Specifically, the suspension controller 30 recognizes the road surface condition information of the road, which is determined based on the photographed information (i.e., the photographed road surface condition information) of the camera 10, as a number. Here, a recognition value of 0 means that the road surface condition of the road is the ordinary road surface condition, a recognition value of 2 means that there is a bump within 20 m in front of the vehicle, and a recognition value of 3 means that the vehicle is traveling over a bump. The suspension controller 30 can determine that the road surface condition of the road is the bumpy road surface condition when the recognition value is equal to or greater than a reference value prvE.

[0053] For example, the reference value prvE may be a value for determining the road surface condition as a bumpy road surface condition, which may be set to 2.

[0054] Information about the road surface condition of the road, which is determined by the suspension controller 30 as above as the ordinary road surface condition, rough road surface condition, or bumpy road surface condition, is transmitted to the bearing controller 40 and used to perform on-or-off control of the semi-active bearings 50.

[0055] According to one embodiment, in the case where it is determined that the road surface condition of the road transmitted from the suspension controller 30 is the ordinary road surface condition, the bearing controller 40 controls the actuators of the semi-active bearings 50 to transition from the on-state to the off-state to enter rebound control (riding vibration damping control) when the value detected by the wheel acceleration sensor 20 mounted on the left front wheel or right front wheel is equal to or greater than a reference value prvA.

[0056] For example, the reference value prvA may be a value for determining whether the actuators enter or release the driving vibration damping control, which may be set to 1.95 g.

[0057] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state in order to improve the NVH performance, that is, to reduce the idling vibration and the roaring noise, when the value detected by the wheel acceleration sensor 20 for a first reference time prvB becomes smaller than the reference value prvA.

[0058] For example, the first reference time prvB can be set to 1 second.

[0059] After controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 further controls the actuators of the semi-active bearings 50 to transition from the on state to the off state again to enter the re-impact control (driving vibration damping control) again when the value detected by the wheel acceleration sensor 20 becomes equal to or greater than the reference value prvA again within a second reference time prvC longer than the first reference time prvB.

[0060] For example, the second reference time prvC may be set to 6 seconds longer than the first reference time prvB in order to suppress frequent re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state.

[0061] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 further controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state again in order to improve the NVH performance, that is, to reduce the idling vibration and the roaring noise, when the value detected by the wheel acceleration sensor 20 becomes smaller than the reference value prvA for a third reference time prvB+prvD which is longer than the first reference time prvB but shorter than the second reference time prvC.

[0062] For example, re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state is considered as a situation in which repeated re-push control is required, and thus the third reference time prvB+prvD may be set to 3 seconds, which is longer than the first reference time prvB but shorter than the second reference time prvC.

[0063] According to another embodiment, in the case where it is determined that the road surface condition of the road transmitted from the suspension controller 30 is the rough road surface condition, the bearing controller 40 controls the actuators of the semi-active bearings 50 to transition from the on-state to the off-state to enter rebound control (riding vibration damping control) when the value detected by the wheel acceleration sensor 20 mounted on the left front wheel or right front wheel is equal to or larger than a value obtained by multiplying the reference value prvA by a rough road surface weight prvH.

[0064] For example, the reference value prvA may be the value for determining whether the actuators enter or release the driving vibration damping control, which may be set to 1.95 g, and the weight prvH of the rough road surface may be a value for decreasing the reference value prvA, which may be set to 0.8 to make the after-shock control (driving vibration damping control) easier to perform compared to the ordinary road surface condition.

[0065] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state in order to improve the NVH performance, that is, to reduce the idling vibration and the roaring noise, when the value detected by the wheel acceleration sensor 20 for the first reference time prvB becomes smaller than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface.

[0066] For example, the first reference time prvB can be set to 1 second.

[0067] After controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 further controls the actuators of the semi-active bearings 50 to transition from the on state to the off state again to enter the after-impact control (driving vibration damping control) again when the value detected by the wheel acceleration sensor 20 again becomes equal to or larger than the value obtained by multiplying the reference value prvA by the rough road surface weight prvH within the second reference time prvC which is longer than the first reference time prvB.

[0068] For example, the second reference time prvC may be set to 6 seconds longer than the first reference time prvB in order to suppress frequent re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state.

[0069] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 further controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state again in order to improve the NVH performance, that is, to reduce the idling vibration and the roaring noise, when the value detected by the wheel acceleration sensor 20 for the third reference time prvB+prvD, which is longer than the first reference time prvB but shorter than the second reference time prvC, becomes smaller than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface.

