Vehicle suspension control device

Abstract

To suppress discomfort of ride quality arising from implementation of preview control in a situation where an acquisition error of information on a vehicular self position is large.SOLUTION: An electronic control unit provided on a vehicular suspension control device implements preview control for reducing vibration of a spring upper structure body according to control of an actuator. The electronic control unit executes: position acquisition processing for acquiring self position information; road surface information acquisition processing for acquiring a road surface displacement related value at a predicted passage position of a control object wheel after a preview time from a current time, from a road surface data map obtained by mapping the road surface displacement related value in association with a position; reliability degree calculation processing for calculating a degree of reliability of the self position information; and control processing for implementing preview control on the basis of the road surface displacement related value at the predicted passage position. In the control processing, if the degree of reliability is equal to or lower than a first threshold, the electronic control unit implements the preview control in a suppressed mode compared with when the degree of reliability is higher than the first threshold.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present disclosure relates to a suspension control device for a vehicle that includes an actuator for controlling a suspension stroke. [Background technology]

[0002] Patent Document 1 discloses a technique for controlling active suspension based on information regarding the travel path of wheels received from an autonomous driving controller. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2018 / 0154723 Summary of the Invention [Problem to be solved by the invention]

[0004] In preview control for reducing vibrations of the sprung structure of a vehicle, a road surface data map in which road surface displacement-related values ​​related to vertical displacement of the road surface are associated with positions and mapped is used to control an actuator that controls the suspension stroke of a controlled wheel. When obtaining a road surface displacement-related value at a predicted passing position of a controlled wheel after a preview time from a current time from the road surface data map, if there is a large error in obtaining the vehicle's self-position information, it may be difficult to perform appropriate preview control. As a result, a user of the vehicle may feel an uncomfortable ride caused by the execution of the preview control.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a vehicle suspension control device that can suppress the discomfort in ride comfort caused by executing preview control under circumstances in which there is a large error in obtaining the vehicle's self-position information. [Means for solving the problem]

[0006] A vehicle suspension control device according to a first aspect of the present disclosure includes an actuator and an electronic control unit. The actuator controls a suspension stroke of a controlled wheel. The electronic control unit controls the actuator to execute preview control for reducing vibration of a sprung structure of the vehicle. The electronic control unit executes a position acquisition process for acquiring self-position information of the vehicle, a road surface information acquisition process for acquiring a road surface displacement-related value at a predicted passing position of the controlled wheel after a preview time from a current time from a road surface data map in which a road surface displacement-related value related to a vertical displacement of the road surface is associated with a position, a reliability calculation process for calculating a reliability of the self-position information, and a control process for executing the preview control based on the road surface displacement-related value at the predicted passing position. In the control process, when the reliability is equal to or less than a first threshold, the electronic control unit executes the preview control in a more suppressed manner than when the reliability is higher than the first threshold.

[0007] A vehicle suspension control device according to a second aspect of the present disclosure includes an actuator and an electronic control unit. The actuator controls a suspension stroke of a controlled wheel. The electronic control unit controls the actuator to execute preview control for reducing vibration of a sprung structure of the vehicle. The electronic control unit executes a process for acquiring a vehicle speed of the vehicle, a position acquisition process for acquiring self-position information of the vehicle, a road surface information acquisition process for acquiring a road surface displacement-related value at a predicted passing position of the controlled wheel after a preview time from a current time from a road surface data map in which a road surface displacement-related value related to a vertical displacement of the road surface is associated with a position and mapped, and a control process for executing the preview control based on the road surface displacement-related value at the predicted passing position. In the control process, when the vehicle speed is equal to or less than a second threshold, the electronic control unit executes the preview control in a more suppressed manner than when the vehicle speed is higher than the second threshold.

[0008] A vehicle suspension control device according to a third aspect of the present disclosure includes an actuator and an electronic control unit. The actuator controls a suspension stroke of a controlled wheel. The electronic control unit controls the actuator to execute preview control for reducing vibration of a sprung structure of the vehicle. The electronic control unit executes a process of acquiring a vehicle speed of the vehicle, a position acquisition process of acquiring self-position information of the vehicle, a road surface information acquisition process of acquiring a road surface displacement-related value at a predicted passing position of the controlled wheel after a preview time from a current time from a road surface data map in which a road surface displacement-related value related to a vertical displacement of the road surface is associated with a position and mapped, a reliability calculation process of calculating a reliability of the self-position information, and a control process of executing preview control based on the road surface displacement-related value at the predicted passing position. In the control process, when at least one of the conditions that the reliability is equal to or less than a first threshold and the vehicle speed is equal to or less than a second threshold is satisfied, the electronic control unit executes the preview control in a more suppressed manner than when the reliability is higher than the first threshold and the vehicle speed is higher than the second threshold. Effect of the Invention

[0009] According to a first aspect of the present disclosure, preview control is suppressed when the reliability of self-location information is low. Furthermore, when the vehicle speed is low, an acquisition error of the self-location information is likely to be large. For this reason, according to a second aspect, preview control is suppressed when the vehicle speed is low. And, according to a third aspect, preview control is suppressed when the reliability of the self-location information is low and the vehicle speed is low. According to each of the first to third aspects, it is possible to suppress discomfort in the ride caused by execution of preview control in a situation where an acquisition error of the self-location information is large. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing an example of the configuration of a vehicle according to a first embodiment. [Diagram 2] 1 is a conceptual diagram showing a configuration example of a suspension according to a first embodiment. [Diagram 3]6 is a flowchart illustrating an example of an unsprung displacement calculation process. [Figure 4] 1 is a block diagram showing an example of the configuration of a vehicle control system according to a first embodiment. [Diagram 5] 2 is a block diagram showing an example of driving environment information indicating a driving environment of a vehicle. FIG. [Figure 6] 1 is a block diagram showing an example of the configuration of a map management system according to a first embodiment. [Figure 7] FIG. 4 is a conceptual diagram for explaining an unsprung displacement map. [Figure 8] 4 is a flowchart showing an outline of a map generation / update process according to the first embodiment. [Figure 9] FIG. 2 is a conceptual diagram for explaining preview control. [Figure 10] 10 is a flowchart showing a basic flow of processing relating to preview control. [Figure 11] 13 is a flowchart showing a gain change process based on a position reliability Da. [Figure 12] FIG. 11 is a diagram for explaining an example of a method for determining a suppression gain Gpv1 in step S44. [Figure 13] 13 is a flowchart showing a gain change process based on a position reliability Da in an example in which preview control is performed along with feedback control. [Figure 14] 13 is a flowchart showing a filtering process based on a position reliability Da and processes related thereto. [Figure 15] 13 is a flowchart showing a gain change process based on a vehicle speed V. [Figure 16] FIG. 13 is a diagram for explaining an example of a method for determining the suppression gain Gpv1 in step S73. [Figure 17] 13 is a flowchart showing a gain change process based on a position reliability Da and a vehicle speed V. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] In the embodiments described below, when reference is made to the number, quantity, amount, range, etc. of each element, the technical idea of ​​this disclosure is not limited to the mentioned numbers, unless otherwise specified or clearly specified in principle to that number.

[0012] 1. First embodiment 1-1. Suspension and road surface displacement related values FIG. 1 is a schematic diagram showing an example of the configuration of a vehicle 1 according to a first embodiment. The vehicle 1 is equipped with wheels 2 and suspensions 3. The wheels 2 include a left front wheel 2FL, a right front wheel 2FR, a left rear wheel 2RL, and a right rear wheel 2RR. Suspensions 3FL, 3FR, 3RL, and 3RR are provided for the left front wheel 2FL, the right front wheel 2FR, the left rear wheel 2RL, and the right rear wheel 2RR, respectively. In the following description, unless there is a particular need to distinguish between them, each wheel will be referred to as a wheel 2, and each suspension will be referred to as a suspension 3.

