Vehicle control device and suspension system

Abstract

In the present invention, a controller serving as a vehicle control device controls force of a buffer (damping force). A preview sensor detects road surface displacement information in the travelling direction of a vehicle. A vehicle speed sensor outputs vehicle speed information of the vehicle. The controller uses sampling time and the vehicle speed information to record, in a memory, the road surface displacement information for each occurrence of a prescribed distance over which the vehicle moves. The controller obtains, from the road surface displacement information which has been recorded in the memory, vehicle-wheel-position road surface displacement information that corresponds to the positions of vehicle wheels. The controller outputs an actuator command value where the buffer is caused to perform a prescribed operation in accordance with the vehicle-wheel-position road surface displacement information.

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device and a suspension system mounted on a vehicle such as an automobile. [Background technology]

[0002] For example, Patent Document 1 discloses an active suspension control device for automobiles that controls the force or stroke of the suspension according to the driving state of the automobile. This active suspension control device for automobiles avoids large memory consumption when driving at low speeds by thinning out sampled data according to the vehicle speed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 4-342612 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the conventional technology, memory consumption is reduced by artificially coarsening the sampling granularity (fineness of data) at low speeds. As a result, when the vehicle speed increases, control is performed at a coarse granularity, which may result in a decrease in the performance of the active suspension. For this reason, it is difficult with the conventional technology to ensure both performance (ride comfort, driving stability) and reduction in memory consumption.

[0005] An object of the present invention is to provide a vehicle control device and a suspension system that can achieve both "ensuring performance (ride comfort and driving stability)" and "reducing memory consumption." [Means for solving the problem]

[0006] One embodiment of the present invention is a vehicle control device that is mounted on a vehicle and controls the actuator device, the vehicle control device comprising: an actuator device provided between a body and a wheel of a vehicle and configured to change a force suppressing a relative displacement between the body and the wheel; a road surface displacement detection unit that detects road surface displacement information in a traveling direction of the vehicle; and a vehicle speed information output unit that outputs vehicle speed information of the vehicle. The vehicle control device comprises a road surface displacement information receiving unit to which the road surface displacement information is input; a vehicle speed information receiving unit to which the vehicle speed information is input; and a memory that records the input road surface displacement information. The vehicle control device records the road surface displacement information in the memory for each predetermined distance traveled by the vehicle based on the vehicle speed information and a sampling time, and obtains wheel position road surface displacement information corresponding to the position of the wheel from the road surface displacement information recorded in the memory, and outputs an actuator command value that causes the actuator device to perform a predetermined operation in accordance with the wheel position road surface displacement information. The predetermined distance for recording the road surface variation information in the memory can be changed so as to be a shorter interval when the road surface is very uneven compared to when the road surface is not very uneven. do.

[0007] Also, one embodiment of the present invention is a suspension system comprising: an actuator device provided between a body and a wheel of a vehicle, the actuator device varying a force suppressing a relative displacement between the body and the wheel; a road surface displacement detection unit detecting road surface displacement information in a traveling direction of the vehicle; a vehicle speed information output unit outputting vehicle speed information of the vehicle; a memory for recording the road surface displacement information; and a vehicle control device for recording the road surface displacement information in the memory for each predetermined distance traveled by the vehicle based on the vehicle speed information and a sampling time, determining wheel position road surface displacement information corresponding to a position of the wheel from the road surface displacement information recorded in the memory, and outputting an actuator command value for causing the actuator device to perform a predetermined operation in accordance with the wheel position road surface displacement information. The vehicle control device can change the predetermined distance for recording the road surface variation information in the memory so that the predetermined distance is shorter when the road surface is rough than when the road surface is smooth. do.

[0008] According to one embodiment of the present invention, it is possible to achieve both "ensuring performance (ride comfort and driving stability)" and "reducing memory consumption." [Brief description of the drawings]

[0009] [Figure 1]1 is an overall configuration diagram showing a four-wheeled automobile equipped with a vehicle control device and a suspension system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing a vehicle control device (ECU), an actuator device (variable damper), etc. in FIG. 1. [Diagram 3] FIG. 2 is an explanatory diagram (side view) showing the relationship between a vehicle, a road surface, and a preview sensor (stereo camera). [Figure 4] FIG. 2 is an explanatory diagram (plan view) showing the relationship between wheels of a vehicle and measurement points measured by a preview sensor (stereo camera). [Diagram 5] 4 is a characteristic diagram showing an example of a change in displacement of a vehicle over time according to an embodiment. FIG. [Figure 6] FIG. 13 is a block diagram showing a tire position-road surface displacement calculation unit according to a modified example. [Figure 7] FIG. 11 is a characteristic diagram showing an example of a change in displacement of a vehicle over time according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, a vehicle control device and a suspension system according to an embodiment will be described with reference to the accompanying drawings, taking as an example a case where the vehicle control device and the suspension system are used in an automobile (more specifically, a four-wheeled automobile).

[0011] 1 to 5 show an embodiment. In Fig. 1 and Fig. 4, a total of four wheels 3, 4, for example, left and right front wheels 3 and left and right rear wheels 4, are provided on the underside of a vehicle body 2 constituting the body of a vehicle 1, which is an automobile. "FL", "FR", "RL", and "RR" in Fig. 4 correspond to the positions of the wheels 3, 4, respectively. As shown in Fig. 1, front-wheel suspensions 5, 5 (hereinafter referred to as front-wheel suspensions 5) are provided between the left and right front wheels 3 and the vehicle body 2. The front-wheel suspensions 5 include a suspension spring 6 (hereinafter referred to as the spring 6) and a damping force adjustable shock absorber 7 (hereinafter referred to as the shock absorber 7) provided in parallel with the spring 6.

[0012] Rear-wheel suspensions 8, 8 (hereinafter referred to as rear-wheel suspensions 8) are provided between the left and right rear wheels 4 and the vehicle body 2. The rear-wheel suspensions 8 include a suspension spring 9 (hereinafter referred to as spring 9) and a damping force adjustable shock absorber 10 (hereinafter referred to as shock absorber 10) provided in parallel with the spring 9. The shock absorbers 7, 10 are configured, for example, with semi-active dampers that are hydraulic cylinder devices (variable damping force shock absorbers) that allow for adjustable damping force. In other words, the vehicle 1 is equipped with a semi-active suspension system that uses a variable damping force shock absorber.

