JP6578024B2 - 車体運動および乗員体験を制御するための方法およびシステム - Google Patents
車体運動および乗員体験を制御するための方法およびシステム Download PDFInfo
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- JP6578024B2 JP6578024B2 JP2017562728A JP2017562728A JP6578024B2 JP 6578024 B2 JP6578024 B2 JP 6578024B2 JP 2017562728 A JP2017562728 A JP 2017562728A JP 2017562728 A JP2017562728 A JP 2017562728A JP 6578024 B2 JP6578024 B2 JP 6578024B2
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- vehicle
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- active suspension
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Classifications
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Description
を周波数の関数として示す伝達率グラフである。
)と車体の加速度(
)との比である。曲線110は、非減衰サスペンションシステムに関する伝達率対周波数のプロットである。曲線111は、運転者を有する車両の能動サスペンションシステムの伝達率の例を表す。この場合、サスペンションシステムは、乗客の快適性と運転者の道路感覚との許容可能なバランスを提供するために調整される。自律車両の場合、いくつかの実施形態において、道路感覚は重要な考慮事項ではないことがある。したがって、そのような自律車両の能動サスペンションシステムは、たとえば乗り物酔いが生じ得る周波数の範囲内などの低周波数伝達率を、曲線111の従来駆動型車両よりも大きな程度まで低減するように調整され得る。ただし、いくつかの実施形態において、低周波数伝達率の抑制は、道路感覚の低下および能動サスペンションシステムによるエネルギー消費の増加とともに、特定のより高い周波数における伝達率の増加をもたらし得る。2つのそのような実施形態は、能動サスペンションシステムを搭載された自律車両の伝達率の例を示す曲線112および113によって示され、駆動型車両(曲線111)と比べて低い周波数の運動が軽減されている。したがって、実施形態によると、能動サスペンションシステムを含む自律車両は、乗り物酔いまたは他の状態に関連する周波数範囲において車両の少なくとも一部への運動の伝達を低減するように動作してよく、対象周波数範囲外の異なる周波数範囲において車両の一部への運動の伝達の増加を許容してよい。たとえば図示された実施形態において、自律車両に関連する曲線は、約0.1Hz〜12Hzの間で車体への運動の伝達の低減、および12Hzを上回る周波数の伝達の増加の領域を示す。勿論、これらは典型的な範囲にすぎず、図に示す範囲より大きいまたは小さい他の周波数範囲が用いられてもよい。
例:乗り物酔い試験
Claims (23)
- 車両における乗り物酔いを軽減する方法であって、
第1の動作モード中、第1の周波数範囲における前記車両の少なくとも一部の運動を第1の程度軽減することと、
前記車両の少なくとも1人の乗員の乗り物酔いの可能性増加を示すイベントを検出することと、
第2の動作モード中、前記第1の周波数範囲における前記車両の前記一部の運動を、前記第1の程度とは異なる第2の程度軽減することと
を備える方法。 - 前記第1のモードおよび前記第2のモードにおいて前記車体の運動を軽減するために前記車両の上下方向の運動を制御する少なくとも1つのアクチュエータを動作させることをさらに備える、請求項1に記載の方法。
- 前記少なくとも1つのアクチュエータは能動サスペンションシステムを備える、請求項2に記載の方法。
- 前記第2の程度は前記第1の程度よりも大きい、請求項2に記載の方法。
- 前記能動サスペンションシステムは、前記第2の動作モードにおいてより多くの平均電力を消費する、請求項4に記載の方法。
- 前記第2のモード中の第2の周波数範囲内の運動の軽減は、前記第1のモード中より大きい、請求項1に記載の方法。
- 前記第1の周波数範囲は、約0.05Hz以上10Hz以下である、請求項1に記載の方法。
- 前記第1の周波数範囲は、約2Hz以上8Hz以下である、請求項1に記載の方法。
- 前記乗り物酔いの可能性増加を示すイベントを検出することは、乗員入力を受け取ることを含む、請求項1に記載の方法。
- 前記乗り物酔いの可能性増加を示すイベントを検出することは、乗り物酔いに関連する運動パターンを検出することを含む、請求項1に記載の方法。
- 前記乗り物酔いの可能性増加を示すイベントを検出することは、前記乗り物酔いの可能性増加に関連する、前記車両の少なくとも1人の乗員の生理的反応を検出することを含む、請求項1に記載の方法。
- 前記生理的反応は、前記車両のコントローラと無線通信状態にある装着型電子デバイスおよび前記車両内のセンサの少なくとも1つを用いて測定される、請求項1に記載の方法。
- 前記乗り物酔いの可能性増加を示すイベントを検出することは、前記乗り物酔いの可能性増加に関連するエリアを識別するために前記車両のGPS座標を用いることを含む、請求項1に記載の方法。
- 能動サスペンションシステムと、
前記能動サスペンションシステムと通信状態にある能動サスペンションシステムコントローラと、
前記コントローラと電気通信状態にある少なくとも1つのセンサまたは入力と
を備える車両であって、前記コントローラは、前記少なくとも1つのセンサまたは入力からの情報を用いて、前記車両の乗員の乗り物酔いの可能性増加を検出し、前記乗員の前記乗り物酔いの可能性増加が検出されると、より大きな程度まで周波数範囲内の運動を軽減するように前記能動サスペンションシステムを動作させる、車両。 - 前記能動サスペンションシステムは、前記能動サスペンションシステムが前記周波数範囲内の運動をより大きな程度まで軽減するほど多くの平均電力を消費する、請求項14に記載の車両。
- 前記周波数範囲は約0.05Hz以上10Hz以下である、請求項14に記載の車両。
- 前記周波数範囲は約2Hz以上8Hz以下である、請求項14に記載の車両。
- 車両の能動サスペンションシステムを動作させる方法であって、
第1のマグニチュードを有する第1の周波数範囲内の車両の運動を検出することと、
第2のマグニチュードを有する第2の周波数範囲内の前記車両の運動を誘発するように前記車両の前記能動サスペンションシステムを動作させることと
を備える方法。 - 前記第1の周波数および前記第2の周波数は概ね等しい、請求項18に記載の方法。
- 前記第1の周波数および前記第2の周波数は位相がずれている、請求項19に記載の方法。
- 前記第1のマグニチュードは前記第2のマグニチュード以下である、請求項18に記載の方法。
- 前記第1のマグニチュードは前記第2のマグニチュードより大きい、請求項18に記載の方法。
- 前記第1の周波数は0.1Hz〜10Hzである、請求項18に記載の方法。
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