[0070] For example, the re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state is considered as the situation in which repeated re-push control is required, and thus the third reference time prvB+prvD may be set to 3 seconds, which is longer than the first reference time prvB but shorter than the second reference time prvC.

[0071] According to still another embodiment, in the case where it is determined that the road surface condition of the road transmitted from the suspension controller 30 is the bumpy road surface condition, the bearing controller 40 controls the actuators of the semi-active bearings 50 to transition from the on-state to the off-state to enter the rebound control (riding vibration damping control) when the value detected by the wheel acceleration sensor 20 mounted on the left front wheel or right front wheel is equal to or larger than a value obtained by multiplying the reference value prvA by the bump weight prvL.

[0072] For example, the reference value prvA may be the value for determining whether the actuators enter or release the driving vibration damping control, which may be set to 1.95 g, and the bump weight prvL may be a value for significantly reducing the reference value prvA, which may be set to 0.2, in order to more easily perform the after-bump control (driving vibration damping control) compared to the ordinary road surface condition and the rough road surface condition.

[0073] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state in order to improve the NVH performance, that is, to reduce the idling vibration and the roaring noise, when the value detected by the wheel acceleration sensor 20 for the first reference time prvB becomes smaller than the value obtained by multiplying the reference value prvA by the bump weight prvL.

[0074] For example, the first reference time prvB can be set to 1 second.

[0075] After controlling the actuators of the semi-active mounts 50 to return from the off state to the on state, the mount controller 40 further controls the actuators of the semi-active mounts 50 to transition from the on state to the off state again to enter the after-bump control (driving vibration damping control) again when the value detected by the wheel acceleration sensor 20 becomes equal to or larger than the value obtained by multiplying the reference value prvA by the bump weight prvL again within the second reference time prvC which is longer than the first reference time prvB.

[0076] For example, the second reference time prvC may be set to 6 seconds longer than the first reference time prvB in order to suppress frequent re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state.

[0077] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 further controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state again in order to improve the NVH performance, that is, to reduce the idling vibration and the roaring noise, when the value detected by the wheel acceleration sensor 20 for the third reference time prvB+prvD, which is longer than the first reference time prvB but shorter than the second reference time prvC, becomes smaller than the value obtained by multiplying the reference value prvA by the bump weight prvL.

[0078] For example, the re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state is considered as the situation in which repeated re-push control is required, and thus the third reference time prvB+prvD may be set to 3 seconds, which is longer than the first reference time prvB but shorter than the second reference time prvC.

[0079] Hereinafter, a vehicle inventory control method according to an embodiment of the present disclosure executed based on the above-described configuration will be described as follows.

[0080] Fig. 5 is a flowchart illustrating the storage control procedure for vehicles when the road surface condition of a road is determined to be the ordinary road surface condition.

[0081] First, it is determined (S101) whether conditions for on- or off-control of the semi-active bearings 50 are met during the travel of the vehicle.

[0082] For example, when the suspension controller 30 and the bearing controller 40 receive a signal from an engine controller indicating that the rotational speed of an engine is 1200-1600 min -1 and receiving a signal from an accelerator pedal position sensor indicating that the depressed amount of an accelerator pedal is 10-90%, it can be determined that conditions for controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state or from the off-state to the on-state are met.

[0083] Therefore, upon determining that the conditions of on- or off-control of the semi-active bearings 50 are met, the camera 10 may photograph a road surface condition of the road ahead of the vehicle, and the wheel acceleration sensors 20 mounted on the front wheels of the vehicle may detect vertical accelerations acting on the front wheels.

[0084] Thereafter, the suspension controller 30 may determine the road surface condition of the road as the ordinary road surface condition based on the photographed information of the camera 10 and the values ​​detected by the wheel acceleration sensors 20 (S102).

[0085] For example, the suspension controller 30 may determine the road surface condition of the road based on the values ​​detected by the wheel acceleration sensors 20 as the ordinary road surface condition when a road surface roughness value (RRV) of the road is smaller than the reference value prvG, and the suspension controller 30 may recognize the information about the road surface condition of the road determined based on the photographed information of the camera 10 as a number and determine the road surface condition of the road as the ordinary road surface condition when the recognition value is 0.

[0086] Thereafter, in the case where it is determined that the road surface condition of the road transmitted from the suspension controller 30 is the ordinary road surface condition, the suspension controller 40 determines whether the value detected by the wheel acceleration sensor 20 mounted on the left front wheel or right front wheel is equal to or greater than the reference value prvA (S103).

