Abstract: A suspension control apparatus selectively performs at least one of: compression-stroke control performed when a wheel load is increased, for setting a damping-force characteristic of at least one of damping-force variable dampers, which is provided on a side of at least one wheel whose wheel load is to be increased among a plurality of wheels, to a hard side in an early stage of a compression stroke and switching the damping-force characteristic to a soft side in a latter stage of the compression stroke; extension-stroke control performed when the wheel load is increased, for setting the damping-force characteristic to the soft side in an early stage of an extension stroke and switching the damping-force characteristic to the hard side in a latter stage of the extension stroke; compression-stroke control performed when the wheel load is reduced, for setting the damping-force characteristic of at least one of the damping-force variable dampers, which is provided on a side of at least one wheel whose wheel loa

Abstract: A first observer gain of an actual damping force estimating observer 21 calculates a dynamic characteristic compensating signal, and a second observer gain of an actual vehicle model state amount estimating observer 23 calculates a vehicle model compensating signal, from an output deviation corresponding to a difference between a sprung speed (observation output) provided from a vehicle 2 and an estimated sprung speed (estimated observation output) provided from a vehicle approximation model of the actual vehicle model state amount estimating observer 23. The dynamic characteristic compensating signal is input into a dynamic characteristic providing unit of the actual vehicle model state amount estimating observer 23, and is used for adjustment of the setting of the dynamic characteristic providing unit. Therefore, it is possible to curb time lag occurrence in a control, and thereby perform a vibration control with improved accuracy.

Abstract: A collision between a vehicle and an obstacle is estimated, and based on the estimation result, vehicle deceleration control is performed by a brake actuator to reduce the collision and vehicle wheel load is controlled by a suspension actuator.

Abstract: The present invention provides a suspension control apparatus capable of an excellent vibration control by a model thereof designed to incorporate nonlinearity and a time-lag element of a control damper. The present invention employs the backstepping method which is one of nonlinear control methods, and is designed so as to incorporate the nonlinearity of a damper 4. In addition, a nonlinear controller 5 uses a damping force Fu obtained by expressing the dynamics of a damping force characteristic variable portion [damping force Fu(v, i)] by a first-order lag system, so as to compensate the dynamics of the damper 4, whereby a control system is formed so as to incorporate the time-lag element of the control damper. As a result, it is possible to reduce time lag, and to practically adjust a control force according to the characteristics of the control damper.

Abstract: A suspension control apparatus selectively performs at least one of: compression-stroke control performed when a wheel load is increased, for setting a damping-force characteristic of at least one of damping-force variable dampers, which is provided on a side of at least one wheel whose wheel load is to be increased among a plurality of wheels, to a hard side in an early stage of a compression stroke and switching the damping-force characteristic to a soft side in a latter stage of the compression stroke; extension-stroke control performed when the wheel load is increased, for setting the damping-force characteristic to the soft side in an early stage of an extension stroke and switching the damping-force characteristic to the hard side in a latter stage of the extension stroke; compression-stroke control performed when the wheel load is reduced, for setting the damping-force characteristic of at least one of the damping-force variable dampers, which is provided on a side of at least one wheel whose wheel loa

Abstract: A first observer gain of an actual damping force estimating observer 21 calculates a dynamic characteristic compensating signal, and a second observer gain of an actual vehicle model state amount estimating observer 23 calculates a vehicle model compensating signal, from an output deviation corresponding to a difference between a sprung speed (observation output) provided from a vehicle 2 and an estimated sprung speed (estimated observation output) provided from a vehicle approximation model of the actual vehicle model state amount estimating observer 23. The dynamic characteristic compensating signal is input into a dynamic characteristic providing unit of the actual vehicle model state amount estimating observer 23, and is used for adjustment of the setting of the dynamic characteristic providing unit. Therefore, it is possible to curb time lag occurrence in a control, and thereby perform a vibration control with improved accuracy.

Abstract: The present invention provides a suspension control apparatus capable of an excellent vibration control by a model thereof designed to incorporate nonlinearity and a time-lag element of a control damper. The present invention employs the backstepping method which is one of nonlinear control methods, and is designed so as to incorporate the nonlinearity of a damper 4. In addition, a nonlinear controller 5 uses a damping force Fu obtained by expressing the dynamics of a damping force characteristic variable portion [damping force Fu(v, i)] by a first-order lag system, so as to compensate the dynamics of the damper 4, whereby a control system is formed so as to incorporate the time-lag element of the control damper. As a result, it is possible to reduce time lag, and to practically adjust a control force according to the characteristics of the control damper.

Abstract: A collision between a vehicle and an obstacle is estimated, and based on the estimation result, vehicle deceleration control is performed by a brake actuator to reduce the collision and vehicle wheel load is controlled by a suspension actuator.