[0013] FIG. 2 is a conceptual diagram showing a configuration example of the suspension 3 according to the first embodiment. The suspension 3 is provided to connect between the unsprung structure 4 and the sprung structure 5 of the vehicle 1. The unsprung structure 4 includes the wheel 2. The suspension 3 includes a spring 3S, a damper (shock absorber) 3D, and an actuator 3A. The spring 3S, the damper 3D, and the actuator 3A are provided in parallel between the unsprung structure 4 and the sprung structure 5. The actuator 3A controls the stroke ST of the suspension 3. The spring 3S has a spring constant K. The damper 3D has a damping coefficient C. The actuator 3A applies a control force Fc in the vertical direction between the unsprung structure 4 and the sprung structure 5.

[0014] More specifically, the actuator 3A is, for example, an electric or hydraulic active actuator (an actuator constituting a so-called full active suspension). Alternatively, the actuator 3A may be, for example, an actuator that varies the damping force generated by the damper 3D, or an actuator of an active stabilizer device. Furthermore, the "actuator" according to the present disclosure may be, for example, an actuator (for example, an electric motor) that generates a vehicle longitudinal force in a vehicle equipped with a suspension configured to be able to convert the vehicle longitudinal force (driving force and braking force) acting on the wheels into a control force Fc by utilizing suspension geometry. The electric motor may be, for example, an in-wheel motor (IWM) provided on the wheel, or an electric motor capable of driving the wheels via a vehicle drive shaft.

[0015] Here, the terms are defined. "Road surface displacement Zr" is the vertical displacement of the road surface RS. "Unsprung displacement Zu" is the vertical displacement of the unsprung structure 4. "Sprung displacement Zs" is the vertical displacement of the sprung structure 5. "Unsprung velocity Zu'" is the vertical velocity of the unsprung structure 4. "Sprung velocity Zs'" is the vertical velocity of the sprung structure 5. "Unsprung acceleration Zu''" is the vertical acceleration of the unsprung structure 4. "Sprung acceleration Zs''" is the vertical acceleration of the sprung structure 5. The sign of each parameter is positive when pointing upward and negative when pointing downward.

[0016] The wheel 2 moves on the road surface RS. In the following description, values ​​related to the road surface displacement Zr are referred to as "road surface displacement-related values." Examples of the road surface displacement-related values ​​include the above-mentioned road surface displacement Zr, the road surface displacement velocity Zr' which is the time differential value of the road surface displacement Zr, the unsprung displacement Zu, the unsprung velocity Zu', the unsprung acceleration Zu'', the sprung displacement Zs, the sprung velocity Zs', the sprung acceleration Zs'', etc. The road surface displacement-related values ​​can also be said to be "vertical motion parameters" which are parameters related to the vertical motion of the wheel 2.

[0017] As an example, in the following description, a case will be considered in which the road surface displacement-related value is the unsprung displacement Zu. In the case of generalization, the "unsprung displacement" in the following description will be read as the "road surface displacement-related value".

[0018] FIG. 3 is a flowchart illustrating an example of the unsprung displacement calculation process.

[0019] In step S11, the sprung acceleration Zs'' is detected by the sprung acceleration sensor 22 installed in the sprung structure 5. In step S12, the sprung displacement Zs is calculated by integrating the sprung acceleration Zs'' twice.

[0020] In step S13, a stroke ST (=Zs-Zu), which is the relative displacement between the sprung structure 5 and the unsprung structure 4, is acquired. For example, the stroke ST is detected by a stroke sensor installed in the suspension 3. As another example, the stroke ST may be estimated based on the sprung acceleration Zs'' by an observer configured based on a single wheel two-degree-of-freedom model.

[0021] In step S14, in order to suppress the influence of sensor drift and the like, a filtering process is performed on the time series data of the sprung displacement Zs. Similarly, in step S15, a filtering process is performed on the time series data of the stroke ST. For example, the filter is a band-pass filter that passes signal components in a specific frequency band. The specific frequency band may be set so as to include the sprung resonance frequency of the vehicle 1. For example, the specific frequency band is 0.3 to 10 Hz. In addition, these filtering processes are performed separately from the "filtering process" included in the "control process" described later.

[0022] In step S16, the difference between the sprung displacement Zs and the stroke ST is calculated as the unsprung displacement Zu.

[0023] Instead of steps S14 and S15, a filtering process may be performed on the time series data of the unsprung displacement Zu calculated in step S16.

[0024] As yet another example, the unsprung acceleration Zu'' may be detected by an unsprung acceleration sensor, and the unsprung displacement Zu may be calculated from the unsprung acceleration Zu''.

[0025] 1-2.Vehicle control system 1-2-1. Configuration example 4 is a block diagram showing an example of the configuration of a vehicle control system 10 according to embodiment 1. The vehicle control system 10 is mounted on a vehicle 1 and controls the vehicle 1. The vehicle control system 10 includes a vehicle state sensor 20, a recognition sensor 30, a position sensor 40, a communication device 50, a driving device 60, and an electronic control unit (ECU) 70.

[0026] The vehicle state sensor 20 detects the state of the vehicle 1. The vehicle state sensor 20 includes a vehicle speed sensor (wheel speed sensor) 21 that detects the vehicle speed V of the vehicle 1, a sprung acceleration sensor 22 that detects the sprung acceleration Zs'', and the like. The vehicle state sensor 20 may include a stroke sensor 23 that detects a stroke ST. The vehicle state sensor 20 may include an unsprung acceleration sensor. In addition, the vehicle state sensor 20 includes a lateral acceleration sensor, a yaw rate sensor, a steering angle sensor, and the like.

[0027] The recognition sensor 30 recognizes (detects) the surrounding situation of the vehicle 1. Examples of the recognition sensor include a camera, a LIDAR (Laser Imaging Detection and Ranging), and a radar.

[0028] The position sensor 40 detects the position and orientation of the vehicle 1. For example, the position sensor 40 includes a Global Navigation Satellite System (GNSS) receiver.

[0029] The communication device 50 communicates with the outside of the vehicle 1 .

[0030] The traveling device 60 includes a steering device 61, a driving device 62, a braking device 63, and a suspension 3 (see FIG. 2). The steering device 61 steers the wheels 2. For example, the steering device 61 includes an electric power steering (EPS) device. The driving device 62 is a power source that generates a driving force. Examples of the driving device 62 include an engine, an electric motor, and an in-wheel motor. The braking device 63 generates a braking force.

[0031] The ECU 70 is a computer that controls the vehicle 1. The ECU 70 includes one or more processors 71 (hereinafter simply referred to as processor 71) and one or more storage devices 72 (hereinafter simply referred to as storage devices 72). The processor 71 executes various processes. For example, the processor 71 includes a CPU (Central Processing Unit). The storage device 72 stores various information required for processing by the processor 71. Examples of the storage device 72 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), and the like. There may be multiple ECUs 70.

[0032] The vehicle control program 80 is a computer program for controlling the vehicle 1, and is executed by the processor 71. The vehicle control program 80 is stored in the storage device 72. Alternatively, the vehicle control program 80 may be recorded in a computer-readable recording medium. The processor 71 executes the vehicle control program 80 to realize the functions of the ECU 70. The ECU 70 corresponds to an example of an "electronic control unit" provided in the "vehicle suspension control device" according to the present disclosure.