[0087] When the value detected by the wheel acceleration sensor 20 is equal to or larger than the reference value prvA, as a result of the determination, the bearing controller 40 controls the actuators of the semi-active bearings 50 to transition from the on-state to the off-state to enter the rebound control (driving vibration damping control) (S104).

[0088] When a vertical acceleration acting on the front wheel, that is, the value detected by the wheel acceleration sensor 20, is equal to or greater than the reference value prvA, the bearing controller 40 concretely determines the road surface condition of the road as the ordinary road surface condition, but recognizes the road surface as an uneven ordinary road surface that causes running vibration and thus requires rebound control (running vibration damping control), and thus controls the actuators of the semi-active bearings 50 to transition from the on-state to the off-state.

[0089] When the actuators of the semi-active bearings 50 are controlled to enter the off state, the dynamic stiffness and damping force of the semi-active bearings 50 in the jump frequency band, which is the main excitation source of the road surface vibration, can be set to be equal to or greater than the specified levels, as shown in Fig. 2, and consequently, driving vibration damping can be achieved by the semi-active bearings 50.

[0090] Thereafter, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings to return to the on state are met (S105).

[0091] That is, after controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 for the first reference time prvB becomes smaller than the reference value prvA.

[0092] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state (S106) when the value detected by the wheel acceleration sensor 20 for the first reference time prvB becomes smaller than the reference value prvA.

[0093] When the actuators of the semi-active bearings 50 are controlled to return from the off state to the on state, the dynamic stiffness of the semi-active bearings 50 can be set to be less than the certain low level in the entire frequency band, as shown in Fig. 1, and consequently, an improvement in NVH behavior can be achieved, such as a reduction in idle vibration and roaring noise transmitted to the interior of the vehicle.

[0094] Thereafter, after controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings 50 to transition from the on state to the off state again are met within the second reference time prvC.

[0095] That is, after controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 becomes equal to or greater than the reference value prvA again within the second reference time prvC, which is longer than the first reference time prvB (S107).

[0096] After controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to transition from the on state to the off state again (S108) when the value detected by the wheel acceleration sensor 20 becomes equal to or greater than the reference value prvA again within the second reference time prvC which is longer than the first reference time prvB.

[0097] Here, the second reference time prvC may be set to 6 seconds longer than the first reference time prvB in order to suppress frequent re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state.

[0098] When the actuators of the semi-active bearings 50 are controlled to enter the off state again, the dynamic stiffness and damping force of the semi-active bearings 50 in the jump frequency band, which is the main excitation source of the road surface vibration, can be set to be equal to or greater than the specified levels, as shown in Fig. 2, and consequently, driving vibration damping can be achieved by the semi-active bearings 50.

[0099] Thereafter, after controlling the actuators of the semi-active bearings 50 to transition from the on state to the off state again, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings 50 to return from the off state to the on state are met.

[0100] That is, after controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 for the third reference time prvB+prvD, which is longer than the first reference time prvB but shorter than the second reference time prvC, becomes smaller than the reference value prvA (S109).

[0101] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state again (S110) when the value detected by the wheel acceleration sensor 20 for the third reference time prvB+prvD, which is longer than the first reference time prvB but shorter than the second reference time prvC, becomes smaller than the reference value prvA.

[0102] Here, the re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state is considered as a situation where repeated re-push control is required, and hence the third reference time prvB+prvD may be set to 3 seconds, which is longer than the first reference time prvB but shorter than the second reference time prvC.

[0103] When the actuators of the semi-active bearings 50 are controlled to return from the off state to the on state, the dynamic stiffness of the semi-active bearings 50 can be set to be less than the certain low level in the entire frequency band, as shown in Fig. 1, and consequently, an improvement in NVH behavior can be achieved, such as a reduction in idle vibration and roaring noise transmitted to the interior of the vehicle.

[0104] Hereinafter, a stock control method for vehicles according to another embodiment of the present disclosure executed based on the above-described configuration will be described as follows.

[0105] Fig. 6 is a flowchart illustrating the bearing control procedure for vehicles when the road surface condition of a road is determined to be the rough road surface condition.

[0106] First, it is determined (S201) whether conditions for on- or off-control of the semi-active bearings 50 are met during the travel of the vehicle.