[0013] Here, the shock absorbers 7, 10 are provided between the body 2 and the wheels 3, 4 of the vehicle 1. The shock absorbers 7, 10 are actuator devices (force generating mechanisms) that change the force suppressing the relative displacement between the body 2 and the wheels 3, 4. Specifically, the shock absorbers 7, 10 are variable damping force generating devices (variable damping force shock absorbers). The characteristics of the generated damping force (damping force characteristics) of the shock absorbers 7, 10 are variably controlled by a controller 21 described later. For this purpose, the shock absorbers 7, 10 are provided with a damping force adjusting device (not shown) consisting of a damping force adjusting valve, a solenoid, and the like, in order to continuously (or in multiple stages) adjust the damping force characteristics from hard characteristics (hard characteristics) to soft characteristics (soft characteristics). The damping force characteristics of the shock absorbers 7, 10 are variably adjusted according to a command current (control signal) supplied from the controller 21 to the damping force adjusting device.

[0014] The damping force adjustment valve may have a conventionally known structure, such as a pressure control system that controls the pilot pressure of a damping force generating valve or a flow control system that controls a passage area. The shock absorbers 7 and 10 may be actuator devices (force generating mechanisms) such as pneumatic dampers, electromagnetic dampers, electrorheological fluid dampers (ER dampers), and magnetic fluid dampers, as long as they can adjust the damping force continuously (or in multiple stages). The shock absorbers 7 and 10 may be actuator devices (force generating mechanisms) such as air dampers (air suspensions) that use air springs, hydraulic dampers in which front, rear, left and right hydraulic cylinders are connected by piping, and stabilizers that apply force to the movement of the left and right wheels.

[0015] Furthermore, the shock absorbers 7 and 10 may be actuator devices (force generating mechanisms) capable of generating thrust, i.e., full active dampers configured with hydraulic actuators, electric actuators, or pneumatic actuators. In other words, the vehicle 1 may be equipped with a full active suspension system using a full active damper. That is, the shock absorbers 7 and 10 are actuator devices (force generating mechanisms) capable of adjusting the force generated between the vehicle body 2 side and the wheels 3 and 4 side of the vehicle 1, and various actuator devices (force generating mechanisms) such as a variable damping hydraulic damper, an electrorheological fluid damper, a pneumatic damper, an electromagnetic damper, a hydraulic actuator, an electric actuator, or a pneumatic (air) actuator may be used.

[0016] Next, the sensors 11 and 12 mounted on the vehicle 1 will be described.

[0017] As shown in FIG. 1 to FIG. 3, the vehicle 1 is provided with a vehicle speed sensor 11 and a preview sensor 12. That is, the vehicle 1 is provided with the vehicle speed sensor 11 and the preview sensor 12 in addition to the shock absorbers 7 and 10. The vehicle speed sensor 11 is provided, for example, on an output shaft (not shown) of a transmission mounted on the vehicle 1. The vehicle speed sensor 11 detects the vehicle speed (vehicle speed) which is the speed of the vehicle 1. Vehicle speed information which is a detection value (signal corresponding to the vehicle speed) of the vehicle speed sensor 11 is output to various controllers (ECUs) mounted on the vehicle, for example, via a CAN 14 (FIG. 2) which is an in-vehicle LAN communication. For example, as shown in FIG. 2, the information (vehicle speed information) of the vehicle speed sensor 11 is output to a controller 21 (suspension ECU) of a suspension system via the CAN 14.

[0018] The vehicle speed sensor 11 corresponds to a vehicle speed information output unit that outputs vehicle speed information of the vehicle 1. The vehicle speed can also be calculated from detection information (a signal corresponding to the wheel speed) of a wheel speed sensor (not shown) that detects the rotation speed of the wheels 3, 4, for example. For this reason, the vehicle speed information output unit may be configured with a wheel speed sensor. That is, the vehicle speed information output unit may be a sensor (detection device) that directly detects a state quantity corresponding to the vehicle speed, such as the vehicle speed sensor 11, or a sensor (detection device) that detects a state quantity corresponding to the vehicle speed, such as the wheel speed sensor. Furthermore, the vehicle speed information output unit may be a vehicle speed estimation unit (computation device) that estimates the vehicle speed from various state quantities of the vehicle.

[0019] The preview sensor 12 is provided, for example, above the windshield 13 of the vehicle 1 at a central position in the left-right direction of the vehicle 1. The preview sensor 12 may be provided on the front grille or front bumper of the vehicle 1. That is, the preview sensor 12 is provided on the front side of the vehicle 1. As shown in Figs. 3 and 4, the preview sensor 12 measures the state of the road surface 15 ahead of the vehicle 1 (vertical displacement of the road surface 15). The preview sensor 12 corresponds to a road surface detection unit (road surface displacement detection unit) that detects road surface information (more specifically, road surface displacement information) in the traveling direction of the vehicle 1. In the embodiment, the preview sensor 12 that serves as the road surface displacement detection unit is a stereo camera. The road surface displacement detection unit detects the vertical displacement of the road surface 15.

[0020] Here, the road surface displacement detection unit corresponds to an external environment recognition sensor, and may be, for example, a camera such as a stereo camera or a single camera (e.g., a digital camera), and / or a radar such as a laser radar, an infrared radar, or a millimeter wave radar (e.g., a light emitting element such as a semiconductor laser and a light receiving element that receives the light), a LiDAR, or a sonar. Note that the road surface displacement detection unit (external environment recognition sensor) is not limited to a camera, a radar, a LiDAR, or a sonar, and may be any of various sensors (detection device, measurement device, or radio wave detector) that can recognize (detect) the displacement (road surface condition) of the road surface 15 in the traveling direction of the vehicle 1.

[0021] Next, the controller 21 that controls the shock absorbers 7 and 10 will be described with reference to FIGS.

[0022] The controller 21 is mounted on the vehicle 1. The controller 21 is a control device including, for example, a microcomputer, a power supply circuit, and a drive circuit. The controller 21 is also called an ECU (Electronic Control Unit). The controller 21 is a vehicle control device that controls the vehicle 1, more specifically, a suspension control device that controls the vibration and attitude of the vehicle 1 (in other words, a control device for a suspension system, an ECU for a suspension, an ECU for a shock absorber). The controller 21 controls the shock absorbers 7, 10 (adjusts the damping force) based on information (detected value, measured value) detected (measured) by the sensors 11, 12, etc., or information (estimated value, calculated value, computed value) estimated (calculated). That is, the controller 21 controls the force (damping force) of the shock absorbers 7, 10, which are actuator devices.

[0023] For this purpose, the input side of the controller 21 is connected to the sensors 11 and 12. A signal (vehicle speed information) corresponding to the vehicle speed detected by the vehicle speed sensor 11, a signal (road surface displacement information) corresponding to the road surface displacement detected by the preview sensor 12, and the like are input to the controller 21. On the other hand, the output side of the controller 21 is connected to the shock absorbers 7 and 10 which are control dampers. The controller 21 outputs a control signal (command current) to a damping force adjusting device (for example, a solenoid that adjusts the valve opening pressure of a damping force adjusting valve) of the shock absorbers 7 and 10.