[0033] 1-2-2. Driving environment information 5 is a block diagram showing an example of driving environment information 90 indicating the driving environment of the vehicle 1. The driving environment information 90 is stored in the storage device 72. The driving environment information 90 includes map information 91, vehicle state information 92, surrounding situation information 93, and position information 94.

[0034] The map information 91 includes a general navigation map. The map information 91 may indicate lane layouts, road shapes, and the like. The map information 91 may include position information of white lines, traffic lights, signs, landmarks, and the like. The map information 91 is obtained from a map database. The map database may be mounted on the vehicle 1, or may be stored in an external management server. In the latter case, the ECU 70 communicates with the management server to obtain the necessary map information 91.

[0035] The map information 91 further includes an "unsprung displacement map 200." The unsprung displacement map 200 will be described in detail later.

[0036] The vehicle state information 92 is information indicating a state of the vehicle 1. The ECU 70 acquires the vehicle state information 92 from the vehicle state sensor 20. For example, the vehicle state information 92 includes a vehicle speed V, a sprung acceleration Zs'', a stroke ST, a lateral acceleration, a yaw rate, a steering angle, and the like. The vehicle speed V may be calculated from the vehicle position detected by the position sensor 40. The ECU 70 may calculate the unsprung displacement Zu by the method shown in FIG. 3. In this case, the vehicle state information 92 also includes the unsprung displacement Zu calculated by the ECU 70.

[0037] The surrounding situation information 93 is information indicating the situation around the vehicle 1. The ECU 70 recognizes the situation around the vehicle 1 using the recognition sensor 30, and acquires the surrounding situation information 93. For example, the surrounding situation information 93 includes image information captured by a camera. As another example, the surrounding situation information 93 includes point cloud information obtained by a LIDAR.

[0038] The surrounding situation information 93 further includes "object information" regarding objects around the vehicle 1. Examples of objects include pedestrians, bicycles, other vehicles (preceding vehicles, parked vehicles, etc.), road configurations (white lines, curbs, guardrails, walls, median strips, roadside structures, etc.), signs, poles, obstacles, etc.

[0039] The position information 94 is information that indicates the position and orientation (vehicle traveling direction) of the vehicle 1. The ECU 70 acquires the position information 94 from a measurement result by the position sensor 40 such as a GNSS receiver.

[0040] 1-2-3.Vehicle control The ECU 70 executes vehicle driving control for controlling the driving of the vehicle 1. The vehicle driving control includes steering control, drive control, and braking control. The ECU 70 executes vehicle driving control by controlling the driving device 60 (the steering device 61, the drive device 62, and the braking device 63). The ECU 70 may execute driving assistance control for assisting the driving of the vehicle 1 based on the driving environment information 90. Examples of driving assistance control include lane keeping control, collision avoidance control, and automatic driving control.

[0041] Furthermore, the ECU 70 controls the suspension 3. Specifically, the ECU 70 performs vibration suppression control to suppress vibration of the vehicle 1 by controlling the suspension 3. The ECU 70 controls the actuator 3A to generate a control force Fc in the vertical direction between the unsprung structure 4 and the sprung structure 5 (see FIG. 2). The vibration suppression control includes a "preview control" to be described later.

[0042] 1-3.Map management system 1-3-1. Configuration example 6 is a block diagram showing an example of a configuration of a map management system 100 according to the first embodiment. The map management system 100 is a computer that manages various types of map information. The management of the map information includes the generation, update, provision, and distribution of the map information. Typically, the map management system 100 is a management server on a cloud. The map management system 100 may be a distributed system in which a plurality of servers perform distributed processing.

[0043] The map management system 100 includes a communication device 110. The communication device 110 is connected to a communication network NET. For example, the communication device 110 communicates with a number of vehicles 1 via the communication network NET.

[0044] The map management system 100 further includes one or more processors 120 (hereinafter simply referred to as processor 120) and one or more storage devices 130 (hereinafter simply referred to as storage device 130). The processor 120 executes various types of information processing. For example, the processor 120 includes a CPU. The storage device 130 stores various types of map information. The storage device 130 also stores various types of information required for processing by the processor 120. Examples of the storage device 130 include volatile memory, non-volatile memory, HDD, SSD, etc.

[0045] The map management program 140 is a computer program for map management, and is executed by the processor 120. The map management program 140 is stored in the storage device 130. Alternatively, the map management program 140 may be recorded in a computer-readable recording medium. The processor 120 executes the map management program 140 to realize the functions of the map management system 100.

[0046] The processor 120 communicates with the vehicle control system 10 of the vehicle 1 via the communication device 110. The processor 120 collects various information from the vehicle control system 10, and generates and updates map information based on the collected information. The processor 120 also distributes the map information to the vehicle control system 10. The processor 120 also provides the map information in response to a request from the vehicle control system 10.

[0047] 1-3-2.Unsprung Displacement Map (Road Surface Data Map) One of the map information managed by the map management system 100 is the "unsprung displacement map 200." The unsprung displacement map 200 is a map related to unsprung displacement Zu (road surface displacement related value). The unsprung displacement map 200 is stored in the storage device 130. The unsprung displacement map 200 corresponds to an example of "a road surface data map in which road surface displacement related values ​​related to the vertical displacement of the road surface are mapped in association with positions" according to the present disclosure.

[0048] 7 is a conceptual diagram for explaining the unsprung displacement map 200. The XY plane represents a horizontal plane. For example, an absolute coordinate system in the horizontal plane is defined by latitude and longitude directions, and a position is defined by latitude and longitude. The unsprung displacement map 200 represents at least the correspondence relationship between the position (X, Y) and the unsprung displacement Zu. In other words, the unsprung displacement map 200 represents the unsprung displacement Zu as a function of at least the position (X, Y).

[0049] The road area may be divided into a mesh shape on a horizontal plane. That is, the road area may be divided into a plurality of unit areas (hereinafter referred to as "road surface sections M") on a horizontal plane. The road surface section M is, for example, a square. The length of one side of the square is, for example, 10 cm. The unsprung displacement map 200 represents the correspondence between the position of the road surface section M and the unsprung displacement Zu. The position of the road surface section M may be defined by a representative position (e.g., center position) of the road surface section M, or may be defined by the range (latitude range, longitude range) of the road surface section M. The unsprung displacement Zu of the road surface section M is, for example, the average value of the unsprung displacement Zu acquired within the road surface section M. The smaller the road surface section M is, the higher the resolution of the unsprung displacement map 200 is.

[0050] 1-3-3. Map generation / update processing The processor 120 collects information from multiple vehicles 1 via the communication device 110. Then, the processor 120 generates and updates the unsprung displacement map 200 based on the information collected from the multiple vehicles 1. An example of the map generation / update process will be described in more detail below.

[0051] The positions in the unsprung displacement map 200 are positions through which the wheels 2 have passed. The position of each wheel 2 is calculated based on the above-mentioned position information 94. Specifically, the relative positional relationship between the reference point of the vehicle position on the vehicle 1 and each wheel 2 is known information. Based on the relative positional relationship and the vehicle position indicated by the position information 94, the position of each wheel 2 can be calculated.

[0052] The unsprung displacement Zu is calculated by the method shown in Fig. 3. That is, the sprung displacement Zs and the stroke ST are obtained by using the vehicle state sensor 20 mounted on the vehicle 1. For convenience, the sprung displacement Zs and the stroke ST are called "sensor-based information." The unsprung displacement Zu is calculated based on this sensor-based information.

