Road-surface inclined-state detection method and vehicle control method
AssigneeAstemo, Ltd.
InventorsBenjamin Kruse, Michael Sadie
Life of this patent
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Abstract
A road-surface inclined-state detection method includes an acquisition step of acquiring a vehicle state where pitching moment causing front wheels of a vehicle to move upward in a vertical direction relative to rear wheels of the vehicle is applied to the vehicle, and where rear suspensions suspending the rear wheels are stroked in a compressing direction, a count step of starting counting after the vehicle state acquired in the acquisition step meets a predetermined condition, and continuing the counting until the vehicle state fails to meet the predetermined condition, and an inclined-state detection step of detecting an inclined state of a road surface R on which the vehicle travels, according to count values counted in the count step.
Claims13
A road-surface inclined-state detection method, comprising:
- an acquisition step of acquiring a vehicle state where pitching moment causing front wheels of a vehicle to move upward in a vertical direction relative to rear wheels of the vehicle is applied to the vehicle, and where rear suspensions suspending the rear wheels are stroked in a compressing direction;
- a count step of starting counting after the vehicle state acquired in the acquisition step meets a predetermined condition, and continuing the counting until the vehicle state fails to meet the predetermined condition;
- and
- an inclined-state detection step of detecting an inclined state of a road surface on which the vehicle travels, according to count values counted in the count step.
A vehicle control method, comprising:
- an acquisition step of acquiring a pitch angular velocity of a vehicle, a pitch angle of the vehicle, and a velocity in a vertical direction of a sprung mass of the vehicle;
- a count step of starting counting after the pitch angular velocity, the pitch angle, and the velocity in the vertical direction calculated in the acquisition step all exceed predetermined thresholds that are each set corresponding thereto;
- a ramp-size calculation step of calculating a ramp size according to count values counted in the count step when a road surface is a ramp road surface;
- and
- a control step of controlling damping forces of at least either front suspensions or rear suspensions of the vehicle according to the ramp size calculated in the ramp-size calculation step.
A vehicle control method, comprising:
- a calculation step of calculating a pitch angular velocity of a vehicle, a pitch angle of the vehicle, and a velocity in a vertical direction of a sprung mass of the vehicle, where high-pass filter processing to decrease offset components and drift components in the pitch angular velocity, the pitch angle, and the velocity in the vertical direction is applied;
- a count step of starting counting after the pitch angular velocity, the pitch angle, and the velocity in the vertical direction calculated in the calculation step while the high-pass filter processing is applied thereto all exceed predetermined thresholds that are each set corresponding thereto;
- an inclined-state detection step of detecting an inclined state of a road surface, according to count values counted in the count step;
- and
- a control step of controlling damping forces of at least either front suspensions or rear suspensions of the vehicle according to the inclined state detected in the inclined-state detection step.
Dependencies are inferred from the claim text.