[0107] For example, when the suspension controller 30 and the bearing controller 40 receive the signal indicating that the engine speed is 1200-1600 min from the engine controller in the starting state of the vehicle. -1and receiving from the accelerator pedal position sensor the signal indicating that the depressed amount of the accelerator pedal is 10-90%, it can be determined that conditions for controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state or from the off-state to the on-state are met.

[0108] Therefore, upon determining that the conditions of on- or off-control of the semi-active bearings 50 are met, the camera 10 can photograph the road surface condition of the road ahead of the vehicle, and the wheel acceleration sensors 20 mounted on the front wheels of the vehicle can detect vertical accelerations acting on the front wheels.

[0109] Thereafter, the suspension controller 30 may determine the road surface condition of the road as the rough road surface condition based on the photographed information of the camera 10 and the values ​​detected by the wheel acceleration sensors 20 (S202).

[0110] For example, the suspension controller 30 may determine the road surface condition of the road as the rough road surface condition based on the values ​​detected by the wheel acceleration sensors 20 when a road surface roughness value (RRV) of the road is equal to or greater than the reference value prvF.

[0111] Thereafter, in the case where it is determined that the road surface condition of the road transmitted from the suspension controller 30 is the rough road surface condition, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 mounted on the left front wheel or right front wheel is equal to or larger than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface (S203).

[0112] When the value detected by the wheel acceleration sensor 20 is equal to or larger than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface, the bearing controller 40 controls, as a result of the determination, the actuators of the semi-active bearings 50 to transition from the on-state to the off-state to enter the after-impact control (driving vibration damping control) (S204).

[0113] When a vertical acceleration acting on the front wheel, that is, the value detected by the wheel acceleration sensor 20, is equal to or greater than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface, the bearing controller 40 concretely determines the road surface condition of the road as the rough road surface condition requiring rebound control (riding vibration damping control), and thus controls the actuators of the semi-active bearings 50 to transition from the on-state to the off-state.

[0114] Here, the weight prvH of the rough road surface can be set to 0.8, which is a value for decreasing the reference value prvA in order to more easily perform the after-shock control (driving vibration damping control) compared with the ordinary road surface condition.

[0115] When the actuators of the semi-active mounts 50 are controlled to enter the off state to perform rebound control (driving vibration damping control) depending on the rough road surface condition, the dynamic stiffness and damping force of the semi-active mounts 50 in the jump frequency band, which is the main excitation source of the road surface vibration, can be set to be equal to or greater than the specified levels, as shown in Fig. 2, and consequently, driving vibration damping can be achieved by the semi-active bearings 50.

[0116] Thereafter, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings 50 to return to the on state are met (S205).

[0117] That is, after controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 for the first reference time prvB becomes smaller than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface.

[0118] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state (S206) when the value prvB detected by the wheel acceleration sensor 20 for the first reference time becomes smaller than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface.

[0119] When the actuators of the semi-active bearings 50 are controlled to return from the off state to the on state, the dynamic stiffness of the semi-active bearings 50 can be set to be less than the certain low level in the entire frequency band, as shown in Fig. 1, and consequently, an improvement in NVH behavior can be achieved, such as a reduction in idle vibration and roaring noise transmitted to the interior of the vehicle.

[0120] Thereafter, after controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings 50 to transition from the on state to the off state again are met within the second reference time prvC.

[0121] That is, after controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 becomes equal to or greater than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface within the second reference time prvC, which is longer than the first reference time prvB (S207).

[0122] After controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to transition from the on state to the off state again (S208) when the value detected by the wheel acceleration sensor 20 again becomes equal to or larger than the value obtained by multiplying the reference value prvA by the rough road surface weight prvH within the second reference time prvC, which is longer than the first reference time prvB.

[0123] Here, the second reference time prvC may be set to 6 seconds longer than the first reference time prvB in order to suppress frequent re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state.

[0124] When the actuators of the semi-active bearings 50 are controlled to enter the off state again, the dynamic stiffness and damping force of the semi-active bearings 50 in the jump frequency band, which is the main excitation source of the road surface vibration, can be set to be equal to or greater than the specified levels, as shown in Fig. 2, and consequently, driving vibration damping can be achieved by the semi-active bearings 50.

[0125] Thereafter, after controlling the actuators of the semi-active bearings 50 to transition from the on state to the off state again, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings 50 to return from the off state to the on state are met.

[0126] That is, after controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 for the third reference time prvB+prvD, which is longer than the first reference time prvB but shorter than the second reference time prvC, becomes smaller than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface (S209).