[0053] For example, while the vehicle 1 is traveling, the ECU 70 of the vehicle control system 10 calculates the unsprung displacement Zu in real time based on the sensor-based information. The ECU 70 also associates the wheel position and the unsprung displacement Zu at the same timing. The ECU 70 then transmits a set of time series data of the wheel position and time series data of the unsprung displacement Zu to the map management system 100. The processor 120 of the map management system 100 generates and updates the unsprung displacement map 200 based on the time series data of the wheel position and the time series data of the unsprung displacement Zu.

[0054] As another example, the ECU 70 of the vehicle control system 10 associates the wheel positions with the sensor-based information at the same timing. Then, the ECU 70 transmits a set of time-series data of the wheel positions and time-series data of the sensor-based information to the map management system 100. The processor 120 of the map management system 100 calculates the unsprung displacement Zu based on the received sensor-based information. Furthermore, the processor 120 generates and updates the unsprung displacement map 200 based on the time-series data of the wheel positions and the time-series data of the unsprung displacement Zu.

[0055] In addition, when the unsprung displacement Zu is calculated in the map management system 100, since there is no restriction on the processing time, a zero phase filter can be used for filtering. By using the zero phase filter, it is possible to prevent "phase shift".

[0056] FIG. 8 is a flowchart showing an outline of the map generation / update process according to the first embodiment.

[0057] In step S21, the processor 120 of the map management system 100 acquires "map update information" from the vehicle 1 (vehicle control system 10) via the communication device 110. The map update information includes time series data of the position (wheel position) of the vehicle 1. The map update information also includes time series data of sensor-based information (e.g., sprung displacement Zs and stroke ST) required to calculate the unsprung displacement Zu. Alternatively, the map update information may include time series data of the unsprung displacement Zu calculated by the ECU 70 of the vehicle control system 10.

[0058] In step S22, the processor 120 of the map management system 100 generates / updates the unsprung displacement map 200 based on the map update information.

[0059] 1-3-4. Variations The vehicle control system 10 of the vehicle 1 may hold a database of the unsprung displacement map 200 and generate / update its own unsprung displacement map 200. In other words, the map management system 100 may be included in the vehicle control system 10.

[0060] 1-4. Preview control using unsprung displacement map The ECU 70 of the vehicle control system 10 communicates with the map management system 100 via the communication device 50. The ECU 70 acquires an unsprung displacement map 200 of an area including the current position of the vehicle 1 from the map management system 100. The unsprung displacement map 200 is stored in the storage device 72. Then, the ECU 70 executes "preview control", which is a type of vibration suppression control, based on the unsprung displacement map 200.

[0061] 1-4-1. Basic configuration of preview control Fig. 9 is a conceptual diagram for explaining the preview control. Fig. 10 is a flowchart showing a basic flow of processing related to the preview control. The preview control will be explained with reference to Fig. 9 and Fig. 10. The preview control is executed to reduce vibration of the sprung structure 5.

[0062] In step S31, the ECU 70 acquires the current position P0 of each wheel 2. The relative positional relationship between the reference point of the vehicle position on the vehicle 1 and each wheel 2 is known information. Based on the relative positional relationship and the vehicle position indicated by the position information 94, the position of each wheel 2 can be calculated.

[0063] In step S32, the ECU 70 calculates a predicted passing position Pf of the wheel 2 after the preview time tp. The preview time tp is set in advance to be, for example, a time required from when the ECU 70 specifies the predicted passing position Pf until the actuator 3A of the suspension 3 outputs a control force Fc corresponding to the target control force Fc_t. The preview distance Lp is given by the product of the preview time tp and the vehicle speed V. The predicted passing position Pf is a position forward in the vehicle traveling direction from the current position P0 along the predicted movement path along which the wheel 2 is predicted to move by the preview distance Lp. The predicted movement path can be specified, for example, based on the traveling direction Td of the vehicle 1 and the current position P0 of the wheel 2. The traveling direction Td can be specified, for example, by the following method. That is, the ECU 70 maps the current position P0 of the previous time step and the current position P0 of the current time step to the map information 91, and then specifies the direction from the current position of the previous time step toward the current position P0 of the current time step as the traveling direction Td. As a modified example, the ECU 70 may calculate a predicted travel route based on the vehicle speed V and the steering angle of the wheels 2, and calculate the predicted passing position Pf based on the predicted travel route.

[0064] In step S33, the ECU 70 reads out the unsprung displacement Zu at the predicted passing position Pf from the unsprung displacement map 200.

[0065] In step S34, the ECU 70 calculates a target control force Fc_t of the actuator 3A of the suspension 3 based on the unsprung displacement Zu at the predicted passing position Pf. The target control force Fc_t is calculated, for example, as follows. This target control force Fc_t corresponds to a required value of the control force Fc required for the preview control (i.e., the required control amount Xpv).

[0066] The equation of motion for the sprung structure 5 (see FIG. 2) is expressed by the following equation (1). m·Zs''=C(Zu'-Zs')+K(Zu-Zs)-Fc ···(1)

[0067] In equation (1), m is the mass of the sprung structure 5, C is the damping coefficient of the damper 3D, K is the spring constant of the spring 3S, and Fc is the vertical control force generated by the actuator 3A. If the vibration of the sprung structure 5 is completely canceled by the control force Fc (Zs''=0, Zs'=0, Zs=0), the control force Fc is expressed by the following equation (2). Fc = C Zu' + K Zu (2)

[0068] The control force Fc that provides at least the vibration damping effect is expressed by the following formula (3). Fc=α·C·Zu'+β·K·Zu ···(3)

[0069] In formula (3), the control gain α is greater than 0 and less than or equal to 1, and the control gain β is also greater than 0 and less than or equal to 1. When the differential term in formula (3) is omitted, a control force Fc that provides at least a vibration damping effect is expressed by the following formula (4). Fc = β K Zu (4)

[0070] The ECU 70 calculates the target control force Fc_t according to the above formula (3) or formula (4). That is, the ECU 70 calculates the target control force Fc_t by substituting the unsprung displacement Zu at the predicted passing position Pf into formula (3) or formula (4).

[0071] In step S35, the ECU 70 transmits a control command including the target control force Fc_t to the actuator 3A so that the actuator 3A generates a control force Fc corresponding to the target control force Fc_t. The actuator 3A generates a control force Fc corresponding to the target control force Fc_t at a timing that is the preview time tp after the current time (i.e., the timing when the wheel 2 passes the predicted passing position Pf).

[0072] According to the preview control using the unsprung displacement map 200 described above, it is possible to generate, at an appropriate timing, a control force Fc that suppresses vibration of the sprung structure 5 caused by the unsprung displacement Zu (road surface displacement related value) of the predicted passing position Pf of the wheel 2. This makes it possible to effectively suppress vibration of the sprung structure 5 (vehicle body).

[0073] 1-4-2. Preview control considering position reliability In the preview control, when the unsprung displacement Zu of the predicted passing position Pf is acquired from the unsprung displacement map 200, if the error in the self-position information of the vehicle 1 acquired using the position sensor 40 such as a GNSS receiver (hereinafter, simply referred to as "position error") is large, the estimation accuracy of the unsprung displacement Zu (road surface displacement related value) may be reduced. More specifically, if the position error is large, the unsprung displacement Zu at a position different from the original position of the wheel 2 (i.e., the position that should be read originally) is acquired. That is, the acquired unsprung displacement Zu deviates from the value at the original position of the wheel 2. As a result, it may be difficult to perform appropriate preview control. Specifically, for example, the execution of the preview control may increase the vibration of the sprung structure 5. As a result, the user of the vehicle may feel an uncomfortable ride caused by the execution of the preview control.

