Abstract: An electrically powered suspension system includes: an electromagnetic actuator provided between a vehicle body and a wheel of a vehicle and configured to generate a damping force for damping vibration of the vehicle body; a wheel speed sensor that detects a wheel speed of the wheel; a wheel speed variation amount calculation part that calculates a wheel speed variation amount on the basis of wheel speed detection values detected by the wheel speed sensor; a 3D gyro sensor that detects sprung state amounts including a sprung pitching action of the vehicle; and a wheel speed variation amount correction part that estimates a variation component in the wheel speed variation amount on the basis of a sprung pitch amount and corrects the wheel speed variation amount so as to reduce the estimated variation component.

Abstract: A control device includes an additional deceleration calculation unit that calculates an additional deceleration (G×add) to be applied to the vehicle based on the steering angle, a target control amount calculation unit that calculates the control amount for the vehicle behavior changing device based on the additional deceleration, a rough road level calculation unit that calculates a rough road level of a road based on a wheel speed, and a control amount correction unit that corrects the control amount based on the rough road level, the rough road level calculation unit being configured to correct the wheel speed so as to remove a change thereof caused by the cornering maneuver of the vehicle, and to calculate the rough road level by using the corrected wheel speed.

Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates a load for damping vibration of the body. It includes: a camera that detects preview image information of a road surface in front of the vehicle; a 3D gyro sensor that detects a sprung speed of the vehicle; a target load computation unit that computes a target load based on the preview image information and the sprung speed; and a load control unit that controls the load of the actuator by using the computed target load. When a detection result based on the preview image information indicates that the front road surface is even but a detection result based on the sprung speed indicates that the front road surface is uneven, the target load computation unit computes the target load based on the sprung speed.

Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates damping force for damping vibration of the body. It includes: an information acquisition unit that acquires information on a wheel speed and a sprung speed of the vehicle; an estimation unit that estimates a stroke speed of the actuator based on the wheel speed; a determination unit that determines whether a wheel slip has occurred; and an orientation control unit that performs orientation control of the vehicle based on the sprung speed and the estimated stroke speed. When a wheel slip occurs, the orientation control unit performs orientation control of the vehicle based on a fixed stroke speed whose direction is the same as a direction of the sprung speed and whose magnitude is set at a predetermined fixed value, instead of the estimated stroke speed.

Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates damping force for damping vibration of the body. It includes: an information acquisition unit that acquires information on a sprung speed and sprung acceleration of the vehicle; a bounce target value computation unit that computes a bounce target value for controlling the vehicle's bounce orientation based on the sprung speed; and a driving control unit that controls driving of the actuator with a control target load which is based on the bounce target value. The bounce target value computation unit has a bounce target load map in which the bounce target value is associated with the sprung speed. The bounce target value computation unit adjusts a width of a dead zone set in the map based on the information on the sprung speed and sprung acceleration.

Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates damping force for damping vibration of the body. It includes: an information acquisition unit that acquires information on the vehicle's sprung speed, pitch rate, and roll rate; a bounce target value computation unit that computes a bounce target value for controlling the vehicle's bounce orientation based on the sprung speed; a pitch target value computation unit that computes a pitch target value for controlling the vehicle's pitch orientation based on the pitch rate; a roll target value computation unit that computes a roll target value for controlling the vehicle's roll orientation based on the roll rate; and a driving control unit that controls driving of the actuator with a control target load which is based on a sum of the bounce, pitch, and roll target values.

Abstract: A vehicle control system (30) for controlling a behavior control device (20) that controls a behavior of a vehicle (1), comprising: a feed-forward computing unit (71) that computes a feed forward control amount of the behavior control device according to a steering angle of the vehicle; a feedback computing unit (72) that computes a feedback control amount of the behavior control device according to a difference between a target vehicle state amount computed from the steering angle and an actual vehicle state amount; a correcting unit (73) that computes a corrected feed-forward control amount by correcting the feed forward control amount according to the feedback control amount; and a target control amount computing unit (74) that computes a target control amount of the behavior control device according to the feedback control amount and the corrected feed forward control amount.