[0127] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state again (S210) when the value detected by the wheel acceleration sensor 20 for the third reference time prvB+prvD, which is longer than the first reference time prvB but shorter than the second reference time prvC, becomes smaller than the value obtained by multiplying the reference value prvA by the weight prvH of the rough road surface.

[0128] In this scenario, the re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state is considered as a situation requiring repeated re-push control, and consequently, the third reference time prvB+prvD may be set to 3 seconds, which is longer than the first reference time prvB but shorter than the second reference time prvC.

[0129] When the actuators of the semi-active bearings 50 are controlled to return from the off state to the on state, the dynamic stiffness of the semi-active bearings 50 can be set to be less than the certain low level in the entire frequency band, as shown in Fig. 1, and consequently, an improvement in NVH behavior can be achieved, such as a reduction in idle vibration and roaring noise transmitted to the interior of the vehicle.

[0130] Hereinafter, a vehicle stock control method according to still another embodiment of the present disclosure, based on the above-described configuration, will be described as follows.

[0131] Fig. 7 is a flowchart illustrating the bearing control method for vehicles in a situation where the road surface condition of a road is determined to be the bumpy road surface condition.

[0132] First, it is determined (S301) whether conditions for on- or off-control of the semi-active bearings 50 are met during the travel of the vehicle.

[0133] For example, when the suspension controller 30 and the bearing controller 40 receive the signal indicating that the engine speed is 1200-1600 min from the engine controller in the starting state of the vehicle. -1and receiving from the accelerator pedal position sensor the signal indicating that the depressed amount of the accelerator pedal is 10-90%, it can be determined that conditions for controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state or from the off-state to the on-state are met.

[0134] Therefore, upon determining that the conditions of on- or off-control of the semi-active bearings 50 are met, the camera 10 can photograph the road surface condition of the road ahead of the vehicle, and the wheel acceleration sensors 20 mounted on the front wheels of the vehicle can detect vertical accelerations acting on the front wheels.

[0135] Thereafter, the suspension controller 30 may determine the road surface condition of the road as the bumpy road surface condition based on the photographed information of the camera 10 and the values ​​detected by the wheel acceleration sensors 20 (S302).

[0136] For example, the suspension controller 30 may recognize information about the road surface condition of the road, which is determined based on the photographed information (ie, the photographed road surface condition information) of the camera 10, as a number, and determine the road surface condition of the road as the bumpy road surface condition when the recognition value is equal to or greater than the reference value prvE, for example, 2. Further, the suspension controller 30 may determine the road surface condition of the road as the bumpy road surface condition based on the photographed information of the camera 10 when a bump exists within a specified distance (for example, 20 m) in front of the vehicle or the vehicle travels over a bump.

[0137] Thereafter, in the case where it is determined that the road surface condition of the road transmitted from the suspension controller 30 is the bumpy road surface condition, the suspension controller 40 determines whether the value detected by the wheel acceleration sensor 20 mounted on the left front wheel or right front wheel is equal to or larger than the value obtained by multiplying the reference value prvA by the bump weight prvL (S303).

[0138] When the value detected by the wheel acceleration sensor 20 is equal to or larger than the value obtained by multiplying the reference value prvA by the bump weight prvL, the bearing controller 40 controls the actuators of the semi-active bearings 50 to transition from the on-state to the off-state to enter the after-bump control (driving vibration damping control) as a result of the determination (S304).

[0139] When a vertical acceleration acting on the front wheel, that is, the value detected by the wheel acceleration sensor 20, is equal to or greater than the value obtained by multiplying the reference value prvA by the bump weight prvL, the mount controller 40 concretely determines that the road surface has a bump and requires rebound control (riding vibration damping control), and thus controls the actuators of the semi-active mounts 50 to transition from the on-state to the off-state.

[0140] Here, the bump weight prvL can be set to 0.2, which is a value for significantly reducing the reference value prvA to make the after-shock control (driving vibration damping control) easier to perform compared with the ordinary road surface condition and the rough road surface condition.

[0141] When the actuators of the semi-active mounts 50 are controlled to enter the off state to perform rebound control (driving vibration damping control) depending on the bumpy road surface condition, the dynamic stiffness and damping force of the semi-active mounts 50 in the jump frequency band, which is the main excitation source of the road surface vibration, can be set to be equal to or greater than the specified levels, as shown in Fig. 2, and consequently, driving vibration damping can be achieved by the semi-active bearings 50.

[0142] Thereafter, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings 50 to return to the on state are met (S305).