[0074] In view of the above-mentioned problems, the processes executed by the ECU 70 for preview control in the first embodiment include a "position acquisition process" and a "road surface information acquisition process", as well as a "reliability calculation process" and a "control process". An example of these processes will be described using the process of the flowchart shown in Fig. 10 and the process of the flowchart shown in Fig. 11.

[0075] The position acquisition process is a process for acquiring self-position information of the vehicle 1, an example of which is the process of step S31 (see FIG. 10) already described. Also, the road surface information acquisition process is a process for acquiring the spring displacement Zu of the predicted passing position Pf from the unsprung displacement map 200, an example of which is the process of step S33 (see FIG. 10) already described.

[0076] The reliability calculation process is a process for calculating the reliability of the self-location information (hereinafter also referred to as "location reliability") Da, and an example of this is the process of step S41 (see FIG. 11) described below.

[0077] The control process is a process that performs preview control based on the unsprung displacement Zu (road surface displacement related value) at the predicted passing position Pf, and one example of this is a combination of the already described steps S34 and S35 (see Figure 10) and the following steps S42, S43, and S44 (see Figure 11).

[0078] In the control process, when the position reliability Da is equal to or less than a predetermined threshold Dath (first threshold), the ECU 70 executes the preview control in a more restrained manner than when the position reliability Da is higher than the threshold Dath.

[0079] More specifically, the control process includes a "gain change process" that changes the control gain (hereinafter also referred to as "preview gain") Gpv included in the required control amount Xpv (target control force Fc_t) of the preview control based on the position reliability Da. The gain change process is a process that reduces the preview gain Gpv when the position reliability Da is equal to or less than the threshold Dath, compared to when the position reliability Da is higher than the threshold Dath. For example, in the above formula (3), the control gains α and β correspond to the preview gain Gpv.

[0080] 11 is a flowchart showing a gain change process based on the position reliability Da. The process of this flowchart is repeatedly executed at predetermined time steps in parallel with the process of the flowchart shown in FIG.

[0081] <Step S41> In step S41, the ECU 70 calculates the position reliability Da. More specifically, the ECU 70 calculates the reliability Da of the current position P0 (self-position information) of the vehicle 1 acquired in step S31 in the current time step. The position reliability Da is an index value indicating the accuracy and certainty of the position (X, Y), and is defined so that the higher the reliability (at least one of the accuracy and the certainty) of the current position P0, the larger the value becomes. For this reason, when the position reliability Da is low, it is highly likely that the position of the wheel 2 indicated by the self-position information acquired by the position sensor 40 such as a GNSS receiver is deviated from the actual position of the wheel 2.

[0082] The ECU 70 calculates the position reliability Da in accordance with, for example, the following equation (5). Da=a1×Dfix+a2×Ddop+a3×Dv+a4×Dma...(5)

[0083] In formula (5), a1, a2, a3, and a4 are each set to a predetermined value greater than or equal to "0" and less than or equal to "1." Dfix, Ddop, Dv, and Dma are each a value greater than or equal to "0" and less than or equal to "1," and the larger the value, the higher the reliability of the current position P0.

[0084] Dfix in formula (5) is obtained depending on whether the positioning result of the current position P0 based on the positioning signal received by the GNSS receiver is a fixed solution or a float solution. The accuracy of the current position P0 when the positioning result is a fixed solution is higher than the accuracy of the current position P0 when the positioning result is a float solution. The ECU 70 sets the value of Dfix to "1" when the positioning result is a fixed solution, and sets the value of Dfix to "0" when the positioning result is a float solution. The fixed solution and the float solution are described in, for example, JP 2020-38498 A, JP 2020-56740 A, and JP 2019-82400 A.

[0085] Ddop in formula (5) is calculated according to a DOP (Dilution Of Precision) value calculated based on the position of the positioning satellite that transmitted the positioning signal received by the GNSS receiver. The DOP value is a value greater than or equal to 0 and less than or equal to 1, and the smaller the value, the higher the position precision. Since the larger the value of Ddop, the higher the position precision, Ddop is obtained by subtracting the DOP value from "1". The DOP value is described in, for example, JP 2014-219204 A.

[0086] Dv in formula (5) is obtained depending on whether the vehicle speed V is equal to or greater than a predetermined threshold value Vth1. The ECU 70 acquires the value of Dv so that the value of Dv when the vehicle speed V is equal to or greater than the threshold value Vth1 is greater than the value of Dv when the vehicle speed V is less than the threshold value Vth1. In general, when the vehicle speed V is low, it is more difficult to identify the traveling direction Td of the vehicle 1 compared to when the vehicle speed V is high. Therefore, the accuracy of the current position P0 when the vehicle speed V is low is lower than the accuracy of the current position P0 when the vehicle speed V is high. As an example, when the vehicle speed V is equal to or greater than the threshold value Vth1, the ECU 70 sets the value of Dv to "1", and when the vehicle speed V is less than the threshold value Vth1, the ECU 70 sets the value of Dv to "0".

[0087] Dma in formula (5) is obtained according to the result of matching the position of the three-dimensional object relative to the vehicle 1 detected by the LIDAR (recognition sensor 30) with the position of the three-dimensional object registered in the navigation map. As an example, the ECU 70 obtains the value of Dma by calculation as follows. That is, the ECU 70 uses the navigation map to identify three-dimensional objects existing within a predetermined distance range from the current position P0 of the vehicle 1 as first three-dimensional objects, and obtains the number NN of the first three-dimensional objects. The ECU 70 obtains the number NL of three-dimensional objects that have been detected by the LIDAR among the first three-dimensional objects. Then, the ECU 70 obtains a value obtained by dividing the number NL by the number NN as the value of Dma (=NL / NN).

[0088] The position reliability Da may be obtained based on at least one of the above-mentioned Dfix, Ddop, Dv1, and Dma.

[0089] <Step S42> In step S42, the ECU 70 determines whether the position reliability Da calculated in step S41 is higher than a predetermined threshold Dath. If the result of this determination is Yes (i.e., the reliability of the current position P0 is high), the process proceeds to step S43. On the other hand, if the result of this determination is No (i.e., the reliability of the current position P0 is low), the process proceeds to step S44.

[0090] <Step S43> In step S43, the ECU 70 selects the base gain Gpv0 as the preview gain Gpv. As a result, in the above-mentioned step S34, the ECU 70 calculates the target control force Fc_t (required control amount Xpv) by using the base gain Gpv0 (in the formula (3), the base values ​​of the control gains α and β).

[0091] <Step S44> In step S44, the ECU 70 selects, as the preview gain Gpv, a suppression gain Gpv1 smaller than the basic gain Gpv0. When the suppression gain Gpv1 is used as the preview gain Gpv, the target control force Fc_t (required control amount Xpv) calculated in step S34 is smaller than when the basic gain Gpv0 is used as the preview gain Gpv. That is, the preview control is suppressed compared to when the position reliability Da is higher than the threshold Dath.

[0092] 12(A), 12(B), and 12(C) are diagrams for explaining examples of a method for determining the suppression gain Gpv1 in step S44.

[0093] First, as shown in FIG. 12(A), the suppression gain Gpv1 may be a fixed value smaller than the basic gain Gpv0.

[0094] 12B, the suppression gain Gpv1 may be determined to be smaller as the position reliability Da becomes lower. When the suppression gain Gpv1 is changed in accordance with the position reliability Da in this manner, the suppression gain Gpv1 may be reduced to zero as the position reliability Da becomes lower. The suppression gain Gpv1 becoming zero means that the preview control is stopped.