[0024] The controller 21 includes a control unit 21A (shown only in FIG. 1) that performs arithmetic processing such as a CPU (arithmetic processing unit), and a memory 21B that is a storage unit such as a ROM, a RAM, or a non-volatile memory. The memory 21B stores, for example, a processing program that calculates (calculates) the road surface displacement at the positions where the wheels 3 and 4 pass (the positions of the shock absorbers 7 and 10) from the information (input signals) of the sensors 11 and 12. The memory 21B also stores a processing program that calculates the damping force to be generated in the shock absorbers 7 and 10 from the road surface displacement at the positions where the wheels 3 and 4 pass (the positions of the shock absorbers 7 and 10), a processing program that outputs a control signal corresponding to the damping force to be generated, and the like.

[0025] As a control law (control law for ride comfort and control law for handling stability) for calculating the damping force of the shock absorbers 7, 10, for example, a skyhook control law, a BLQ control law (bilinear optimal control law), an H∞ control law, or the like can be used. For example, when the motion (behavior) of the sprung vehicle body 2 is to be decelerated by the damping force of the shock absorbers 7, 10, the controller 21 increases the damping force of the shock absorbers 7, 10, and when the motion (behavior) of the sprung vehicle body 2 is to be accelerated by the damping force of the shock absorbers 7, 10, the controller 21 suppresses the damping force of the shock absorbers 7, 10. The shock absorbers 7, 10, which are variable damping force dampers, have the function of suppressing vibration of the vehicle body 2 by appropriately damping the up and down movement of each wheel 3, 4 by changing the damping force.

[0026] Meanwhile, as a technology for controlling the suspension, a preview control suspension has been developed that detects the road surface displacement in advance using a preview sensor such as a camera, and controls the suspension according to the detected road surface displacement. In this case, it is necessary to adjust the timing at which the detected road surface displacement information is output as control information. That is, an adjustment is required to treat the detected road surface displacement information as an input for suspension control at the timing when the wheels (tires) pass over it. This timing adjustment can be performed, for example, by calculating the arrival time from the distance to the detected road surface and the vehicle speed.

[0027] However, in this case, when traveling at a low vehicle speed, the time to reach the detected position becomes longer, which may consume a large amount of memory. That is, consider the case of traveling on a road surface 15 having bumps 15A, potholes 15B, etc., on which the effect of preview control is likely to be obtained, as shown in Fig. 3. When traveling at a low speed on such a road surface 15, the time from the time of detection to the time of reaching the shock absorber of the controlled wheel (arrival time) becomes longer, which may increase the amount of data to be stored and consume a large amount of memory.

[0028] In response to this, the active suspension control device for automobiles described in the above-mentioned Patent Document 1 thins out sampled data according to the vehicle speed, thereby avoiding large memory consumption when driving at low speeds. However, this technology artificially coarsens the sampling granularity (fineness of data) at low speeds, so control is performed at a coarse granularity when the vehicle speed increases. This may result in a decrease in the performance of the active suspension.

[0029] Therefore, in the embodiment, the distance and the displacement information are linked and stored in the memory 21B of the controller 21. That is, every time the vehicle 1 moves a predetermined distance, the displacement information for each distance is recorded in the memory 21B. This allows the interval of the displacement information (granularity of distance) to be determined at the design stage. As a result, data (displacement information) can be stored at a constant granularity from low speed to high speed, and the consumption of the memory 21B can be reduced while suppressing a decrease in performance.

[0030] That is, in the embodiment, by linking and storing distance and displacement information, even at low speeds, memory consumption can be reduced and the displacement information and output timing can be stored in memory 21B. Also, in the embodiment, the process of converting input information from a camera that outputs spatial information (distance, road surface displacement), i.e., preview sensor 12, into time is not required. This makes it possible to simplify the process and suppress the occurrence of errors due to conversion. These points will be described below.

[0031] Fig. 2 shows a control block diagram of the controller 21 when a stereo camera is used as the preview sensor 12. Fig. 3 and Fig. 4 show the positional relationship between the vehicle 1 traveling on the road surface 15 and the measurement positions (measurement points) of the preview sensor 12. Table 1 below shows an image of how road surface displacement information linked to distance is stored.

[0032] [Table 1]

[0033] In this embodiment, as shown in Table 1, the "displacement" measured by the preview sensor 12 and the "distance" corresponding to the measured position are stored in the internal memory 21B of the controller 21. In this case, the "displacement" corresponds to, for example, the vertical displacement of the road surface 15 (road surface displacement information). Also, the "distance" corresponds to, for example, the distance traveled by the vehicle 1 from a reference position (e.g., distance 0) (travel distance information). In this case, the reference position (distance 0) can be a position that serves as a reference for the distance when recording the displacement, such as the position of the measurement point when measurement is started. Here, the control period (sampling period, sampling time) of the controller 21 is set to t smp Let Vx be the vehicle speed of the vehicle 1. Also, let Ds be the predetermined distance set in the memory 21B, that is, the distance interval (distance granularity) at which road surface displacement information is stored in the memory 21B.

[0034] For example, as shown in Table 1, in the previous control cycle, the distance D1 and the road surface deformation information ZO L2 ,ZO R2 is stored in the memory 21B. In the next control cycle, the moving distance ΔD of the vehicle 1 (= Vx × t smp ), and the new measurement value (road surface displacement information) by the preview sensor 12 is loaded into the memory 21B. At this time, if the movement distance ΔD in one control cycle is small and is equal to or less than the predetermined distance Ds set in the memory 21B, it is determined that no movement has occurred, and the previously stored measurement value (road surface displacement information) is overwritten. Note that the predetermined distance Ds is Ds=D2-D1.

[0035] Then, overwriting is repeated until the total travel distance D (=ΣΔD) of the vehicle 1 reaches the predetermined distance Ds set in the memory 21B, and the measured value (road surface displacement information) when the predetermined distance Ds is reached (or immediately before the predetermined distance Ds is reached) is held (recorded) in the memory 21B. That is, as shown in Table 1, when the vehicle 1 reaches a distance D2, which is the predetermined distance Ds from the distance D1, the distance D2 and the road surface displacement information at that time ZO are stored (recorded) in the memory 21B. L3 ,ZO R3are stored in memory 21B. The measured values ​​obtained between D1 and D2 are overwritten (deleted) as indicated by "·" in Table 1. In other words, if the vehicle 1 has not traveled the predetermined distance Ds, the information is overwritten (the previous information is deleted).

