JP6266565B2 - サスペンション制御装置 - Google Patents
サスペンション制御装置 Download PDFInfo
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- JP6266565B2 JP6266565B2 JP2015133541A JP2015133541A JP6266565B2 JP 6266565 B2 JP6266565 B2 JP 6266565B2 JP 2015133541 A JP2015133541 A JP 2015133541A JP 2015133541 A JP2015133541 A JP 2015133541A JP 6266565 B2 JP6266565 B2 JP 6266565B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
- B60G2401/142—Visual Display Camera, e.g. LCD
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Description
乗物前方の景色を照明し、その画像を繰り返し撮影する工程と、
前記繰り返し撮影された画像における地形的特徴を特定する工程と、
地表面からの前記地形的特徴の大きさを求める工程と、
前記乗物の速度を求める工程と、
前記地形的特徴の大きさと前記乗物が特徴に到達するときの予想速度に基づいて、前記特徴に到達する前に前記乗物のサスペンションパラメータを自動的に調整する工程を含む。
Claims (16)
- 前方に向けられたカメラを有する車載式TOF(time of flight)カメラ装置を備えており、
前記カメラ装置は、乗物前方の景色を照明してその画像を繰り返し撮影するように構成されており、
前記景色中にある走行面の地形的特徴を特定するとともに前記乗物の速度を特定する、乗物用サスペンション制御システムであって、
前記システムは、前記地形的特徴の上を前記乗物が走行する前に、前記乗物のサスペンションを調整して、高速設定、又は、前記高速設定とは異なる複数のオフロード設定の一つのいずれかを取るための、自動調整サスペンションパラメータを有し、
前記自動調整サスペンションパラメータは、前記複数のオフロード設定から一つのオフロード設定を選択することを含み、
前記地形的特徴と、前記乗物が前記地形的特徴に到達するときの前記乗物の予想速度とを考慮して、前記一つのオフロード設定が選択される、乗物用サスペンション制御システム。 - 複数の前記地形的特徴を連続的に評価して、前記走行面の平均表面粗さを求め、前記平均表面粗さに応じて前記乗物のサスペンションパラメータを調整するように構成されている、請求項1の乗物用サスペンション制御システム。
- 前記自動調整サスペンションパラメータの調整に応じて、乗物の最大速度を制限するように構成されている、請求項1のいずれかの乗物用サスペンション制御システム。
- 繰り返し撮影された前記画像の中に関心点を特定し、前記関心点に関する前記乗物の移動速度を求めるように構成されている、請求項1又は3のいずれかの乗物用サスペンション制御システム。
- 複数の前記地形的特徴のうちの地表面からの最大の突出物又は窪みに応じて、前記乗物の車高を変えるように構成されている、請求項1、3、4のいずれかの乗物用サスペンション制御システム。
- 複数の前記地形的特徴のうちの地表面からの最大の突出物又は窪みに応じて、前記サスペンションの硬さを変えるように構成されている、請求項1、3〜5のいずれかの乗物用サスペンション制御システム。
- 前記平均表面粗さから離れた大きな突出物又は窪みを特定し、前記大きな突出物又は窪みが前記乗物の走行経路にあるか否か判断し、前記乗物が前記大きな突出物又は窪みに到達する前に前もって前記サスペンションパラメータを一時的に調整するように構成されている、請求項2の乗物用サスペンション制御システム。
- 前記サスペンションパラメータの調整を前記乗物のドライバに警告するための警報を含む、請求項1〜7のいずれかの乗物用サスペンション制御システム。
- 前記乗物の最大速度は前記乗物のドライバによって設定可能である、請求項8の乗物用サスペンション制御システム。
- 前記カメラがTOFカメラである、請求項1〜9のいずれかの乗物用サスペンション制御システム。
- (a)前記乗物の現在の速度、
(b)前記現在の速度の前に取得された前記乗物の速度の少なくとも1つ、
(c)前記乗物のエンジンとブレーキの状態、及び、
(d)前記乗物の姿勢、
の少なくともいずれかに基づいて前記乗物の予想速度が計算される、請求項1〜10のいずれかの乗物用サスペンション制御システム。 - 乗物にその前方に向けてカメラを設け、
前記乗物の前方の景色を繰り返し撮影し、
繰り返し撮影した景色の画像における地形的特徴を特定し、
前記地形的特徴から地表面からの突出部又は窪みを求め、
地表面から突出した又は地表面から窪んだ前記地形的特徴の大きさを求め、
前記乗物の速度を求め、
前記地形的特徴の上を前記乗物が走行する前に、前記乗物のサスペンションを調整して、高速設定、又は、前記高速設定とは異なる複数のオフロード設定の一つのいずれかを取るための、自動調整サスペンションパラメータを用意し、