[0095] 12(C), the suppression gain Gpv1 may be determined to be smaller as the vehicle speed V is lower. When the suppression gain Gpv1 is changed in accordance with the vehicle speed V in this manner, the suppression gain Gpv1 may be reduced to zero as the vehicle speed V becomes lower. For example, the suppression gain Gpv1 may be set to zero when the vehicle speed V is extremely low, that is, 1 or 2 kph or less.

[0096] In addition, in order to determine the suppression gain Gpv1, the method shown in FIG. 12(B) and the method shown in FIG. 12(C) may be combined.

[0097] 1-4-3.Effects As described above, according to the first embodiment, when the position reliability Da is equal to or less than the threshold Dath, the preview control is executed in a more suppressed manner than when the position reliability Da is higher than the threshold Dath, by utilizing the change in the preview gain Gpv. This makes it possible to suppress the deterioration of vibration of the sprung structure 5 caused by the execution of the preview control, compared to the case where the preview control is executed without being suppressed under a situation where an acquisition error in the self-position information of the vehicle 1 is large. Therefore, it is possible to suppress the discomfort of the ride caused by the execution of the preview control.

[0098] Also, as described above, the suppression gain Gpv1 used as the preview gain Gpv when the position reliability Da is equal to or less than a predetermined threshold Dath may be determined to be smaller as the position reliability Da becomes lower. As a result, the preview control is suppressed to a greater extent as the position reliability Da becomes lower. Therefore, it becomes possible to appropriately suppress the preview control in a manner according to the position reliability Da.

[0099] Furthermore, the suppression gain Gpv1 may be determined to be smaller as the vehicle speed V becomes lower. As a result, the preview control is suppressed to a greater extent as the vehicle speed V becomes lower. Here, as described above for the parameter Dv in equation (5) and as described in the second embodiment, when the vehicle speed V is low, the acquisition error of the current position P0 is more likely to decrease than when the vehicle speed V is high. In this regard, by making the suppression gain Gpv1 smaller as the vehicle speed V becomes lower, the preview control can be appropriately suppressed in a manner according to the vehicle speed V.

[0100] 1-4-4. Example with feedback control The ECU 70 may execute the following feedback control as vibration damping control in addition to the above-mentioned preview control by controlling the actuator 3A. That is, the feedback control is executed to reduce vibration of the sprung structure 5. The control force Fc in the example in which the preview control is performed together with the feedback control is expressed by, for example, the following equation (6). In this example, the ECU 70 calculates the target control force Fc_t according to equation (6). Fc = β K Zu + γ Zs (6)

[0101] The first term on the right side of equation (6) is the same as equation (4) above, and is a term related to preview control (feedforward term). The second term on the right side is a term related to the feedback control (feedback term). This feedback term is the product of the feedback gain (FB gain) γ and the sprung displacement Zs at the time of calculation of the target control force Fc_t. Note that instead of the sprung displacement Zs in the feedback term, any one of the sprung velocity Zs', sprung acceleration Zs'', unsprung displacement Zu, unsprung velocity Zu', and unsprung acceleration Zu'' at the time of calculation of the target control force Fc_t may be used.

[0102] 13 is a flowchart showing a gain change process based on the position reliability Da in an example in which preview control is performed with feedback control. Here, the process shown in FIG. 13 will be described focusing on changes from the process shown in FIG.

[0103] 13, when the position reliability Da is higher than the threshold value Dath (step S42; Yes), the process proceeds to step S51 after step S43. In step S51, the ECU 70 selects the basic gain γ0 as the FB gain γ.

[0104] If the position reliability Da is equal to or less than the threshold value Dath (step S42; No), the process proceeds to step S52 after step S44. In step S52, the ECU 70 selects a gain γ1 larger than the basic gain γ0 as the FB gain γ. When such a gain γ1 is used as the FB gain γ, the target control force Fc_t (required control amount Xpv) calculated according to the above formula (6) becomes larger than when the basic gain γ0 is used as the FB gain γ. That is, the feedback control is more actively utilized than when the position reliability Da is higher than the threshold value Dath.

[0105] More specifically, the gain γ1 may be a fixed value larger than the basic gain γ0. Also, the gain γ1 may be determined to be larger as the position reliability Da decreases, in conjunction with a decrease in the suppression gain Gpv1 on the preview control side according to the position reliability Da. Furthermore, as shown in FIG. 12(C), in an example in which the suppression gain Gpv1 is determined to be smaller as the vehicle speed V decreases, the gain γ1 may be determined to be larger as the vehicle speed V decreases. In addition, in order to determine the gain γ1, a method in which the position reliability Da is used and a method in which the vehicle speed V is used may be combined.

[0106] According to the gain change process shown in FIG. 13, when there is concern about the vibration damping effect of the preview control due to low position reliability Da, the deterioration of vibration of the sprung structure 5 can be suppressed by more actively performing vibration damping using feedback control.

[0107] 1-4-5. Filtering process The possibility of "vibration deterioration of the sprung structure 5 due to execution of preview control", which is a concern when the position reliability Da is low, is particularly high when the data of the unsprung displacement Zu (road surface displacement related value) used to calculate the required control amount Xpv contains a lot of high-frequency components. The reason is as follows. Here, a road surface on which the road surface displacement Zr fluctuates in a short period (short-period road surface) is compared with a road surface on which the period is long (long-period road surface). The influence of the position error on the acquisition of the road surface displacement related value is large for a short-period road surface compared to a long-period road surface because the change amount of the road surface displacement related value for the same amount of positional deviation is larger. And the data of the road surface displacement related value collected from the short-period road surface contains a lot of high-frequency components. Therefore, when the data of the road surface displacement related value contains a lot of high-frequency components, the possibility of vibration deterioration is high.

[0108] Therefore, in the modified example described here, the suppression of the preview control by the control process is performed by using the following filtering process instead of the gain change process. This filtering process is a process of applying a low pass filter (LPF) to the forward road surface data when the position reliability Da is equal to or less than the threshold Dath. The "forward road surface data" here refers to data of the unsprung displacement Zu (road surface displacement related value) on the road surface ahead of the vehicle 1 including the predicted passing position Pf.

[0109] The filtering process may be performed in conjunction with the following process: That is, the ECU 70 may increase the preview time tp so as to offset the phase delay of the front road surface data according to the time constant of the applied LPF.

[0110] 14 is a flowchart showing a filtering process based on the position reliability Da and other related processes. The process of this flowchart is repeatedly executed at predetermined time steps in parallel with the process of the flowchart shown in FIG. 10 while the vehicle 1 is traveling.

[0111] 14, if the position reliability Da is higher than the threshold Dath (step S42; Yes), the process proceeds to RETURN. On the other hand, if the position reliability Da is equal to or lower than the threshold Dath (step S42; No), the process proceeds to step S61.

[0112] In step S61, the ECU 70 executes a process of applying an LPF to the forward road surface data (filtering process). The LPF is configured to have a strength and a cutoff frequency suitable for attenuating high-frequency components that are likely to be included due to low position reliability Da.

[0113] The front road surface data can be acquired as follows. That is, the front road surface data may be acquired as data of unsprung displacement Zu, which is obtained by storing the unsprung displacement Zu of the predicted passing position Pf acquired from the unsprung displacement map 200 for each time step by the process of step S33 described above over a predetermined section. Alternatively, time-series data that associates data of the unsprung displacement Zu within a predetermined section (a section including the predicted passing position Pf) located ahead of the current position P0 of the vehicle 1 in the traveling direction Td with the predicted arrival time of the wheel 2 moving along the traveling direction Td at each position may be acquired as the front road surface data.