[0143] That is, after controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 for the first reference time prvB becomes smaller than the value obtained by multiplying the reference value prvA by the bump weight prvL.

[0144] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state (S306) when the value detected by the wheel acceleration sensor 20 for the first reference time prvB becomes smaller than the value obtained by multiplying the reference value prvA by the bump weight prvL.

[0145] When the actuators of the semi-active bearings 50 are controlled to return from the off state to the on state, the dynamic stiffness of the semi-active bearings 50 can be set to be less than the certain low level in the entire frequency band, as shown in Fig. 1, and consequently, an improvement in NVH behavior can be achieved, such as a reduction in idle vibration and roaring noise transmitted to the interior of the vehicle.

[0146] Thereafter, after controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings 50 to transition from the on state to the off state again are met within the second reference time prvC.

[0147] That is, after controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 becomes equal to or larger than the value obtained by multiplying the reference value prvA by the bump weight prvL within the second reference time prvC, which is longer than the first reference time prvB (S307).

[0148] After controlling the actuators of the semi-active bearings 50 to return from the off state to the on state, the bearing controller 40 controls the actuators of the semi-active bearings 50 to transition from the on state to the off state again (S308) when the value detected by the wheel acceleration sensor 20 again becomes equal to or larger than the value obtained by multiplying the reference value prvA by the bump weight prvL within the second reference time prvC, which is longer than the first reference time prvB.

[0149] Here, the second reference time prvC may be set to 6 seconds longer than the first reference time prvB in order to suppress frequent re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state.

[0150] When the actuators of the semi-active bearings 50 on the road surface having the bump are controlled to enter the off state again, the dynamic stiffness and damping force of the semi-active bearings 50 in the jump frequency band, which is the main excitation source of the road surface vibration, can be set to be equal to or greater than the specified levels, as shown in Fig. 2, and consequently, driving vibration damping can be achieved by the semi-active bearings 50.

[0151] Thereafter, after controlling the actuators of the semi-active bearings 50 to transition from the on state to the off state again, the bearing controller 40 determines whether conditions for controlling the actuators of the semi-active bearings 50 to return from the off state to the on state are met.

[0152] That is, after controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 determines whether the value detected by the wheel acceleration sensor 20 for the third reference time prvB+prvD, which is longer than the first reference time prvB but shorter than the second reference time prvC, becomes smaller than the value obtained by multiplying the reference value prvA by the bump weight prvL (S309).

[0153] After controlling the actuators of the semi-active bearings 50 to transition from the on-state to the off-state again, the bearing controller 40 controls the actuators of the semi-active bearings 50 to return from the off-state to the on-state again (S310) when the value detected by the wheel acceleration sensor 20 for the third reference time prvB+prvD, which is longer than the first reference time prvB but shorter than the second reference time prvC, becomes smaller than the value obtained by multiplying the reference value prvA by the bump weight prvL.

[0154] Here, the re-entry of the actuators of the semi-active bearings 50 from the on-state to the off-state is considered as a situation where repeated re-push control is required, and hence the third reference time prvB+prvD may be set to 3 seconds, which is longer than the first reference time prvB but shorter than the second reference time prvC.

[0155] When the actuators of the semi-active bearings 50 are controlled to return from the off state to the on state, the dynamic stiffness of the semi-active bearings 50 can be set to be less than the certain low level in the entire frequency band, as shown in Fig. 1, and consequently, an improvement in NVH behavior can be achieved, such as a reduction in idle vibration and roaring noise transmitted to the interior of the vehicle.

[0156] As a test example of the bearing control system according to the present disclosure, the acceleration of a front wheel knuckle, the acceleration of a powertrain, and the acceleration of a vehicle body were measured when the vehicle travels over a bumpy road in the on-state of the semi-active bearings during travel, with the measurement results shown in the left graphs in Fig. 8, and the acceleration of the front wheel carrier, the acceleration of the drive train and the acceleration of the vehicle body were measured when the vehicle passes through the bumpy road surface in the off state of the semi-active bearings while driving, with the measurement results shown in the right graphs in Fig. 8 will be shown.

[0157] As in Fig. 8, it can be confirmed that the running vibration of the vehicle including the vertical vibration of the engine was improved by 10-20% or more when the vehicle passes through the bumpy road in the semi-active mounts off state than when the vehicle passes through the bumpy road in the semi-active mounts on state.

