Abstract: A first acquisition unit acquires a road surface displacement-associated value related to up-down direction displacement of a road surface forward of a vehicle. A second acquisition unit acquires a state related to up-down direction displacement of a sprung structure or an unsprung structure of the vehicle. A deriving unit derives, in time series data of the road surface displacement-associated value or the state that is acquired, a ratio between a magnitude of a component of a first frequency band and a magnitude of a component of a second frequency band. A control unit executes feedforward control based on the road surface displacement-associated value that is acquired, and also executes feedback control based on the state that is acquired. A setting unit sets, when the derived ratio is no less than a threshold value, and also the feedforward control is not being appropriately executed, the feedback gain to be great.

Abstract: A suspension device installed in a vehicle includes a motor, a torsion bar, a linking member, and a support member. A first portion of the torsion bar is linked to an output shaft of the motor. The linking member is configured to link between a second portion of the torsion bar and an unsprung member. The support member is configured to support the motor on a sprung structure via a first elastic member, and is disposed such that the motor and the torsion bar integrally turn in a direction orthogonal to a first direction, about a position of the support member as a center of turning. The first direction is an axial direction of the torsion bar.

Abstract: A vehicle behavior control apparatus comprises first to fourth suspensions provided on first to fourth wheels of a vehicle, respectively. The first to fourth suspensions include first to fourth actuators that apply vertical control forces to the first to fourth wheels, respectively. When a failure occurs in the fourth actuator other than the i-th actuator (i=1 to 3) among the first to fourth actuators, the vehicle behavior control apparatus executes the following first to third process. The first process is calculating a required value of a behavior parameter representing a behavior of the vehicle. The second process is converting the required value into an i-th required control force for the i-th actuator. The third process is controlling the behavior of the vehicle by controlling the i-th actuator based on the i-th required control force.

Abstract: The vehicle behavior control device includes a controller and an actuator that applies a control force to wheels of the vehicle through position control by the controller. The actuator is configured to apply a control force to the wheel by deforming the transmission member. The controller is configured to calculate a required control force for the actuator, adjust the required control force in consideration of the assumed reaction force, and perform position control of the actuator based on the adjusted required control force. Here, the assumed reaction force is a reaction force generated in the transmission member due to at least one of acceleration/deceleration and steering of the vehicle when the position control of the actuator is zero.

Abstract: A vehicle behavior control apparatus includes: a variable roll stiffness device configured to change roll stiffness of a first axle being one of a front axle and a rear axle and roll stiffness of a second axle being another of the front axle and the rear axle; and a controller. The controller is configured to control the variable roll stiffness device so as to increase the roll stiffness of the first axle in accordance with a lateral acceleration in at least a low acceleration range. The controller is also configured to execute a control process of controlling the variable roll stiffness device so as to increase the roll stiffness of the second axle when the lateral acceleration increases to a high acceleration range beyond the low acceleration range, or a vehicle stability control for reducing at least one of oversteer and understeer of the vehicle is abnormal.

Abstract: In a suspension control system, an actuator adjusts a suspension stroke. An acquisition unit acquires, from a road surface data map in which a road surface displacement-associated value associated with vertical displacement of a road surface is associated with a position, a road surface displacement-associated value at a predicted passing position of a control target wheel a predetermined time after a present time. A calculation unit calculates a target control force based on the acquired road surface displacement-associated value. A control unit controls the actuator such that a control force generated by the actuator coincides with the target control force when the control target wheel passes the predicted passing position. The calculation unit calculates the target control force such that an amount of change in the target control force per unit time becomes smaller when a blinker of a vehicle starts operating than when the blinker is not operating.

Abstract: An actuator of a suspension control system is controlled by a control device to adjust a suspension stroke of a controlled wheel of a vehicle. In the control device, a first acquisition unit repeatedly acquires a road surface displacement-related value from a road surface data map. A second acquisition unit acquires a change amount of the road surface displacement-related value per unit time. A control unit controls the actuator so that a control force generated by the actuator when the controlled wheel passes through a predicted passing position matches a target control force. When the change amount of the road surface displacement-related value per unit time is not less than a threshold value, a calculation unit calculates the target control force so that the change amount of the target control force per unit time becomes smaller than that when the amount of change is less than the threshold value.

Abstract: A conveyance seat accommodatable in a recess of a floor includes: a seat cushion; a front leg portion which supports a front lower portion of the seat cushion and of which one end is rotatably fixed at the front lower portion of the seat cushion and the other end is detachably fixed at a position in front of the recess; a rear leg portion which supports a rear lower portion of the seat cushion and of which one end is rotatably fixed at the rear lower portion of the seat cushion and the other end is rotatably fixed to the floor inside the recess; and an arm portion of which one end is rotatably fixed to the rear leg portion and the other end is fixable to the floor at a position behind the other of the rear leg portion.

Abstract: The vehicle suspension control device includes one or more actuators that change stroke of a suspension of a vehicle having one or more doors, and an electronic control unit that controls the stroke by controlling the position of the one or more actuators. The electronic control unit executes an opening/closing determination process based on information on opening/closing of one or more doors, and a first acquisition process for acquiring a zero point in response to establishment of a first condition that is a condition for acquiring a zero point of a control position of one or more actuators at the time of stopping the vehicle, or in response to elapse of a predetermined time from the establishment of the first condition. The first condition includes that all of the one or more doors have been closed after at least one of the one or more doors has been opened.

Abstract: A vehicle behavior control device includes: an ith suspension mounted on an ith wheel of a vehicle (where i=1 to 3); a fourth suspension mounted on a fourth wheel; and a controller. The ith suspension includes an ith actuator. The controller converts a required value of a behavior parameter to an ith required control force for the ith actuator. When a kth required control force (k is any of 1 to 3) is greater than a kth output range according to an output capability of a kth actuator, the controller performs a required control force reduction process of reducing all of first to third required control forces, and controls the ith actuator based on the ith required control force after the required control force reduction process.