[0114] When the above-mentioned filtering process is performed on the front road surface data, a delay occurs in the phase of the front road surface data. This phase delay becomes larger as the time constant determined according to the applied LPF becomes larger. Therefore, in step S62, the ECU 70 increases the preview time tp so as to offset the phase delay of the front road surface data according to the time constant of the LPF applied in the filtering process. Specifically, the preview time tp is corrected so as to be longer by the time constant of the applied LPF. Therefore, the preview time tp is corrected so as to be longer as the time constant becomes larger.

[0115] In addition, in an example combined with the process shown in Fig. 14, the required control amount Xpv (target control force Fc_t) of the preview control in step S34 (see Fig. 10) is calculated using the front road surface data after the filtering process. The preview gain Gpv used is the basic gain Gpv0. Furthermore, the preview time tp corrected by the process of step S62 may be used.

[0116] According to the filtering process described above, the LPF is applied to the data of the unsprung displacement Zu (forward road surface data) that is the basis for calculating the required control amount Xpv. Even with this method, it becomes possible to suppress the preview control when there is a concern about the vibration damping effect of the preview control due to low position reliability Da.

[0117] More specifically, even if the forward road surface data contains a large number of high-frequency components because the position reliability Da is low, the required control amount Xpv can be calculated after appropriately attenuating or removing such high-frequency components, which makes it possible to suppress an increase in the possibility of the vibration of the sprung structure 5 worsening due to the execution of the preview control caused by the large number of such high-frequency components.

[0118] Furthermore, according to the process of step S62 executed in conjunction with the filtering process, the preview time tp is increased so as to offset the phase delay of the front road surface data according to the time constant of the applied LPF. This makes it possible to suppress the occurrence of a phase shift between the phase of the front road surface data and the phase of the timing at which the actuator 3A generates the control force Fc corresponding to the required control amount Xpv based on the front road surface data, which is caused by the addition of the LPF. This makes it possible to suppress the deterioration of the ride comfort caused by the phase shift.

[0119] In addition, in the example of the filtering process shown in Fig. 14, an LPF is applied to the front road surface data. Here, if the required control amount Xpv is calculated based on the front road surface data containing a lot of high-frequency components, the high-frequency components contained in the required control amount Xpv will also increase. Therefore, the filtering process may be a process of applying an LPF to the required control amount Xpv instead of the front road surface data. Even in such an example, the same effect as the process shown in Fig. 14 can be obtained.

[0120] 1-4-6. Modifications of control processing The control process based on the position reliability Da may be executed by combining the above-mentioned "gain change process (see FIG. 11)" and "filtering process (see FIG. 14)".

[0121] 2. Second embodiment The second embodiment described next differs from the first embodiment described above in that the preview control is suppressed based on the vehicle speed V instead of the position reliability Da.

[0122] The error (position error) in the self-position information of the vehicle 1 acquired using a position sensor 40 such as a GNSS receiver tends to be large when the vehicle speed V is low. This is because when the vehicle speed V is low, errors in the azimuth angle, slip angle, and speed tend to be large.

[0123] In addition, even if the wheel 2 travels the exact same route, it is easier to extract small irregularities or noise components from the data of the road surface displacement-related values ​​on the road surface data map when the vehicle speed V is low, compared to when the vehicle speed V is high. As a result, the road surface displacement-related values ​​acquired when the vehicle speed V is low are more likely to include frequency components higher than the frequency band (e.g., 0.3 to 10 Hz used in steps S14 and S15) used to acquire the road surface displacement-related values ​​when generating and updating the road surface data map, which may lead to an increase in high-frequency vibration.

[0124] Therefore, in the "control process" in the second embodiment, when the vehicle speed V is equal to or less than a predetermined threshold Vth2 (second threshold), the ECU 70 executes the preview control in a more suppressed manner than when the vehicle speed V is higher than the threshold Vth2. Specifically, when the vehicle speed V is equal to or less than the threshold Vth2, the ECU 70 reduces the preview gain Gpv compared to when the vehicle speed V is higher than the threshold Vth2.

[0125] 15 is a flowchart showing a gain change process based on the vehicle speed V. The process of this flowchart is repeatedly executed at predetermined time steps while the vehicle 1 is traveling in parallel with the process of the flowchart shown in FIG.

[0126] In Fig. 15, the ECU 70 first acquires the vehicle speed V in step S71. Next, in step S72, the ECU 70 determines whether the acquired vehicle speed V is higher than a threshold value Vth2. If the result of this determination is Yes (vehicle speed V>threshold value Vth2), the process proceeds to step S43. On the other hand, if the result of this determination is No (vehicle speed V≦threshold value Vth2), the process proceeds to step S73.

[0127] In step S73, the ECU 70 selects a suppression gain Gpv1 smaller than the basic gain Gpv0 as the preview gain Gpv. Figures 16(A) and 16(B) are diagrams for explaining an example of a method for determining the suppression gain Gpv1 in step S73.

[0128] First, as shown in Fig. 16(A), the suppression gain Gpv1 may be a fixed value smaller than the basic gain Gpv0. Also, as shown in Fig. 16(B), the suppression gain Gpv1 may be determined to be smaller as the vehicle speed V becomes lower. In addition, the suppression gain Gpv1 may be reduced to zero as the vehicle speed V becomes lower.

[0129] As described above, according to the second embodiment, when the vehicle speed V is equal to or less than the threshold value Vth2, the preview control is executed in a more suppressed manner than when the vehicle speed V is higher than the threshold value Vth2, by utilizing the change in the preview gain Gpv. Even with such a method, it is possible to suppress the deterioration of vibration of the sprung structure 5 caused by the execution of the preview control, compared to the case where the preview control is executed without being corrected under a situation where the acquisition error of the self-position information of the vehicle 1 is large. Therefore, it is possible to suppress the uncomfortable ride caused by the execution of the preview control. In addition, according to the second embodiment in which the vehicle speed V is utilized, it is possible to suppress the preview control as described above, while reducing the calculation load of the ECU 70, compared to the first embodiment in which the position reliability Da is utilized.

[0130] The control process based on the vehicle speed V in the second embodiment may be executed in combination with the "filtering process (see FIG. 14)" instead of or together with the above-mentioned "gain change process (see FIG. 15)".

[0131] Furthermore, the gain change process based on the vehicle speed V may be executed with a change in the FB gain γ, as in the process shown in Fig. 13. Furthermore, in step S52, the timing at which the FB gain γ is increased to the gain γ1 may not necessarily be the same as the timing at which the preview gain Gpv is decreased to the suppression gain Gpv1. Specifically, the increase in the FB gain γ to the gain γ1 may be executed when the vehicle speed V decreases to a vehicle speed value lower than the vehicle speed value (i.e., the threshold value Vth2) at which the preview gain Gpv is decreased to the suppression gain Gpv1.

[0132] 3. Third embodiment A third embodiment described next differs from the first embodiment described above in that the preview control is suppressed based on the position reliability Da and the vehicle speed V.

[0133] Specifically, in the "control process" in the third embodiment, when at least one of the conditions that the position reliability Da is equal to or less than the threshold Dath and the vehicle speed V is equal to or less than the threshold Vth2 is satisfied, the ECU 70 executes the preview control in a more suppressed manner than when the position reliability Da is higher than the threshold Dath and the vehicle speed V is higher than the threshold Vth2. Specifically, when at least one of the above conditions is satisfied, the ECU 70 reduces the preview gain Gpv compared to when the position reliability Da is higher than the threshold Dath and the vehicle speed V is higher than the threshold Vth2.

