JP7178439B2 - プレビュー路面検出装置 - Google Patents
プレビュー路面検出装置 Download PDFInfo
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- JP7178439B2 JP7178439B2 JP2021041694A JP2021041694A JP7178439B2 JP 7178439 B2 JP7178439 B2 JP 7178439B2 JP 2021041694 A JP2021041694 A JP 2021041694A JP 2021041694 A JP2021041694 A JP 2021041694A JP 7178439 B2 JP7178439 B2 JP 7178439B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/30—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring roughness or irregularity of surfaces
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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
- B60G17/016—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
-
- 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
- B60G17/018—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 use of a specific signal treatment or control method
- B60G17/0182—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 use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- B60G17/0161—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 mainly during straight-line motion
-
- 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
- B60G17/0162—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 mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- 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
- B60G2401/21—Laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/20—Spring action or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/17—Proportional control, i.e. gain control
- B60G2600/172—Weighting coefficients or factors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Vehicle Body Suspensions (AREA)
Description
本発明は、上記の問題を解決し、車両の旋回時などでタイヤが変形している場合でも、プレビュー路面検出装置で検出した路面変位に基づいてアクティブサスペンションが予見制御されるようにすることを目的とする。
図1は、実施形態のプレビュー路面検出装置1が適用される車両のサスペンションシステムの概要を説明する図である。
サスペンション制御部5は、可変ダンパD2を制御対象として制御を行う。
より詳細には、プレビュー路面検出装置1は距離算出部12の検出値から計測時の車高(車体部材3の路面距離)を減じて、車輪Wの前方の路面変位を算出する。この際の計測時の車高は、サスペンション制御部5が制御変数として算出している値を参照する。
サスペンション制御部5は、路面変位の予見情報に基づいてアクティブサスペンションDを制御するので、乗り心地を向上できる。
実施形態のプレビュー路面検出装置1では、距離センサ11が車体部材3に設置され、距離算出部12が、車両のECU(Electronic Control Unit)に実装される。以下では、距離センサ11の取付について説明する。
図2に示すように、距離センサ11は、車体を形成する車体部材3に固定して構成されている。
詳しくは、距離センサ11は、アッパメンバ32の車幅方向外側の側面に取り付けられている。また、距離センサ11は、アッパメンバ32の前後方向の前端部に位置している。
実施形態の距離センサ11は、3つの三角測量原理や発光した赤外光の反射光強度を距離に換算する方式やレーザ光の飛行時間を距離換算する方式等の赤外線方式の距離センサ11a、11b、11cから構成する。
図3は、車輪Wを車両の前方から見た際の、距離センサ11(11a、11b、11c)が距離を検出する様子を示している。
また、1本のタイヤについて、左旋回でも右旋回でも、旋回中は、タイヤの旋回外周側と旋回内周側とを比較すると、旋回外周側の方が遠心力が大きく作用する(加わる荷重が大きくなる)。このため、同じ1本のタイヤ内でも旋回外周側に位置する部分の方が潰れが大きくなる。
11 距離センサ
12 距離算出部
2 外装部材
3 車体部材
D アクティブサスペンション
D1 懸架ばね
D2 可変ダンパ
W 車輪
W1 ばね
W2 ダンパ
4 プレビュー制御部
5 サスペンション制御部
Claims (1)
- プレビュー路面検出装置であって、
車体部材に設けられ、車輪の路面接地幅の中央部を含み接地部分に対応する車両前方の路面の複数の測定点との距離を検出する距離センサと、
前記距離センサの検出値に基づいて前記車体部材から前記測定点までの路面距離を算出する距離算出部と、を備え、
前記距離算出部は、
前記距離センサで検出した複数の車輪前方の距離のそれぞれに重みを付け、
車両が直進中の場合には、中央部の距離の重みを大きくし、
車両が右旋回中の場合には、左側の距離の重みを大きくし、
車両が左旋回中の場合には、右側の距離の重みを大きくして、
加重平均値を路面距離として算出するようにし、
前記路面距離と前記距離センサで距離を検出した際の前記車体部材の車高とから算出した車両前方の路面変位を路面状態として検出することを特徴とするプレビュー路面検出装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021041694A JP7178439B2 (ja) | 2021-03-15 | 2021-03-15 | プレビュー路面検出装置 |
CN202210172004.2A CN115071356A (zh) | 2021-03-15 | 2022-02-24 | 预视路面检测装置 |
US17/682,263 US20220290987A1 (en) | 2021-03-15 | 2022-02-28 | Preview road surface detection device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2021041694A JP7178439B2 (ja) | 2021-03-15 | 2021-03-15 | プレビュー路面検出装置 |
Publications (2)
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JP2022141409A JP2022141409A (ja) | 2022-09-29 |
JP7178439B2 true JP7178439B2 (ja) | 2022-11-25 |
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JP2021041694A Active JP7178439B2 (ja) | 2021-03-15 | 2021-03-15 | プレビュー路面検出装置 |
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US (1) | US20220290987A1 (ja) |
JP (1) | JP7178439B2 (ja) |
CN (1) | CN115071356A (ja) |
Families Citing this family (2)
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JP7178440B2 (ja) * | 2021-03-22 | 2022-11-25 | 本田技研工業株式会社 | 車両 |
CN115703318A (zh) * | 2021-08-09 | 2023-02-17 | 本田技研工业株式会社 | 悬架装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003307564A (ja) | 2002-02-15 | 2003-10-31 | Mitsubishi Electric Corp | 傾斜角度測定装置 |
JP2019078648A (ja) | 2017-10-25 | 2019-05-23 | パナソニックIpマネジメント株式会社 | 路面検出装置、路面検出方法、路面検出プログラムおよび路面検出プログラムを記録した記録媒体 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59144406U (ja) * | 1983-03-10 | 1984-09-27 | トヨタ自動車株式会社 | 車高補正式路面異常検出装置 |
JPS62115612U (ja) * | 1986-01-14 | 1987-07-23 | ||
JPH08210828A (ja) * | 1995-02-07 | 1996-08-20 | Pasuko Doro Gijutsu Center:Kk | 路面走行特性測定方法 |
US6233510B1 (en) * | 1999-10-15 | 2001-05-15 | Meritor Heavy Vehicle Technology, Llc | Method and system for predicting road profile |
JP4757427B2 (ja) * | 2002-02-15 | 2011-08-24 | 三菱電機株式会社 | 傾斜角度測定装置 |
US7872764B2 (en) * | 2007-10-16 | 2011-01-18 | Magna Electronics Inc. | Machine vision for predictive suspension |
US9533539B2 (en) * | 2011-10-20 | 2017-01-03 | GM Global Technology Operations LLC | Vehicle suspension system and method of using the same |
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2021
- 2021-03-15 JP JP2021041694A patent/JP7178439B2/ja active Active
-
2022
- 2022-02-24 CN CN202210172004.2A patent/CN115071356A/zh active Pending
- 2022-02-28 US US17/682,263 patent/US20220290987A1/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003307564A (ja) | 2002-02-15 | 2003-10-31 | Mitsubishi Electric Corp | 傾斜角度測定装置 |
JP2019078648A (ja) | 2017-10-25 | 2019-05-23 | パナソニックIpマネジメント株式会社 | 路面検出装置、路面検出方法、路面検出プログラムおよび路面検出プログラムを記録した記録媒体 |
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Publication number | Publication date |
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US20220290987A1 (en) | 2022-09-15 |
JP2022141409A (ja) | 2022-09-29 |
CN115071356A (zh) | 2022-09-20 |
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