[0036] The measurement values ​​(road surface displacement information) for each predetermined distance Ds stored in memory 21B are used for suspension control as control input values ​​at the position of the front wheels 3 when the vehicle 1 moves a distance L from the measurement point. As shown in FIG. 4, distance L is the distance between the measurement point and the front wheels 3 (measured distance L). The measurement values ​​(road surface displacement information) stored in memory 21B are used for suspension control as control input values ​​at the position of the rear wheels 4 when the vehicle 1 moves a distance L plus wheelbase W from the measurement point. The measurement values ​​(road surface displacement information) used for suspension control can be deleted from memory 21B.

[0037] On the other hand, when traveling at high speed, the travel distance ΔD in one control cycle becomes large. For example, when traveling at high speed, there is a possibility that the vehicle 1 will travel several times the predetermined distance Ds in one control cycle. In this case, interpolation is performed using road surface displacement information of the section that has been captured. For example, linear interpolation is performed using the road surface displacement information of the previous control cycle and the road surface displacement information of the current control cycle. For example, consider a case where the travel distance ΔD in one control cycle is twice the predetermined distance Ds (ΔD=2Ds).

[0038] In this case, the distance of the previous control cycle is D1, and the road surface displacement information (vertical displacement) is ZO L2 ,ZO R2 The distance of this control cycle is D3 (=D1+2Ds), and the road surface displacement information (vertical displacement) is ZO L4 ,ZO R4 The road surface displacement information (vertical displacement) of the distance D2, which is the middle point between the distances D1 and D3, is calculated as ZO L3 ,ZO R3 The road surface deformation information ZO for the distance D2 L3 ,ZO R3 That is, the road surface change information on the left side of the vehicle 1 at the distance D2 can be calculated as follows: L3 =(ZO L4+ZO L2 ) / 2, and the road surface deformation information on the right side of vehicle 1 at distance D2 is ZO R3 =(ZO R4 +ZO R2 ) / 2. In this case, the road surface displacement information stored in memory 21B can be used for suspension control as a control input value at the position of each wheel 3, 4 when the vehicle 1 moves a distance L from the measurement point and / or moves a distance L + wheelbase W. The measurement values ​​(road surface displacement information) used for suspension control can be deleted from memory 21B.

[0039] For example, the control period (sampling frequency) is 1 ms, and the predetermined distance Ds (profile granularity) stored in the memory 21B is 1 cm. In this case, when traveling at a low speed of 10 km / h (=2.78 m / s=278 cm / s), the vehicle advances approximately 0.28 cm per control period. Therefore, the road surface displacement information at that time point is stored approximately every four control periods. In other words, the road surface displacement information for approximately three control periods until the vehicle advances the predetermined distance of 1 cm is deleted by being overwritten. On the other hand, when traveling at a high speed of 100 km / h, the vehicle advances approximately 2.8 cm per control period. In this case, the road surface displacement information during one control period is interpolated (for example, linearly interpolated) from the road surface displacement information of the previous control period and the road surface displacement information of the current control period.

[0040] In order to perform such control, a controller 21 serving as a vehicle control device (suspension control device) is connected to a vehicle speed sensor 11 serving as a vehicle speed information output unit and a preview sensor 12 serving as a road surface displacement detection unit, as shown in Fig. 2. The controller 21 controls the shock absorbers 7 and 10 serving as variable damping force dampers, based on detection signals (vehicle speed information, road surface displacement information) of the vehicle speed sensor 11 and the preview sensor 12. The controller 21 includes a tire position / road surface displacement calculation unit 22 and a suspension control unit 27.

[0041] The tire position / road surface displacement calculation unit 22 receives as input a vehicle speed sensor value (vehicle speed information) from the vehicle speed sensor 11 and a preview sensor value (road surface displacement information) from the preview sensor 12. The tire position / road surface displacement calculation unit 22 calculates the displacement of the road surface 15 at the positions of the wheels 3 and 4, i.e., tire position / road surface displacement (wheel position / road surface displacement information), based on the vehicle speed sensor value (vehicle speed information) and the preview sensor value (road surface displacement information). The tire position / road surface displacement calculation unit 22 outputs the calculated tire position / road surface displacement (wheel position / road surface displacement information) to the suspension control unit 27.

[0042] The tire position / road surface displacement calculation unit 22 of the controller 21 includes a road surface displacement information receiving unit 23, a vehicle speed information receiving unit 24, and a memory 21B. The tire position / road surface displacement calculation unit 22 also includes a travel distance calculation unit 25. A preview sensor value serving as road surface displacement information detected by the preview sensor 12 is input to the road surface displacement information receiving unit 23. The road surface displacement information receiving unit 23 outputs an absolute road surface displacement (a signal corresponding to the absolute road surface displacement) serving as road surface displacement information based on the input preview sensor value to the memory 21B, more specifically, to a road surface profile unit 26 of the memory 21B.

[0043] The vehicle speed information receiving unit 24 receives a vehicle speed sensor value detected by the vehicle speed sensor 11 as vehicle speed information. The vehicle speed information receiving unit 24 outputs a vehicle speed (a signal corresponding to the vehicle speed) as vehicle speed information based on the received vehicle speed sensor value to the travel distance calculation unit 25. The travel distance calculation unit 25 receives the vehicle speed from the vehicle speed information receiving unit 24. The travel distance calculation unit 25 calculates the travel distance of the vehicle 1, i.e., the travel distance in one control cycle, based on the vehicle speed and a control cycle (sampling time). That is, the travel distance calculation unit 25 calculates the distance traveled by the vehicle 1 in one control cycle by multiplying the vehicle speed by the control cycle (sampling time). The travel distance calculation unit 25 outputs the calculated travel distance in one control cycle (a signal corresponding to the travel distance) to the memory 21B, more specifically, to the road surface profile unit 26 of the memory 21B.

[0044] The memory 21B receives an input of the absolute road surface displacement from the road surface displacement information receiving unit 23. The memory 21B also receives an input of the travel distance for one control cycle from the travel distance calculation unit 25. The memory 21B records the input road surface displacement information, i.e., the absolute road surface displacement. In this case, the memory 21B records the absolute road surface displacement and the travel distance in association with each other. That is, the memory 21B has a road surface profile unit 26, and the road surface profile unit 26 stores the displacement (absolute road surface displacement) and the distance (travel distance) in association with each other, as shown in Table 1 above. In other words, the road surface profile unit 26 of the memory 21B records (stores) the absolute road surface displacement for each predetermined distance Ds traveled by the vehicle 1. The predetermined distance Ds corresponds to the interval (granularity of distance) at which the absolute road surface displacement is recorded (stored) in the memory 21B.