Abstract: The present disclosure includes: a carrier member on which an occupant sits or lies; an active suspension disposed between the carrier member and a vehicle body; a state detection device configured to detect state information that is information on current or future acceleration applied to the carrier member; a controller configured to control the active suspension based on the state information to change a carrier attitude; and an occupant information acquisition device configured to acquire occupant information that is information on an abnormality of a body of an occupant on the carrier member/The controller is configured to correct a controlled variable of the carrier attitude by the active suspension based on the state information and the occupant information.

Abstract: A vibration damping control apparatus for a vehicle executes preview vibration damping control while obtaining, from preview reference data, a road surface displacement related value relating to a vertical displacement of a road surface at a predicted passage position of a wheel of the vehicle. In the preview reference data, relationships are established among the road surface displacement related value obtained when a measurement vehicle actually traveled on the road surface, position information representing the position of a wheel of the measurement vehicle when the road surface displacement related value was obtained, and speed information representing the speed of the measurement vehicle when the road surface displacement related value was obtained or representing a speed range in which the speed of the measurement vehicle is contained.

Abstract: The present disclosure includes an active suspension having an actuator disposed between a carrier member and a vehicle body, a state detection device that detects state information that is information about a current or future acceleration applied to the carrier member, a controller that supplies a control current to the actuator such that, when the up-down direction position of the carrier member is not a preset zero point, the up-down direction position of the carrier member becomes a zero point, and a traveling detection device that detects traveling information that is information about travel of the vehicle, and the controller executes a zero point change processing of changing the zero point based on the traveling information and the state information.

Abstract: A damping control device for a vehicle includes a control force generating device configured to generate vertical control force between a vehicle body of the vehicle and at least one wheel suspended from the vehicle body by a suspension, and an electronic control unit configured to reduce, by controlling the control force generating device to change the control force, vibration of the vehicle body that is caused by vertical vibration occurring in the wheel in response to vertical road surface displacements while the vehicle is traveling, the vertical vibration being transmitted to the vibration of the vehicle body via the suspension.

Abstract: A vehicle suspension control device includes: an actuator configured to apply a control force in a vertical direction between an unsprung structure and a sprung structure; and an electronic control unit configured to control the actuator so as to generate the control force according to a required control amount for reducing vibration of the sprung structure. The required control amount includes at least two control terms of a displacement term, a velocity term, and an acceleration term related to displacement, velocity, and acceleration of the sprung structure. The electronic control unit calculates a magnitude of a frequency component of each of a plurality of frequency bands included in road surface vibration information, and determines a control gain of each of the at least two control terms so as to change based on the magnitude of the frequency component of each of the plurality of frequency bands.

Abstract: A vehicle control device includes a vibration information detection device that detects information relating to vibration of a seat, a drowsiness detection device that detects a state related to drowsiness of an occupant in the seat, and a controller that controls an active suspension. The controller includes a processor. The processor determines, based on detection results from the drowsiness detection device, whether a specific occupant, who is an occupant that is not a driver during manual driving, is asleep or falling asleep. When determining that the specific occupant is asleep or falling asleep, and determining that the vibration of the seat is less than the predetermined value, the processor controls the active suspension such that the vibration of the seat is no less than the predetermined value.

Abstract: An apparatus includes a generator and a control unit. The generator generates a vertical controlling force between a vehicle body and one wheel for damping a vehicle sprung mass vibration. The control unit changes the controlling force by controlling the generator based on an unsprung mass state quantity at an estimated passage position of the wheel at time after a predetermined time from current time; when a condition that a sprung mass of a sampling vehicle is highly likely to be resonating when the sampling vehicle passes through the estimated passage position is satisfied, compute a target controlling force based on a value less than the unsprung mass state quantity acquired by the sampling vehicle at the estimated passage position; and, at the time at which the wheel passes through the estimated passage position, control the generator such that a controlling force is equal to the target controlling force.

Abstract: Map data regarding a vertical motion parameter related to a vertical motion of a wheel of a vehicle are provided. The map data have a data structure for a specific area. The data structure for the specific area includes at least one of: first layer map data indicating a correspondence relationship between a first vehicle traveling direction included in a first direction range, a position, and the vertical motion parameter; and second layer map data indicating a correspondence relationship between a second vehicle traveling direction included in a second direction range not overlapping the first direction range, a position, and the vertical motion parameter.

Abstract: Map data regarding a vertical motion parameter related to a vertical motion of a wheel of a vehicle are provided. The map data have a data structure for a specific area in which a first road and a second road cross with being separated vertically. The data structure for the specific area includes at least one of: first layer map data indicating a correspondence relationship between a horizontal position, a vertical position, and the vertical motion parameter of the first road; and second layer map data indicating a correspondence relationship between a horizontal position, a vertical position, and the vertical motion parameter of the second road.

Abstract: A control device for a vehicle includes: a carrier installed on the vehicle and on which an occupant or an object to be conveyed is placed; an active suspension disposed between the carrier and the vehicle body and capable of controlling a force that acts between the carrier and the vehicle body; a road surface information obtaining device configured to obtain road surface information that is information on a displacement in an up-down direction of a road surface on which a predetermined subject wheel is scheduled to travel; and a controller configured to control the active suspension. The controller calculates a vibration state of the vehicle body based on the road surface information, calculates, based on the vibration state, a corresponding-position state amount indicating the vibration state of a portion of the vehicle body corresponding to the carrier, and controls the active suspension based on the corresponding-position state amount.