[0134] 17 is a flowchart showing a gain change process based on the position reliability Da and the vehicle speed V. The process of this flowchart is repeatedly executed at predetermined time steps while the vehicle 1 is traveling in parallel with the process of the flowchart shown in FIG.

[0135] In Fig. 17, first, in steps S41 and S71, the position reliability Da and the vehicle speed V are acquired in that order. Then, if the results of both the position reliability determination (step S42) and the vehicle speed determination (step S72) are Yes, the process proceeds to step S43. On the other hand, if the result of either the position reliability determination or the vehicle speed determination is No, the process proceeds to step S81. Although not shown in Fig. 17, the process may proceed to step S81 if the results of both the position reliability determination and the vehicle speed determination are No.

[0136] In step S81, the ECU 70 selects a suppression gain Gpv1 smaller than the basic gain Gpv0 as the preview gain Gpv. Specifically, the suppression gain Gpv1 may be a fixed value smaller than the basic gain Gpv0. The suppression gain Gpv1 may be determined so as to become smaller as at least one of the position reliability Da and the vehicle speed V becomes lower, for example, by a method such as that shown in Figs. 12(B) and 16(B). At this time, the suppression gain Gpv1 may be reduced to zero.

[0137] According to the third embodiment described above, both the position reliability Da and the vehicle speed V are used to determine whether or not to suppress the preview control. By using the position reliability Da and the vehicle speed V in this manner, it is possible to more accurately determine a situation in which an acquisition error in the self-position information of the vehicle 1 is likely to have occurred, and it becomes possible to more appropriately suppress the preview control.

[0138] The control process based on the position reliability Da and the vehicle speed V in the third embodiment may be executed in combination with the "filtering process (see FIG. 14)" instead of or together with the above-mentioned "gain change process (see FIG. 17)".

[0139] 4. Other embodiments In the above-described first to third embodiments, the preview control (and feedback control) is performed on the four wheels 2 (i.e., all wheels) of the vehicle 1. However, the wheels (control target wheels) that are the targets of the preview control (and feedback control) are not necessarily limited to all wheels, and may be, for example, only the left and right front wheels or only the left and right rear wheels. [Explanation of symbols]

[0140] 1 vehicle 2 wheels 3. Suspension 3A Actuator 4. Unsprung structure 5. Spring structure 10 Vehicle Control System 20 Vehicle condition sensor 30 Recognition Sensor 40 Position Sensor 50 Communication Equipment 60 Running gear 70 Electronic Control Unit (ECU) 100 Map Management System

Claims

1. An actuator for controlling a suspension stroke of a controlled wheel; an electronic control unit that controls the actuator to execute a preview control for reducing vibration of a sprung structure of a vehicle; A vehicle suspension control device comprising: The electronic control unit includes: A position acquisition process for acquiring self-position information of the vehicle; a road surface information acquisition process for acquiring a road surface displacement-related value at a predicted passing position of the control target wheel after a preview time from a current time from a road surface data map in which a road surface displacement-related value related to a vertical displacement of the road surface is associated with a position and mapped; A reliability calculation process for calculating the reliability of the self-location information; a control process for executing the preview control based on a road surface displacement related value at the predicted passing position; Run In the control process, when the reliability is equal to or less than a first threshold, the electronic control unit executes the preview control in a more suppressed manner than when the reliability is higher than the first threshold. The control process includes a filtering process, The filtering process is a process of applying a low-pass filter to data of the road surface displacement-related value on the road surface ahead including the predicted passing position or to a requested control amount of the preview control based on the data, when the reliability is equal to or less than the first threshold value. A vehicle suspension control device comprising:

2. The control process includes a gain change process for reducing a control gain included in the requested control amount of the preview control when the reliability is equal to or lower than the first threshold value, compared to when the reliability is higher than the first threshold value.

2. The vehicle suspension control device according to claim 1.

3. An actuator for controlling a suspension stroke of a controlled wheel; an electronic control unit that controls the actuator to execute a preview control for reducing vibration of a sprung structure of a vehicle; A vehicle suspension control device comprising: The electronic control unit includes: A process of acquiring a vehicle speed of the vehicle; A position acquisition process for acquiring self-position information of the vehicle; a road surface information acquisition process for acquiring a road surface displacement-related value at a predicted passing position of the control target wheel after a preview time from a current time from a road surface data map in which a road surface displacement-related value related to a vertical displacement of the road surface is associated with a position and mapped; a control process for executing the preview control based on a road surface displacement related value at the predicted passing position; Run In the control process, when the vehicle speed is equal to or less than a second threshold, the electronic control unit executes the preview control in a more suppressed manner than when the vehicle speed is higher than the second threshold. The control process includes a filtering process, The filtering process is a process of applying a low-pass filter to data of the road surface displacement-related value on the road surface ahead including the predicted passing position or to a requested control amount of the preview control based on the data, when the vehicle speed is equal to or less than the second threshold value. A vehicle suspension control device comprising:

4. The control process includes a gain change process for reducing a control gain included in a requested control amount of the preview control when the vehicle speed is equal to or lower than the second threshold value, compared to when the vehicle speed is higher than the second threshold value.

4. The vehicle suspension control device according to claim 3.

5. An actuator for controlling a suspension stroke of a controlled wheel; an electronic control unit that controls the actuator to execute a preview control for reducing vibration of a sprung structure of a vehicle; A vehicle suspension control device comprising: The electronic control unit includes: A process of acquiring a vehicle speed of the vehicle; A position acquisition process for acquiring self-position information of the vehicle; a road surface information acquisition process for acquiring a road surface displacement-related value at a predicted passing position of the control target wheel after a preview time from a current time from a road surface data map in which a road surface displacement-related value related to a vertical displacement of the road surface is associated with a position and mapped; A reliability calculation process for calculating the reliability of the self-location information; a control process for executing the preview control based on a road surface displacement related value at the predicted passing position; Run In the control process, when at least one of the conditions that the reliability is equal to or less than a first threshold and the vehicle speed is equal to or less than a second threshold is satisfied, the electronic control unit executes the preview control in a more suppressed manner than when the reliability is higher than the first threshold and the vehicle speed is higher than the second threshold, The control process includes a filtering process, The filtering process is a process of applying a low-pass filter to data of the road surface displacement-related value on the road surface ahead including the predicted passing position or to a requested control amount of the preview control based on the data when at least one of the conditions is satisfied. A vehicle suspension control device comprising:

6. The control process includes a gain change process for reducing a control gain included in a requested control amount of the preview control when at least one of the conditions is satisfied, compared to a case in which the reliability is higher than the first threshold value and the vehicle speed is higher than the second threshold value.

6. The vehicle suspension control device according to claim 5.

7. When the control gain is reduced in the gain change process, the electronic control unit reduces the control gain as the reliability decreases.

7. The vehicle suspension control device according to claim 2 or 6.

8. When the control gain is reduced in the gain change process, the electronic control unit reduces the control gain as the vehicle speed decreases.

7. A vehicle suspension control device according to claim 4 or 6.

9. the electronic control unit controls the actuator to perform feedback control for reducing vibration of the sprung structure in addition to the preview control; When the control gain is reduced in the gain change process, the electronic control unit increases a feedback gain of the feedback control.

9. A vehicle suspension control device according to claim 2, 4, 6, 7 or 8.

10. In the filtering process, the electronic control unit increases the preview time so as to offset a phase delay of the data of the road surface displacement related value according to a time constant of the low pass filter.

6. A vehicle suspension control device according to claim 1, 3 or 5.

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