前記自動調整サスペンションパラメータは、前記複数のオフロード設定から一つのオフロード設定を選択することを含み、
前記地形的特徴と、前記乗物が前記地形的特徴に到達するときの前記乗物の予想速度とを考慮して、前記一つのオフロード設定が選択される、
乗物のサスペンションパラメータを調整する方法。 - 前記乗物の速度を求める工程は、繰り返し撮影された前記画像の中に関心点を特定し、前記関心点に関する前記乗物の移動速度を求めるように構成されている、請求項12の乗物のサスペンションパラメータを調整する方法。
- 最大表面粗さと最小表面粗さの間に、平均表面粗さの複数の幅が定義され、前記幅に応じて前記サスペンションパラメータが調整される、請求項12又は13の乗物のサスペンションパラメータを調整する方法。
- 前記突出物又は窪みはこれが予め決められた大きさを超えている場合に大きな突出物又は窪みとし、前記乗物が前記大きな突出物又は窪みに出会うか否かを判断する工程と、該判断の結果に応じて前記サスペンションパラメータを調整する工程を含む、請求項12〜14のいずれかの乗物のサスペンションパラメータを調整する方法。
- 複数の前記地形的特徴を連続的に評価して、前記走行面の平均表面粗さを求め、前記平均表面粗さに応じて前記乗物のサスペンションパラメータを調整するように構成されており、前記平均表面粗さから離れた大きな突出物又は窪みを特定し、前記大きな突出物又は窪みが前記乗物の走行経路にあるか否か判断し、前記乗物が前記大きな突出物又は窪みに到達する前に前もって前記サスペンションパラメータを一時的に調整するように構成されている、請求項3〜6のいずれかの乗物用サスペンション制御システム。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1115400.2A GB2494415A (en) | 2011-09-06 | 2011-09-06 | A vehicle suspension control including a vehicle mounted time of flight camera |
GB1115400.2 | 2011-09-06 | ||
GB1115398.8 | 2011-09-06 | ||
GB1115398.8A GB2494413A (en) | 2011-09-06 | 2011-09-06 | Vehicle speed determination |
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JP2014527698A Division JP2014531357A (ja) | 2011-09-06 | 2012-09-04 | サスペンション制御装置 |
Publications (2)
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JP2016000612A JP2016000612A (ja) | 2016-01-07 |
JP6266565B2 true JP6266565B2 (ja) | 2018-01-24 |
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JP2014527698A Pending JP2014531357A (ja) | 2011-09-06 | 2012-09-04 | サスペンション制御装置 |
JP2015133541A Active JP6266565B2 (ja) | 2011-09-06 | 2015-07-02 | サスペンション制御装置 |
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JP2014527698A Pending JP2014531357A (ja) | 2011-09-06 | 2012-09-04 | サスペンション制御装置 |
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US (1) | US9662955B2 (ja) |
EP (1) | EP2758260B1 (ja) |
JP (2) | JP2014531357A (ja) |
GB (1) | GB2494528B (ja) |
WO (1) | WO2013034561A1 (ja) |
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EP2758260A1 (en) | 2014-07-30 |
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US9662955B2 (en) | 2017-05-30 |
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WO2013034561A1 (en) | 2013-03-14 |
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