[0045] When the predetermined distance Ds is small, the granularity becomes high, and the performance of the suspension control (ride comfort, running stability) tends to improve, and the memory consumption tends to increase. On the other hand, when the predetermined distance Ds is large, the granularity becomes low, and the performance of the suspension control (ride comfort, running stability) tends to decrease, and the memory consumption also tends to decrease. Therefore, the predetermined distance Ds can be set so that the performance of the suspension control (ride comfort, running stability) can be ensured and the memory consumption can be suppressed. The predetermined distance Ds may be changed according to the surrounding environment of the vehicle. For example, the predetermined distance Ds can be adjusted according to whether the road surface condition is good or not, whether it is night or not, and whether it is rainy or not. In this case, for example, the predetermined distance Ds can be made smaller when the road surface 15 has many bumps and dips compared to when the road surface 15 has few bumps and dips. The predetermined distance Ds can be set to, for example, about 0.5 cm to 2.0 cm.

[0046] The road surface profile unit 26 records (holds) the absolute road surface displacement for each predetermined distance Ds based on the travel distance in one control cycle from the travel distance calculation unit 25 and the absolute road surface displacement from the road surface displacement information receiving unit 23. The road surface profile unit 26 outputs the recorded (held) absolute road surface displacement to the suspension control unit 27 when the vehicle 1 moves a distance L from the measurement point and / or moves a distance L + wheelbase W. That is, the road surface profile unit 26 outputs a tire position road surface displacement (wheel position road surface displacement information), which is the displacement of the road surface 15 at the positions of the wheels 3, 4, to the suspension control unit 27.

[0047] The suspension control unit 27 receives the tire position road surface displacement (wheel position road surface displacement information) from the tire position road surface displacement calculation unit 22 (road surface profile unit 26). The suspension control unit 27 calculates the damping force to be generated in the shock absorber 7, 10 according to the tire position road surface displacement (wheel position road surface displacement information). Then, the suspension control unit 27 outputs a control signal (command current) according to the damping force to be generated in the shock absorber 7, 10 to the shock absorber 7, 10 which is a control damper. That is, the suspension control unit 27 outputs a command current (control signal) corresponding to the damper command value to a damping force adjusting device of the shock absorber 7, 10 (for example, a solenoid that adjusts the valve opening pressure of a damping force adjusting valve).

[0048] In this way, the controller 21 records (stores) the road surface displacement information (vertical displacement of the road surface) in the memory 21B for each predetermined distance Ds traveled by the vehicle 1, based on the vehicle speed information (vehicle speed) and the sampling time (control period). At the same time, the controller 21 obtains road surface displacement information (wheel position road surface displacement information) corresponding to the positions of the wheels 3 and 4 from the road surface displacement information recorded in the memory 21B. Then, the controller 21 outputs a command current (actuator command value) for causing the shock absorbers 7 and 10 to perform a predetermined operation according to the obtained road surface displacement information (wheel position road surface displacement information). The predetermined distance Ds for recording the road surface displacement information in the memory 21B can vary according to the surrounding environment of the vehicle 1 (for example, road surface conditions, nighttime, rainy weather, etc.). In this case, the predetermined distance Ds for recording the road surface displacement information in the memory 21B can be set to a shorter interval when the road surface 15 is very uneven, compared to when the road surface 15 is not very uneven.

[0049] Here, the preview sensor 12 detects road surface displacement information at a fixed time (sampling time, control cycle) that is arbitrarily set. When the travel distance (ΔD and therefore ΣΔD) of the vehicle 1 estimated based on the vehicle speed information and the fixed time (sampling time, control cycle) is shorter than a predetermined distance Ds, the controller 21 records the road surface displacement information so as to overwrite the previous road surface displacement information recorded in the memory 21B. On the other hand, when the travel distance (ΔD and therefore ΣΔD) of the vehicle 1 estimated based on the vehicle speed information and the fixed time (sampling time, control cycle) is longer than the predetermined distance Ds, the controller 21 generates interpolation data that interpolates the road surface displacement information between the previous road surface displacement information recorded in the memory 21B.

[0050] The controller 21 may record in the memory 21B road surface change information for each predetermined distance Ds traveled by the vehicle 1 when the moving speed (vehicle speed) of the vehicle 1 is equal to or lower than a predetermined speed. In this case, for example, when the moving speed (vehicle speed) of the vehicle 1 exceeds the predetermined speed, the road surface change information for each fixed time (sampling time, control period) can be recorded in the memory 21B.

[0051] For example, the vehicle speed at which the moving distance of the vehicle 1 per fixed time (e.g., one sampling time, one control cycle) is a fixed distance Ds is set as the vehicle speed threshold (fixed speed). In this case, the controller 21 can record in the memory 21B the road surface displacement information for each fixed distance Ds moved by the vehicle 1, for example, when the vehicle speed is slower than the vehicle speed threshold. On the other hand, the controller 21 can record in the memory 21B the road surface displacement information for each fixed time (per sampling time, per control cycle) when the vehicle speed is faster than the vehicle speed threshold.

[0052] The vehicle control device and suspension system according to the embodiment have the configurations described above. Next, their operation will be described.

[0053] A preview sensor 12 provided at the front of the vehicle body 2 captures a road surface 15 ahead of the vehicle 1 as road surface preview information (road surface displacement information) and outputs it to a controller 21. The controller 21 variably controls the damping force to be generated in the shock absorbers 7, 10 based on the road surface displacement information from the preview sensor 12 and vehicle information from the vehicle speed sensor 11.

[0054] In this case, the controller 21 acquires road surface displacement information in the memory 21B at a predetermined sampling period, and stores (records) the road surface displacement information in the memory 21B each time the vehicle 1 travels a predetermined distance Ds. This allows the granularity (distance range) of the road surface displacement information stored in the memory 21B of the controller 21 to be designed to be constant. As a result, a constant memory capacity can be achieved regardless of the speed (vehicle speed) of the vehicle 1. Also, since there is no need to convert the input from the preview sensor 12 into time, it is possible to simplify processing and reduce errors.

[0055] Fig. 5 shows the control effect of the semi-active suspension system according to the embodiment. That is, Fig. 5 shows an example of the change over time in displacement of the vehicle 1 according to the embodiment. Fig. 5 shows a case in which the vehicle 1 runs over a bump (projecting road) at a low speed of 10 km / h. In the embodiment, the preview control can reduce the floor vertical displacement by 20% and the rocking time by 32% compared to the case in which the preview control is not performed.

