SYSTEM FOR ESTIMATING BEHAVIOR OF VEHICLE
Provided is a system for estimating behavior of a vehicle to control damping force of a variable damper installed between an axle and a vehicle body. The system includes four dampers installed in wheels, two or more wheel sensors configured to detect vertical velocities of wheels, one integrated sensor installed on one side of the vehicle body, and an electronic control unit (ECU) configured to control damping force of the dampers on the basis of a roll value, a pitch value, and a bounce value of the vehicle body estimated through the integrated sensor and the vertical velocities of the wheels.
1 . A system for estimating behavior of a vehicle to control damping force of a variable damper installed between an axle and a vehicle body, the system comprising:
four dampers each installed in wheels;
two or more wheel sensors configured to detect vertical velocities of wheels;
one integrated sensor installed on one side of the vehicle body; and
an electronic control unit (ECU) configured to control damping force of the dampers on the basis of a roll value, a pitch value, and a bounce value of the vehicle body estimated through the integrated sensor and the vertical velocities of the wheels.
2 . The system of claim 1 , wherein the wheel sensors include vertical acceleration sensors installed on the axle, and
the vertical acceleration sensors are installed on a front-axle left wheel to sense a left front vertical acceleration of the axle and installed on a front-axle right wheel to sense a right front vertical acceleration value of the axle.
3 . The system of claim 1 , wherein the wheel sensors include height sensors, and
the height sensors measure a relative distance between a front-axle left wheel and the vehicle body and a relative distance between a front-axle right wheel and the vehicle body.
4 . The system of claim 1 , wherein the ECU derives the bounce value, the roll value, and the pitch value using a vehicle dynamics model.
5 . The system of claim 4 , wherein the integrated sensor additionally measures a yaw value, Acc_x, and Acc_y to compensate for an installation angle of the integrated sensor installed in the vehicle body.
6 . The system of claim 1 , wherein the integrated sensor is installed outside the ECU.
7 . The system of claim 6 , wherein the integrated sensor is positioned at a gravity center of the vehicle.
8 . The system of claim 6 , wherein the integrated sensor is positioned at a geometric center of area of the vehicle.
9 . The system of claim 1 , wherein the integrated sensor is installed inside the ECU, and
the ECU is not installed at a gravity center of the vehicle.