Abstract: In a vehicle, GV control and M+ control are executed by generating braking/driving forces from a brake hydraulic pressure control device and a drive device during steering. A controller estimates (calculates), by a posture estimation unit, a pitch amount and a roll amount (predicted pitch rate and predicted roll rate) that occur in the vehicle through use of a moment command of the M+ control and a longitudinal G command of the GV control. The controller adjusts damping forces of damping force variable dampers through use of the estimated pitch amount and the estimated roll amount (predicted pitch rate and predicted roll rate) so that a pitch amount calculated by a pitch control unit and a roll amount calculated by a roll suppression unit approach respective target values.

Abstract: A vehicle control device includes a vertical VSE, a riding comfort control logic, a planar VSE, a steering stability control logic, a command limiting unit, a control command selection unit. The command limiting unit acquires specifications related to a traveling of a vehicle such as, for example, a slip rate and a four-wheel independent braking/driving force control flag through a CAN. The command limiting unit limits a variable range of a damping force generated by a suspension device provided between a vehicle body and wheels of the vehicle based on the specifications related to the traveling of the vehicle to obtain a first command value. The command limiting unit outputs the obtained first command value to the control command selection unit.

Abstract: Provided is a vehicle behavior device including: a variable damper, which is provided between a vehicle body side and a wheel side of a vehicle, and is configured to adjust a force to be generated; a camera device configured to measure a road surface state forward of the vehicle; a future vehicle state estimation unit configured to predict a sprung behavior of the vehicle from a road surface displacement acquired by the camera device and a vehicle speed; and a command value calculation unit configured to obtain a force to be generated by the variable damper based on a predicted value obtained by the future vehicle state estimation unit, and output a command signal.

Abstract: An object of the present invention is to provide a vehicle motion state estimation device and method that can estimate the vertical motion state amount with high accuracy by taking into consideration vertical force in which the frictional force acting in the front-rear direction or lateral direction of the wheel acts on the vehicle body due to the geometry of suspension.

Abstract: A controller controls a suspension apparatus including a variable damper that adjusts a force between a vehicle body and a wheel of a vehicle. The controller includes a first instruction calculation portion and a control instruction output portion. The first instruction calculation portion outputs a first instruction value of a damping force, which corresponds to a first target amount, using a learning result acquired from machine learning in advance by inputting a plurality of different pieces of information. The control instruction output portion limits the first instruction value and outputs it as a control instruction in a case where the first instruction value works in a direction leading to a greater vehicle state amount than a predetermined amount due to control of the variable damper based on the first instruction value.

Abstract: A controller estimates a state of a vehicle based on a wheel speed sensor provided on the vehicle, and outputs a control signal to a shock absorber provided between a wheel and a vehicle body according to the estimated state of the vehicle. The controller uses information of a sensor of an in-vehicle apparatus other than an apparatus dedicated to the shock absorber as an observed value in the estimation of the state of the vehicle. In other words, the controller uses sensor information of a navigation apparatus corresponding to the in-vehicle apparatus other than the shock absorber, more specifically, gyro information meaning information of a gyro sensor mounted on the navigation apparatus as the observed value in the estimation of the state of the vehicle.

Abstract: A controller as a control apparatus controls a shock absorber of a control target wheel (a rear wheel) located in back of a detection target portion (a front wheel) of an unsprung acceleration sensor based on a detection value detected by the unsprung acceleration sensor on the front wheel side provided on a vehicle. In this case, the controller identifies a movement distance (a delay distance) from the detection target portion (the front wheel) and controls the shock absorber of the control target wheel (the rear wheel) located in back thereof based on the detection value of the unsprung acceleration sensor and a vehicle speed for each control period.

Abstract: A shock damper is disposed between a vehicle body side and a wheel side. A suspension control device calculates a damping force of the shock damper on the basis of vehicle height information and controls the damping force. A steering system includes an electric motor and a steering control device that controls the electric motor, and assists steering effort of the driver through the electric motor. The suspension control device calculates the vibration generated in a steering on the basis of a detected value of a vehicle height sensor and creates a signal for generating steering torque that reduces the generated vibration. The suspension control device outputs the created signal to the steering control device. Steering torque for cancelling steering vibration is accordingly outputted from the electric motor of the steering system.

Abstract: An object of the present invention is to provide a vehicle motion control device that generates a travel path capable of realizing comfortable ride comfort and high safety with a small physical quantity related to a vehicle behavior such as a longitudinal acceleration, a lateral acceleration, and a vertical acceleration generated when a vehicle passes or avoids with respect to a predetermined region such as unevenness on a course of a vehicle.

Abstract: Provided are a vehicle, a vehicle motion state estimation apparatus, and a method for estimating a vehicle motion state capable of highly accurately estimating a state quantity of a bounce motion of a vehicle having a non-linear suspension characteristic. The vehicle motion state estimation apparatus in a vehicle, in which wheels and a vehicle body are coupled via a suspension, includes a bounce motion estimation unit that estimates and outputs a state quantity of a bounce motion of the vehicle based on traveling state information of the vehicle, and a correction value estimation unit that calculates a correction value to correct an output the bounce motion estimation unit. The correction value estimation unit calculates the correction value in consideration of a non-linear characteristic of the suspension.

Abstract: A sensory evaluation prediction system includes an input unit that reads an output from a behavior sensor that measures two or more types of pieces of time series information regarding a moving body, a selection unit that selects two or more types of physical quantities from the output from the behavior sensor read by the input unit, a correlation creation unit that creates information showing a correlation in time series between the two or more types of the physical quantities selected by the selection unit, and an evaluation circuit that calculates an evaluation value of a sensory index based on the information showing the correlation in time series.

