Vehicle control apparatus and vehicle control system

1 . A vehicle control apparatus configured to control an actuator provided between a vehicle body and a wheel of a vehicle, the actuator being configured to change a force for suppressing a relative displacement between the vehicle body and the wheel, the vehicle control apparatus comprising:

a posture stability control portion configured to determine an instruction value for controlling the actuator according to an input change in a posture of the vehicle;

a ride comfort control portion configured to determine an instruction value for controlling the actuator according to an input sprung vibration of the vehicle; and

an instruction value calculation portion configured to determine an instruction value directed to the actuator based on both the instruction values of the posture stability control portion and the ride comfort control portion,

wherein the instruction value calculation portion prioritizes the instruction value of the ride comfort control portion when a value indicating the change in the posture of the vehicle is equal to or larger than a predetermined value and a value indicating a sprung vibration extracted from within a sprung resonance frequency band is larger than a predetermined value, and also prioritizes the instruction value of the posture stability control portion regardless of the sprung vibration when the value indicating the change in the posture of the vehicle exceeds a value for prioritizing posture stability.

2 . The vehicle control apparatus according to claim 1 , wherein the instruction value calculation portion includes a correction portion configured to weaken the instruction value of the posture stability control portion so as to prioritize the instruction value of the ride comfort control portion.

3 . The vehicle control apparatus according to claim 1 , wherein the actuator is used to provide an active suspension configured to generate a vertical force between the vehicle body and the wheel, and

wherein the instruction value calculation portion prioritizes the instruction value of the ride comfort control portion when the value indicating the change in the posture of the vehicle is not equal to or larger than the predetermined value and the generated force of the actuator is saturated, and the value indicating the sprung vibration in the sprung resonance frequency band is larger than the predetermined value.

4 . A vehicle control system comprising:

a force generation mechanism configured to adjust a force between a vehicle body and a wheel of a vehicle;

a sprung state detection portion configured to detect or estimate a sprung vibration;

a vehicle posture detection portion configured to detect or estimate a change in a sprung posture; and

a controller configured to perform control

so as to weaken the force to be generated by the force generation mechanism when a value indicating the change in the sprung posture and a value indicating a sprung vibration extracted from within a sprung resonance frequency band transition from smaller states to larger states which are larger than respective predetermined values, and

so as to increase the force to be generated by the force generation mechanism when the value indicating the change in the posture of the vehicle transitions to a large state exceeding a value for prioritizing posture stability.

5 . A vehicle control apparatus configured to control an actuator provided between a vehicle body and a wheel of a vehicle, the actuator being configured to change a force for damping a relative displacement between the vehicle body and the wheel, the vehicle control apparatus comprising:

a posture stability control portion configured to determine an instruction value for controlling the actuator according to an input change in a posture of the vehicle;

a ride comfort control portion configured to determine an instruction value for controlling the actuator according to an input sprung vibration of the vehicle; and

an instruction value calculation portion configured to determine an instruction value directed to the actuator based on both the instruction values of the posture stability control portion and the ride comfort control portion,

wherein the instruction value calculation portion prioritizes the instruction value of the ride comfort control portion by multiplying the instruction value of the posture stability control portion by an index that reduces as a sprung acceleration of the vehicle increases when a value indicating the change in the posture of the vehicle is equal to or larger than a predetermined value and a value indicating a sprung vibration extracted from within a sprung resonance frequency band is larger than a predetermined value.

6 . The vehicle control apparatus according to claim 5 , wherein the instruction value calculation portion includes a correction portion configured to weaken the instruction value of the posture stability control portion so as to prioritize the instruction value of the ride comfort control portion, and

wherein the instruction value of the posture stability control portion is multiplied by the index by the correction portion.

7 . The vehicle control apparatus according to claim 5 , wherein the instruction value calculation portion prioritizes the instruction value of the posture stability control portion regardless of the sprung vibration when the value indicating the change in the posture of the vehicle exceeds a value for prioritizing posture stability.

8 . The vehicle control apparatus according to claim 5 , wherein the actuator is used to provide an active suspension configured to generate a vertical force between the vehicle body and the wheel, and

wherein the instruction value calculation portion prioritizes the instruction value of the ride comfort control portion when the value indicating the change in the posture of the vehicle is not equal to or larger than the predetermined value and a generated force of the actuator is saturated, and the value indicating the sprung vibration in the sprung resonance frequency band is larger than the predetermined value.

9 . A vehicle control system comprising:

a force generation mechanism configured to adjust a force between a vehicle body and a wheel of a vehicle;

a sprung state detection portion configured to detect or estimate a sprung vibration;

a vehicle posture detection portion configured to detect or estimate a change in a sprung posture; and

a controller configured to perform control so as to weaken the force to be generated by the force generation mechanism by multiplying a value indicating the change in the sprung posture by an index that reduces as a sprung vibration of the vehicle increases when the value indicating the change in the sprung posture and a value indicating a sprung vibration extracted from within a sprung resonance frequency band transition from smaller states to larger states which are larger than respective predetermined values.