[0158] As another test example of the bearing control system according to the present disclosure, it can be further confirmed that when the vehicle travels through a Belgian road paved with a large number of paving stone blocks, the running vibration of the vehicle including the vertical vibration of the vehicle body and the vertical vibration of the powertrain was improved by about 1.2 dB in the off-state of the semi-active bearings compared to the on-state of the semi-active bearings, as shown in Fig. 9 shown.

[0159] As yet another test example of the mount control system according to the present disclosure, it can be further confirmed that when the vehicle travels on a concrete road which is a kind of rough road, the running vibration of the vehicle including the vertical vibration of the vehicle body and the vertical vibration of the powertrain was improved by about 1.2 dB in the off-state of the semi-active mounts compared to the on-state of the semi-active mounts, as shown in Fig. 10 shown.

[0160] As can be seen from the above description, a stock control system and a stock control method for vehicles according to the present disclosure provide the following effects.

[0161] First, when a mount controller controls actuators of the semi-active mounts to be maintained in the on-state based on information about a road surface condition of a road ahead of a vehicle determined by a suspension controller and values ​​detected by wheel acceleration sensors mounted on respective wheels, the dynamic stiffness of the semi-active mounts can be set to be less than a certain low level, and consequently, improvement in NVH performance such as reduction in idle vibration and roaring noise can be achieved.

[0162] Second, when the mount controller controls the actuators of the semi-active mounts to transition from the on-state to the off-state based on the information about a road surface condition of the road ahead of the vehicle determined by the suspension controller and the values ​​detected by the wheel acceleration sensors mounted on the respective wheels, the dynamic stiffness and damping force of the semi-active mounts can be adjusted to be equal to or greater than certain levels, and consequently, the driving vibration damping performance by the semi-active mounts can be improved depending on the road surface condition.

[0163] Third, through cooperative control between the suspension control of an electronically controlled suspension system with a road preview and the mount control configured to control the on / off switching of the actuators of the semi-active mounts, both an improvement of the NVH behavior of the semi-active mounts and an improvement of the driving vibration damping behavior depending on the road surface condition can be achieved together.

[0164] The disclosure has been described in detail with reference to preferred embodiments thereof. However, it will be appreciated by one skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the appended claims and equivalents thereof.