Abstract: A vehicle motion control device generates a travel route where behavior of a vehicle traveling on a curve is small and comfortable ride is achieved even when the vehicle travels on a continuous curve. The control device includes a travel track generation unit that generates, based on information on a curvature of a first curve on a lane existing in a traveling direction of a vehicle and a curvature of a second curve connected to the first curve, a travel route by setting curvature of the travel route at a time of traveling on a curve having a smaller curvature between the first and second curves to be larger than the curvature of the curve and setting a curvature of the travel route at a time of traveling on a curve having a larger curvature between the first and second curves to be smaller than the curvature of the curve.

Abstract: A controller includes a calculation processing portion configured to make a predetermined calculation based on an input vehicle state amount and output a target damping force, and a damping force map configured to acquire a control instruction value for controlling a variable damper based on the target damping force. The calculation processing portion makes the calculation using a learning result that is acquired by causing the calculation processing portion to learn pairs of a plurality of target amounts acquired using a predetermined evaluation method prepared in advance with respect to a plurality of different vehicle state amounts as pairs of pieces of input and output data.

Abstract: A vehicle control device includes a vertical VSE, a riding comfort control logic, a planar VSE, a steering stability control logic, a command limiting unit, a control command selection unit. The command limiting unit acquires specifications related to a traveling of a vehicle such as, for example, a slip rate and a four-wheel independent braking/driving force control flag through a CAN. The command limiting unit limits a variable range of a damping force generated by a suspension device provided between a vehicle body and wheels of the vehicle based on the specifications related to the traveling of the vehicle to obtain a first command value. The command limiting unit outputs the obtained first command value to the control command selection unit.

Abstract: In a vehicle, GV control and M+ control are executed by generating braking/driving forces from a brake hydraulic pressure control device and a drive device during steering. A controller estimates (calculates), by a posture estimation unit, a pitch amount and a roll amount (predicted pitch rate and predicted roll rate) that occur in the vehicle through use of a moment command of the M+ control and a longitudinal G command of the GV control. The controller adjusts damping forces of damping force variable dampers through use of the estimated pitch amount and the estimated roll amount (predicted pitch rate and predicted roll rate) so that a pitch amount calculated by a pitch control unit and a roll amount calculated by a roll suppression unit approach respective target values.

Abstract: Provided a suspension control apparatus including a vehicle behavior detection unit (acceleration sensors), an electrorheological damper provided between a vehicle body (1) and each wheel (2), and a controller configured to execute control so that a damping force of each electrorheological damper is adjusted based on a detection result obtained by the vehicle behavior detection unit. The controller includes a target voltage value setting unit (damping force command calculation unit) configured to obtain a target voltage value to be applied to an electrode tube based on the detection result obtained by the vehicle behavior detection unit, a temperature estimation unit configured to detect or estimate temperature of ERF, and a target voltage value correction unit (output limiting unit) configured to change the target voltage value so that a piston speed (V) is adjusted based on a value obtained by the temperature estimation unit.

Abstract: A suspension control apparatus includes: a variable damper; a communication unit provided inside a vehicle to receive a dynamic map from a cloud; and a controller configured to adjust a force generated by the variable damper. The controller includes: a state estimation unit, which is provided inside the vehicle, and is configured to detect a motion of the vehicle; an operation-stability controller configured to calculate an AFB command value for the variable damper based on internal information output from the state estimation unit; and a dynamic-map controller configured to calculate an FF command value for the variable damper based on the dynamic map received from the communication unit. The controller determines a command value for the variable damper from the AFB command value and the FF command value.

Abstract: A sensory evaluation system performs sensory evaluation on a plurality of sensory indexes corresponding to respective feelings of an occupant according to traveling of a moving body, and includes: a data adjustment unit that generates evaluation data to be used for the sensory evaluation based on information acquired according to the traveling of the moving body; an evaluation index determination unit that selects at least any one sensory index as an evaluation index from among the plurality of sensory indexes based on the information; an evaluation unit that calculates an evaluation value for the evaluation index from the evaluation data using an evaluation circuit corresponding to the evaluation index; and an aggregation unit that aggregates the evaluation value calculated by the evaluation unit.

Abstract: A controller 10 as a generation mechanism control portion includes a base control portion 15 that determines a lower limit value on an instruction signal (i.e., a base instruction value) that serves as a lower limit on a force to be generated by a variable damper 6 (a force generation mechanism) according to at least a running speed of a vehicle. The base control portion 15 corrects the base instruction value by a base instruction value calculation portion 28 based on a result of a determination about a road surface output from a road surface determination portion 26 (i.e., a result of detection by a road surface state detection portion). A vehicle behavior control apparatus is configured to variably control a damping force characteristic of the variable damper 6 according to a road surface state with use of an instruction value output from the controller 10.

Abstract: An object of the present invention is to provide a vehicle motion state estimation device capable of estimating a vertical momentum of a vehicle with high accuracy from a wheel speed sensor signal during traveling such as acceleration or deceleration, turning, or the like where wheel slips in longitudinal and lateral directions occur. The present invention estimates and removes a variation component caused by a wheel slip from variation components of a wheel speed sensor signal to extract a variation component caused by a displacement of a suspension, and estimates a vertical momentum of a vehicle from the extracted variation component caused by the displacement of the suspension.