Road surface condition estimation method, damping force control method, driving route selection method, road repair method, and road surface condition estimation device

Abstract

To provide a road surface property estimation method that can estimate a road surface property such as road surface roughness and flatness of a road surface on which a vehicle travels without being limited to the road surface property related to a rut.SOLUTION: A road surface property estimation method estimates a stroke speed of a suspension interposed between a vehicle body and wheels of a vehicle on the basis of a wheel speed, a steering angle, lateral acceleration, and a yaw rate of the vehicle (S3), estimates the road surface property on the basis of the difference between the current value and the previous value of the estimated stroke speed and the current value (S5), or estimates the stroke speed of the suspension interposed between the vehicle body and the wheels of the vehicle on the basis of the difference between the current value and the previous value of the detected wheel speed, the current value of the detected wheel speed, the steering angle, the lateral acceleration, and the yaw rate, and estimates the road surface property on the basis of the estimated stroke speed (S15).SELECTED DRAWING: Figure 6

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