Abstract: A control device includes an additional deceleration calculation unit that calculates an additional deceleration (G×add) to be applied to the vehicle based on the steering angle, a target control amount calculation unit that calculates the control amount for the vehicle behavior changing device based on the additional deceleration, a rough road level calculation unit that calculates a rough road level of a road based on a wheel speed, and a control amount correction unit that corrects the control amount based on the rough road level, the rough road level calculation unit being configured to correct the wheel speed so as to remove a change thereof caused by the cornering maneuver of the vehicle, and to calculate the rough road level by using the corrected wheel speed.

Abstract: An electrically powered suspension system includes: an electromagnetic actuator provided between a vehicle body and a wheel of a vehicle and configured to generate a damping force for damping vibration of the vehicle body; a wheel speed sensor that detects a wheel speed of the wheel; a wheel speed variation amount calculation part that calculates a wheel speed variation amount on the basis of wheel speed detection values detected by the wheel speed sensor; a 3D gyro sensor that detects sprung state amounts including a sprung pitching action of the vehicle; and a wheel speed variation amount correction part that estimates a variation component in the wheel speed variation amount on the basis of a sprung pitch amount and corrects the wheel speed variation amount so as to reduce the estimated variation component.

Abstract: A vehicle motion control system includes: a steering angle sensor for detecting a steering angle; a vehicle speed sensor for detecting a vehicle speed; a lateral acceleration sensor for detecting an actual lateral acceleration of a vehicle body; a reference lateral acceleration calculation unit configured to calculate a reference lateral acceleration from the steering angle and the vehicle speed; a required longitudinal force calculation unit configured to calculate a required longitudinal force for reducing a deviation of the actual lateral acceleration relative to the reference lateral acceleration; and a longitudinal force control unit configured to control an output of at least one of a brake and a power plant such that the required longitudinal force is generated.

Abstract: A control system for a variable damping force damper, includes: motion state quantity sensors configured to detect motion state quantities of a vehicle; a roll damping force base value setting unit configured to set a roll damping force base value based on the motion state quantities, the roll damping force base value being used to compute a target damping force of the variable damping force damper; a roll rate computation unit configured to compute a sprung mass roll rate and an unsprung mass roll rate of the vehicle based on the motion state quantities; and a roll damping force correction unit configured to correct the roll damping force base value based on a roll rate difference that is a difference between the sprung mass roll rate and the unsprung mass roll rate and to output the corrected roll damping force base value as the target damping force.

Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates damping force for damping vibration of the body. It includes: an information acquisition unit that acquires information on a wheel speed and a sprung speed of the vehicle; an estimation unit that estimates a stroke speed of the actuator based on the wheel speed; a determination unit that determines whether a wheel slip has occurred; and an orientation control unit that performs orientation control of the vehicle based on the sprung speed and the estimated stroke speed. When a wheel slip occurs, the orientation control unit performs orientation control of the vehicle based on a fixed stroke speed whose direction is the same as a direction of the sprung speed and whose magnitude is set at a predetermined fixed value, instead of the estimated stroke speed.

Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates a load for damping vibration of the body. It includes: a camera that detects preview image information of a road surface in front of the vehicle; a 3D gyro sensor that detects a sprung speed of the vehicle; a target load computation unit that computes a target load based on the preview image information and the sprung speed; and a load control unit that controls the load of the actuator by using the computed target load. When a detection result based on the preview image information indicates that the front road surface is even but a detection result based on the sprung speed indicates that the front road surface is uneven, the target load computation unit computes the target load based on the sprung speed.

Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates damping force for damping vibration of the body. It includes: an information acquisition unit that acquires information on a sprung speed and sprung acceleration of the vehicle; a bounce target value computation unit that computes a bounce target value for controlling the vehicle's bounce orientation based on the sprung speed; and a driving control unit that controls driving of the actuator with a control target load which is based on the bounce target value. The bounce target value computation unit has a bounce target load map in which the bounce target value is associated with the sprung speed. The bounce target value computation unit adjusts a width of a dead zone set in the map based on the information on the sprung speed and sprung acceleration.