[0056] Thus, in the embodiment, the controller 21 records road surface displacement information in the memory 21B for each predetermined distance Ds traveled by the vehicle 1 based on the vehicle speed information and the sampling time (control period), and obtains wheel position road surface displacement information corresponding to the positions of the wheels 3, 4 from the road surface displacement information recorded in the memory 21B. Therefore, the road surface displacement information recorded in the memory 21B can have a granularity (fineness of data) according to the distance. This makes it possible to keep the amount of road surface displacement information recorded in the memory 21B constant, regardless of the vehicle speed (memory consumption).

[0057] As a result, it is possible to avoid a large amount of memory consumption at low speeds. In addition, for example, it is easy to estimate the amount of memory consumption at the design stage. Moreover, since the road surface displacement information is recorded for each predetermined distance Ds, by setting this predetermined distance Ds within a range that ensures the desired suspension performance, it is possible to ensure the control performance of the vehicle 1, i.e., the ride comfort and running stability due to the operation of the shock absorbers 7 and 10. In particular, since the travel distance is short at low speeds, it is possible to ensure the granularity (precision) of the road surface displacement (road surface profile) while reducing memory consumption, thereby improving control performance. Therefore, it is possible to achieve both "ensuring performance (ride comfort and running stability)" and "reducing memory consumption."

[0058] According to the embodiment, the predetermined distance Ds for recording the road surface displacement information in the memory 21B is varied according to the surrounding environment of the vehicle 1. Therefore, for example, by shortening the predetermined distance Ds when the road surface conditions are poor, the control performance when the road surface conditions are poor can be improved. Also, for example, by shortening the predetermined distance Ds at night, the control performance at night can be improved, and the ride comfort at night can be improved. Also, for example, by shortening the predetermined distance Ds when it is raining, the control performance when it is raining can be improved, and the running stability when it is raining can be improved.

[0059] According to the embodiment, the predetermined distance Ds for recording the road surface variation information in the memory 21B is a shorter interval when the road surface 15 is very uneven than when the road surface 15 is not very uneven. Therefore, when the road surface 15 is very uneven, the control performance can be improved compared to when the road surface 15 is not very uneven. This can improve the ride comfort and driving stability when the road surface 15 is very uneven.

[0060] According to the embodiment, the preview sensor 12 detects road surface displacement information at a fixed time (sampling time) that is arbitrarily set. Then, when the moving distance (ΔD and therefore ΣΔD) of the vehicle 1 estimated based on the vehicle speed information and the fixed time (sampling time) is shorter than a predetermined distance Ds, the controller 21 overwrites the immediately preceding road surface displacement information recorded in the memory 21B. Therefore, the immediately preceding road surface displacement information is overwritten until the moving distance (ΔD and therefore ΣΔD) reaches the predetermined distance Ds, and when the moving distance (ΔD and therefore ΣΔD) reaches the predetermined distance Ds, the latest road surface displacement information is recorded in the memory 21B. This makes it possible to record road surface displacement information for every predetermined distance Ds while suppressing memory consumption.

[0061] According to the embodiment, the preview sensor 12 detects road surface displacement information at a fixed time (sampling time) that is arbitrarily set. Then, when the travel distance (ΔD and therefore ΣΔD) of the vehicle 1 estimated based on the vehicle speed information and the fixed time (sampling time) is longer than a predetermined distance Ds, the controller 21 generates interpolation data that interpolates the road surface displacement information between the immediately preceding road surface displacement information recorded in the memory 21B. Therefore, even if the road surface displacement information cannot be recorded every predetermined distance Ds during high-speed traveling, the recorded road surface displacement information and the interpolation data can ensure the granularity (precision) of the road surface displacement (road surface profile).

[0062] Here, the interpolated data can be, for example, linearly interpolated using the road surface displacement information of the previous control cycle and the road surface displacement information of the current control cycle. When linearly interpolating, for example, when traveling on a road surface 15 where a sudden difference in road surface displacement occurs at high speed, there is a possibility that an error will be large. However, when traveling on such a road surface 15, it is considered that the vehicle speed will be reduced, and therefore the error due to the interpolation is considered to be acceptable.

[0063] According to the embodiment, when the moving speed (vehicle speed) of the vehicle 1 is equal to or lower than a predetermined speed, the controller 21 records the road surface displacement information for each predetermined distance Ds traveled by the vehicle 1 in the memory 21B. Therefore, when the moving speed of the vehicle 1 is equal to or lower than a predetermined speed, the road surface displacement information is recorded in the memory 21B for each predetermined distance Ds, thereby reducing memory consumption and ensuring the granularity (precision) of the road surface displacement (road surface profile). On the other hand, when the moving speed of the vehicle 1 exceeds a predetermined speed, the road surface displacement information is recorded in the memory 21B for each predetermined time (for example, one sampling time), thereby ensuring the granularity (precision) of the road surface displacement (road surface profile) and suppressing memory consumption.

[0064] In the embodiment, the road surface displacement information is recorded in the memory 21B of the controller 21 that controls the shock absorbers 7 and 10. However, the present invention is not limited to this, and may be configured to record the road surface displacement information in a memory (e.g., a memory of another controller) provided separately from the controller 21 that controls the shock absorbers 7 and 10. In this case, for example, a tire position road surface displacement (wheel position road surface displacement information) based on the road surface displacement information recorded in a memory provided separately from the controller may be output to a suspension control unit.

[0065] In the embodiment, the road surface displacement detection unit that detects road surface displacement information in the traveling direction of the vehicle 1 is the preview sensor 12. However, the present invention is not limited to this, and the road surface displacement detection unit may be, for example, a laser displacement meter. That is, for example, a laser displacement meter may be provided on the lower side (inner side) of the front bumper, which is forward of the front wheels 3 of the vehicle 1, facing the road surface 15, and a displacement (vertical displacement) of the road surface 15 facing the laser displacement meter may be detected. In this case, the relative road surface displacement to be measured changes depending on the pitch and roll of the body 2 of the vehicle 1.

[0066] Therefore, in this case, the displacement due to the pitch and roll of the vehicle body 2 is calculated from the acceleration sensor (G sensor) attached to the vehicle body 2, and is removed from the measurement value (detection value) of the laser displacement meter to obtain the absolute road surface displacement. Then, the obtained absolute road surface displacement is recorded (registered) in the memory 21B of the controller 21 for every predetermined distance Ds, as in the above-mentioned embodiment, and is output at the positions of the wheels 3, 4, which are the tire positions. This makes it possible to control the shock absorbers 7, 10 in the same way as in the above-mentioned embodiment.