Claims

[1] Warehouse control system for vehicles, comprising: a camera configured to photograph a road surface condition of a roadway ahead of a vehicle; a plurality of wheel acceleration sensors mounted on front wheels of the vehicle and configured to detect vertical accelerations acting on the front wheels; a suspension controller configured to determine a road surface condition of the road based on the photographed information of the camera and the values ​​detected by the wheel acceleration sensors; and a bearing controller configured to control semi-active bearings to be in an on-state or off-state based on the road surface condition determination information transmitted from the suspension controller and the values ​​detected by the plurality of wheel acceleration sensors. [2] The bearing control system according to claim 1, wherein the suspension controller determines the road surface condition of the road as an ordinary road surface condition, a rough road surface condition, or a bumpy road surface condition, and the suspension controller determines the road surface condition of the road as the ordinary road surface condition when a road surface roughness value of the road is smaller than a reference value, and determines the road surface condition of the road as the rough road surface condition when the road surface roughness value of the road is equal to or larger than another reference value. [3] The bearing control system according to claim 2, wherein the suspension controller determines the road surface condition of the road as the bumpy road surface condition when a bump exists within a predetermined distance ahead of the vehicle or the vehicle runs over a bump. [4] The bearing control system according to claim 1, wherein, in a case where it is determined that the road surface condition of the road transmitted from the suspension controller is the ordinary road surface condition, the bearing controller controls the semi-active bearings to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than still another reference value. [5] The bearing control system according to claim 4, wherein the bearing controller, after controlling the semi-active bearings to transition from the on-state to the off-state, controls the semi-active bearings to return from the off-state to the on-state when the value detected by the wheel acceleration sensor becomes smaller than the reference value for a first reference time. [6] The bearing control system according to claim 5, wherein the bearing controller, after controlling the semi-active bearings to return from the off state to the on state, controls the semi-active bearings to transition from the on state to the off state again when the value detected by the wheel acceleration sensor becomes equal to or greater than the reference value again within a second reference time longer than the first reference time. [7] The bearing control system according to claim 6, wherein the bearing controller, after controlling the actuators of the semi-active bearings to transition from the on-state to the off-state again, controls the semi-active bearings to return from the off-state to the on-state again when the value detected by the wheel acceleration sensor becomes smaller than the reference value for a third reference time which is longer than the first reference time but shorter than the second reference time. [8] The bearing control system according to claim 1, wherein, in a case where it is determined that the road surface condition of the road transmitted from the suspension controller is the rough road surface condition, the bearing controller controls the semi-active bearings to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than a value obtained by multiplying still another reference value by a weight of the rough road surface. [9] A bearing control system according to claim 8, wherein the bearing controller, after controlling the semi-active bearings to transition from the on-state to the off-state, controls the semi-active bearings to return from the off-state to the on-state when the wheel acceleration sensor becomes smaller than the value obtained by multiplying the reference value by the weight of the rough road surface for a first reference time. [10] The bearing control system according to claim 9, wherein the bearing controller, after controlling the semi-active bearings to return from the off state to the on state, controls the semi-active bearings to transition from the on state to the off state again when the value detected by the wheel acceleration sensor becomes equal to or larger than the value obtained by multiplying the reference value by the weight of the rough road surface within a second reference time longer than the first reference time. [11] The bearing control system according to claim 10, wherein the bearing controller, after controlling the actuators of the semi-active bearings to transition from the on-state to the off-state again, controls the semi-active bearings to return from the off-state to the on-state again when the value detected by the wheel acceleration sensor for a third reference time longer than the first reference time but shorter than the second reference time becomes smaller than the value obtained by multiplying the reference value by the weight of the rough road surface. [12] The bearing control system according to claim 1, wherein, in a case where it is determined that the road surface condition of the road transmitted from the suspension controller is the bumpy road surface condition, the bearing controller controls the semi-active bearings to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than a value obtained by multiplying still another reference value by a bump weight. [13] The bearing control system according to claim 12, wherein the bearing controller, after controlling the semi-active bearings to transition from the on-state to the off-state, controls the semi-active bearings to return from the off-state to the on-state when the value detected by the wheel acceleration sensor for a first reference time becomes smaller than the value obtained by multiplying the reference value by the bump weight. [14] The bearing control system according to claim 13, wherein the bearing controller, after controlling the semi-active bearings to return from the off state to the on state, controls the semi-active bearings to transition from the on state to the off state again when the value detected by the wheel acceleration sensor again becomes equal to or larger than the value obtained by multiplying the reference value by the bump weight within a second reference time longer than the first reference time. [15] The bearing control system according to claim 14, wherein the bearing controller, after controlling the actuators of the semi-active bearings to transition from the on-state to the off-state again, controls the semi-active bearings to return from the off-state to the on-state again when the value detected by the wheel acceleration sensor for a third reference time longer than the first reference time but shorter than the second reference time becomes smaller than the value obtained by multiplying the reference value by the bump weight. [16] Stock control procedure for vehicles, comprising: Photographing a road surface condition of a roadway in front of a vehicle by a camera; Detecting vertical accelerations acting on the front wheels by wheel acceleration sensors mounted on the front wheels; Determining a road surface condition of the road based on the photographed information of the camera and values ​​detected by the wheel acceleration sensors by a suspension controller; and Controlling the semi-active bearings to be in an on-state or off-state based on the road surface condition determination information transmitted from the suspension controller and values ​​detected by the wheel acceleration sensors by a bearing controller. [17] The bearing control method according to claim 16, wherein when determining by the suspension controller that the road surface condition of the road is any of an ordinary road surface condition, a rough road surface condition, and a bumpy road surface condition, it is determined that the road surface condition of the road is the ordinary road surface condition when a road surface roughness value of the road is smaller than a reference value, the rough road surface condition when the road surface roughness value is equal to or larger than another reference value, and the bumpy road surface condition when a bump exists within a predetermined distance ahead of the vehicle or the vehicle travels over a bump. [18] A bearing control method according to claim 16, wherein, upon determining that the road surface condition of the road transmitted from the suspension controller is the ordinary road surface condition, the semi-active bearings are controlled by the bearing controller to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or greater than yet another reference value. [19] The bearing control method according to claim 16, wherein, upon determining that the road surface condition of the road transmitted from the suspension controller is the ordinary road surface condition, the semi-active bearings are controlled by the bearing controller to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than a value obtained by multiplying still another reference value by a weight of the rough road surface. [20] The bearing control method according to claim 16, wherein, upon determining that the road surface condition of the road transmitted from the suspension controller is the ordinary road surface condition, the semi-active bearings are controlled by the bearing controller to transition from the on-state to the off-state when the value detected by the wheel acceleration sensor mounted on one of the front wheels is equal to or larger than a value obtained by multiplying still another reference value by a bump weight.

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