Abstract: Provided is an electric suspension device including an electromagnetic actuator that is provided between a body and wheel of a vehicle and generates damping force for damping vibration of the body. It includes: an information acquisition unit that acquires information on the vehicle's sprung speed, pitch rate, and roll rate; a bounce target value computation unit that computes a bounce target value for controlling the vehicle's bounce orientation based on the sprung speed; a pitch target value computation unit that computes a pitch target value for controlling the vehicle's pitch orientation based on the pitch rate; a roll target value computation unit that computes a roll target value for controlling the vehicle's roll orientation based on the roll rate; and a driving control unit that controls driving of the actuator with a control target load which is based on a sum of the bounce, pitch, and roll target values.

Abstract: A suspension control system includes: a pitch moment computation unit configured to compute a target pitch moment; a distribution ratio computation unit configured to compute a front and rear distribution ratio based on a roll rate and a vehicle speed, to compute a front distribution ratio based on the roll rate and the vehicle speed, and to compute a rear distribution ratio based on the roll rate and the vehicle speed; and a damping force computation unit configured to compute target damping forces of the dampers corresponding to respective front wheels based on the target pitch moment, the front and rear distribution ratio, and the front distribution ratio, and to compute target damping forces of the dampers corresponding to respective rear wheels based on the target pitch moment, the front and rear distribution ratio, and the rear distribution ratio.

Abstract: A suspension control system includes: variable damping force dampers provided between a vehicle body and each wheel; a roll rate output unit configured to determine if a steering angle speed based on a steering angle is equal to or greater than a prescribed determination value, to output a roll rate detected by a roll rate sensor if the steering angle speed is equal to or greater than the determination value, and to output zero if the steering angle speed is less than the determination value; a pitch moment computation unit configured to compute a target pitch moment of the vehicle body based on an output of the roll rate output unit; and a damping force computation unit configured to compute a target damping force of each damper based on the target pitch moment.

Abstract: A vehicle control system (30) for controlling a behavior control device (20) that controls a behavior of a vehicle (1), comprising: a feed-forward computing unit (71) that computes a feed forward control amount of the behavior control device according to a steering angle of the vehicle; a feedback computing unit (72) that computes a feedback control amount of the behavior control device according to a difference between a target vehicle state amount computed from the steering angle and an actual vehicle state amount; a correcting unit (73) that computes a corrected feed-forward control amount by correcting the feed forward control amount according to the feedback control amount; and a target control amount computing unit (74) that computes a target control amount of the behavior control device according to the feedback control amount and the corrected feed forward control amount.

Abstract: A suspension control system allows a state variable of a vehicle used for the damper damping force control to be computed at a high precision without regards to the caster angle given to the suspension geometry. A suspension control system for a vehicle provided with a variable damper that can adjust a damping force according to an input signal comprises a wheel rotational speed sensor for detecting a wheel rotational speed, a gain circuit for computing the unsprung load of each wheel according to the wheel rotational speed variation detected by the wheel speed sensor, a single wheel model computing unit for computing the sprung velocity and the stroke speed by inputting the unsprung load to a single wheel model representing the behavior of the vehicle, and a damper control unit for controlling a damping force of the variable damper according to the computed sprung velocity and stroke speed.

Abstract: A vehicle motion control system includes: a steering angle sensor for detecting a steering angle; a vehicle speed sensor for detecting a vehicle speed; a lateral acceleration sensor for detecting an actual lateral acceleration of a vehicle body; a reference lateral acceleration calculation unit configured to calculate a reference lateral acceleration from the steering angle and the vehicle speed; a required longitudinal force calculation unit configured to calculate a required longitudinal force for reducing a deviation of the actual lateral acceleration relative to the reference lateral acceleration; and a longitudinal force control unit configured to control an output of at least one of a brake and a power plant such that the required longitudinal force is generated.