[0067] 6 shows a tire position / road surface displacement calculation unit 31 of the controller 21 according to a modified example. The tire position / road surface displacement calculation unit 31 receives as input the vehicle speed sensor value (vehicle speed information) from the vehicle speed sensor 11, the measurement value (road surface displacement information) from the laser displacement meter, and the acceleration sensor value (acceleration information) from the acceleration sensor. The measurement value from the laser displacement meter corresponds to the relative displacement amount of the road surface, i.e., the relative road surface displacement. The acceleration sensor value from the acceleration sensor corresponds to the sprung acceleration.

[0068] The tire position / road surface displacement calculation unit 31 calculates the displacement of the road surface 15 at the positions of the wheels 3 and 4, i.e., the tire position / road surface displacement (wheel position / road surface displacement information), based on the vehicle speed sensor value (vehicle speed information), the measurement value of the laser displacement meter (road surface displacement information), and the sensor value of the acceleration sensor (acceleration information). The tire position / road surface displacement calculation unit 31 outputs the calculated tire position / road surface displacement (wheel position / road surface displacement information) to the suspension control unit 27.

[0069] The tire position / road surface displacement calculation unit 31 includes an integration unit 32, a subtraction unit 33, a movement distance calculation unit 25, and a memory 21B (road surface profile unit 26). Although omitted in Fig. 6, the modified tire position / road surface displacement calculation unit 31 also includes a road surface displacement information receiving unit to which the measurement value (road surface displacement information) of the laser displacement meter is input, and a vehicle speed information receiving unit 24 (see Fig. 2) to which the vehicle speed sensor value (vehicle speed information) of the vehicle speed sensor 11 is input.

[0070] The sprung acceleration (acceleration information), which is the sensor value of the acceleration sensor, is input to the integrator 32. The integrator 32 calculates the sprung displacement by integrating the sprung acceleration, and outputs the calculated sprung displacement to the subtractor 33. The subtractor 33 receives the relative road surface displacement (road surface displacement information), which is the measurement value of the laser displacement meter, and the sprung displacement (sprung displacement information), which is the calculated value of the integrator 32.

[0071] The subtraction unit 33 calculates the absolute road surface displacement by subtracting the relative road surface displacement from the sprung displacement. Since the relative road surface displacement corresponds to the distance between the sprung mass and the road surface, "absolute road surface displacement = sprung mass displacement - (sprung mass displacement - road surface)". The subtraction unit 33 outputs the calculated absolute road surface displacement to the memory 21B (road surface profile unit 26). Note that the memory 21B (road surface profile unit 26) and the movement distance calculation unit 25 are the same as those in the above-mentioned embodiment, and therefore their description will be omitted.

[0072] Fig. 7 shows the control effect of the active suspension system according to the modified example. That is, Fig. 7 shows an example of the change over time in the displacement of the vehicle 1 according to the modified example. Fig. 7 shows a case in which the vehicle 1 runs over a bumpy road at 50 km / h. In the modified example, the preview control (laser displacement control) can reduce the vertical displacement of the floor by 23%. That is, like the first embodiment described above, the modified example can also achieve both "ensuring performance (ride comfort, driving stability)" and "reducing memory consumption."

[0073] In the above embodiment, the case where the preview sensor 12 is used as the road surface displacement detection unit that performs the preview control has been described as an example. In the modified example, the case where a laser displacement meter is used as the road surface displacement detection unit that performs the preview control has been described as an example. However, the present invention is not limited to this, and for example, a monocular camera, a LiDAR, map information, etc. may be used as the road surface displacement detection unit that performs the preview control. In other words, the road surface displacement detection unit may use various road surface displacement information providing devices that can provide road surface information in the traveling direction of the vehicle.

[0074] Next, a function that becomes possible by linking distance and displacement information and storing them in memory 21B will be described. In preview control using road surface displacement information, it is possible that performance may be degraded due to insufficient measurement granularity or noise in the sensor signal depending on the road surface condition and the surrounding environment. Therefore, for the road surface condition, the frequency of the road surface is predicted from the road surface profile in memory 21B, and the distance granularity, i.e., the predetermined distance Ds, is changed depending on the road surface frequency. In this case, for example, if the road surface frequency is high, the distance granularity can be made finer (the predetermined distance Ds can be made shorter), and if the road surface frequency is low, the distance granularity can be made coarser (the predetermined distance Ds can be made longer). This makes it possible to perform optimal control according to the road surface condition.

[0075] Regarding the influence of the surrounding environment, when the preview sensor 12 performs measurements with a certain width in the direction of travel of the vehicle, the consistency between the data measured in the past and the data measured this time can be confirmed and corrected. That is, depending on the environment around the vehicle 1, the environment may be unfavorable for detecting road surface displacement information. For example, when a laser displacement meter is used, performance may be degraded in weather conditions that cause solar noise, or when the road surface has a shape or material that does not allow the laser light to be reflected well. Also, when a camera is used, performance may be degraded when there is insufficient brightness or when it is foggy.

[0076] In such a case, therefore, the consistency of the currently measured data with the previously measured data is checked and corrected. That is, when using the preview sensor 12 that measures a certain width in the traveling direction of the vehicle 1, the same location of the road surface 15 is sampled multiple times. At this time, the previously sampled road surface displacement and distance, the currently sampled road surface displacement and distance, and the distance traveled between samplings are known, so that the consistency with the previous values ​​can be checked and the data can be corrected. This allows optimal control to be performed even if the surrounding environment is unfavorable for detecting road surface displacement information.

[0077] According to the embodiment described above, the vehicle control device records road surface displacement information in a memory for each predetermined distance traveled by the vehicle based on the vehicle speed information and the sampling time, and obtains wheel position road surface displacement information corresponding to the wheel position from the road surface displacement information recorded in the memory. Therefore, the road surface displacement information recorded in the memory can be set to a granularity (data fineness) according to the distance. This allows the amount of road surface displacement information recorded in the memory (memory consumption) to be constant regardless of the vehicle speed. As a result, it is possible to avoid a large amount of memory consumption at low speeds. In addition, for example, it is easy to estimate memory consumption at the design stage. Moreover, since the road surface displacement information is recorded for each predetermined distance, by setting this predetermined distance within a range that can ensure desired performance, it is possible to ensure the control performance of the vehicle, that is, the ride comfort and running stability due to the operation of the actuator device. In particular, since the travel distance is short at low speeds, it is possible to ensure the granularity (precision) of the road surface displacement (road surface profile) while reducing memory consumption, and thus improve the control performance. Therefore, it is possible to achieve both "ensuring performance (ride comfort, running stability)" and "reducing memory consumption".

