To provide a road surface property estimation method that can estimate a road surface property such as road surface roughness and flatness of a road surface on which a vehicle travels without being limited to the road surface property related to a rut.SOLUTION: A road surface property estimation method estimates a stroke speed of a suspension interposed between a vehicle body and wheels of a vehicle on the basis of a wheel speed, a steering angle, lateral acceleration, and a yaw rate of the vehicle (S3), estimates the road surface property on the basis of the difference between the current value and the previous value of the estimated stroke speed and the current value (S5), or estimates the stroke speed of the suspension interposed between the vehicle body and the wheels of the vehicle on the basis of the difference between the current value and the previous value of the detected wheel speed, the current value of the detected wheel speed, the steering angle, the lateral acceleration, and the yaw rate, and estimates the road surface property on the basis of the estimated stroke speed (S15).SELECTED DRAWING: Figure 6
【課題】轍(わだち)に関する路面性状に限定されずに、車両が走行する路面の路面粗さや平坦性などの路面性状を推定にできる路面性状推定方法を提供する。【解決手段】路面性状推定方法では、車両の車輪速と舵角と横加速度とヨーレイトとに基づいて、車両の車体と車輪との間に介装されたサスペンションのストローク速度を推定し(S3)、推定したストローク速度の今回値と前回値との差分と、今回値と、に基づいて、路面性状を推定する(S5)。または、検出した車輪速の今回値と前回値との差分と、検出した車輪速の今回値と、舵角と、横加速度と、ヨーレイトとに基づいて、車両の車体と車輪との間に介装されたサスペンションのストローク速度を推定し、推定した前記ストローク速度に基づいて、路面性状を推定する(S15)。【選択図】図6
ROAD SURFACE PROPERTY ESTIMATION METHOD, ATTENUATION FORCE CONTROL METHOD, TRAVEL PATH SELECTION METHOD, ROAD REPAIRING METHOD, AND ROAD SURFACE PROPERTY ESTIMATION DEVICE
路面性状推定方法、減衰力制御方法、走行経路選択方法、道路補修方法及び路面性状推定装置
2024-06-11
Patent
Electronic Resource
Japanese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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