[0078] According to the embodiment, the predetermined distance for recording road surface displacement information in the memory is changed according to the surrounding environment of the vehicle. Therefore, for example, by shortening the predetermined distance when the road surface condition is poor, the control performance when the road surface condition is poor can be improved. Also, for example, by shortening the predetermined distance at night, the control performance at night can be improved, and the ride comfort at night can be improved. Also, for example, by shortening the predetermined distance when it is raining, the control performance when it is raining can be improved, and the driving stability when it is raining can be improved.

[0079] According to the embodiment, the predetermined distance for recording the road surface variation information in the memory is shorter when the road surface is very uneven than when the road surface is not very uneven. Therefore, when the road surface is very uneven, the control performance can be improved compared to when the road surface is not very uneven. This can improve the ride comfort and driving stability when the road surface is very uneven.

[0080] According to the embodiment, the road surface displacement detection unit detects road surface displacement information at a fixed time that is arbitrarily set. Then, the vehicle control device overwrites the immediately previous road surface displacement information recorded in the memory when the travel distance of the vehicle estimated based on the vehicle speed information and the fixed time is shorter than a predetermined distance. Therefore, the immediately previous road surface displacement information is overwritten until the travel distance reaches the predetermined distance, and when the travel distance reaches the predetermined distance, the latest road surface displacement information is recorded in the memory. This makes it possible to record road surface displacement information for every predetermined distance while suppressing memory consumption.

[0081] According to the embodiment, the road surface displacement detection unit detects road surface displacement information at a fixed time that is arbitrarily set. Then, when the estimated travel distance of the vehicle is longer than a predetermined distance based on the vehicle speed information and the fixed time, the vehicle control device generates interpolation data that interpolates the road surface displacement information between the immediately previous road surface displacement information recorded in the memory. Therefore, even if the road surface displacement information cannot be recorded every predetermined distance when traveling at high speed, the recorded road surface displacement information and the interpolation data can ensure the granularity (precision) of the road surface displacement (road surface profile).

[0082] According to the embodiment, the vehicle control device records road surface displacement information in memory for each predetermined distance traveled by the vehicle when the moving speed of the vehicle is equal to or less than a predetermined speed. Therefore, when the moving speed of the vehicle is equal to or less than a predetermined speed, the road surface displacement information is recorded in memory for each predetermined distance, thereby reducing memory consumption and ensuring the granularity (precision) of the road surface displacement (road surface profile). On the other hand, when the moving speed of the vehicle exceeds the predetermined speed, the road surface displacement information is recorded in memory for each sampling time, for example, thereby ensuring the granularity (precision) of the road surface displacement (road surface profile) and suppressing memory consumption.

[0083] The present invention is not limited to the above-described embodiment, but includes various modified examples. For example, the above-described embodiment has been described in detail to clearly explain the present invention, and is not necessarily limited to those having all of the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

[0084] This application claims priority based on Japanese Patent Application No. 2022-008595, filed on January 24, 2022. The entire disclosure of Japanese Patent Application No. 2022-008595, filed on January 24, 2022, including the specification, claims, drawings, and abstract, is incorporated herein by reference in its entirety. [Explanation of symbols]

[0085] 1: Vehicle 2: Body 3: Front wheel (wheel) 4: Rear wheel (wheel) 7, 10: Damping force adjustable shock absorber (actuator device) 11: Vehicle speed sensor (vehicle speed information output section) 12: Preview sensor (road surface displacement detection unit) 15: Road surface 21: Controller (vehicle control device) 21A: Control section 21B: Memory 23: Road surface deformation information receiver 24: Vehicle speed information receiver Ds: Predetermined distance (predetermined distance)

Claims

1. an actuator device provided between a body and a wheel of a vehicle and configured to change a force that suppresses a relative displacement between the body and the wheel; a road surface change detection unit that detects road surface change information in a traveling direction of the vehicle; a vehicle speed information output unit that outputs vehicle speed information of the vehicle; A vehicle control device that is mounted on a vehicle and controls the actuator device, a road surface deformation information receiving unit to which the road surface deformation information is input; a vehicle speed information receiving unit to which the vehicle speed information is input; A memory for recording the input road surface displacement information; Equipped with recording the road surface change information in the memory for each predetermined distance traveled by the vehicle based on the vehicle speed information and a sampling time, determining wheel position road surface change information corresponding to the position of the wheel from the road surface change information recorded in the memory, and outputting an actuator command value for causing the actuator device to perform a predetermined operation in accordance with the wheel position road surface change information; The predetermined distance for recording the road surface variation information in the memory can be changed so as to be a shorter interval when the road surface is very uneven, compared to when the road surface is not very uneven. Vehicle control device.

2. The vehicle control device according to claim 1, The predetermined distance for recording the road surface change information in the memory varies depending on the surrounding environment of the vehicle. Vehicle control device.

3. The vehicle control device according to claim 1 or 2, The road surface change detection unit detects road surface change information at a fixed time that is arbitrarily set, When the travel distance of the vehicle estimated based on the vehicle speed information and the certain time is shorter than a predetermined distance, the road surface change information is recorded so as to overwrite the immediately preceding road surface change information recorded in the memory. Vehicle control device.

4. The vehicle control device according to claim 1 or 2, The road surface change detection unit detects road surface change information at a fixed time that is arbitrarily set, When the travel distance of the vehicle estimated based on the vehicle speed information and the certain time period is longer than a predetermined distance, interpolation data is generated for interpolating the road surface variation information between the road surface variation information immediately before the road surface variation information stored in the memory. Vehicle control device.

5. The vehicle control device according to claim 1 or 2, When the moving speed of the vehicle is equal to or lower than a predetermined speed, the road surface change information for each predetermined distance moved by the vehicle is recorded in the memory. Vehicle control device.

6. an actuator device provided between a body and a wheel of a vehicle and configured to change a force that suppresses a relative displacement between the body and the wheel; a road surface change detection unit that detects road surface change information in a traveling direction of the vehicle; a vehicle speed information output unit that outputs vehicle speed information of the vehicle; A memory for recording the road surface displacement information; a vehicle control device that records the road surface change information in the memory for each predetermined distance traveled by the vehicle based on the vehicle speed information and a sampling time, obtains wheel position / road surface change information corresponding to the position of the wheel from the road surface change information recorded in the memory, and outputs an actuator command value for causing the actuator device to perform a predetermined operation in accordance with the wheel position / road surface change information; Equipped with A suspension system in which the vehicle control device is capable of changing the specified distance for recording the road surface displacement information in the memory to a shorter interval when the road surface is very uneven compared to when the road surface is less uneven.

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