Suspension control system
An actuator of a suspension control system is controlled by a control device to adjust a suspension stroke of a controlled wheel of a vehicle. In the control device, a first acquisition unit repeatedly acquires a road surface displacement-related value from a road surface data map. A second acquisition unit acquires a change amount of the road surface displacement-related value per unit time. A control unit controls the actuator so that a control force generated by the actuator when the controlled wheel passes through a predicted passing position matches a target control force. When the change amount of the road surface displacement-related value per unit time is not less than a threshold value, a calculation unit calculates the target control force so that the change amount of the target control force per unit time becomes smaller than that when the amount of change is less than the threshold value.
1 . A suspension control system comprising:
an actuator that adjusts a suspension stroke of a control target wheel of a vehicle; and
a processor that controls the actuator, wherein:
the processor is configured to
repeatedly acquire, from a road surface data map in which a road surface displacement-associated value associated with vertical displacement of a road surface is associated with a position, the road surface displacement-associated value at a predicted passing position of the control target wheel a predetermined period after a present time,
acquire a change amount of the road surface displacement-associated value per unit time based on the acquired road surface displacement-associated value,
calculate a target control force based on the acquired road surface displacement-associated value,
control the actuator such that a control force generated by the actuator coincides with the target control force when the control target wheel passes the predicted passing position, and
execute feedback control for reducing vibration of a sprung structure by controlling the actuator; and
when the acquired change amount of the road surface displacement-associated value per unit time is equal to or larger than a threshold value, the processor is configured to calculate the target control force to reduce a change amount of the target control force per unit time and increase a feedback gain of the feedback control, compared with a case where the acquired change amount is smaller than the threshold value.
2 . The suspension control system according to claim 1 , wherein when the acquired change amount of the road surface displacement-associated value per unit time is equal to or larger than the threshold value, the processor is configured to calculate the target control force to reduce the change amount of the target control force per unit time by applying a rate limiter or a low-pass filter to time-series data of the acquired road surface displacement-associated value or time-series data of the target control force.
3 . The suspension control system according to claim 2 , wherein the processor is configured to apply the rate limiter or the low-pass filter for a predetermined control period when the acquired change amount of the road surface displacement-associated value per unit time is equal to or larger than the threshold value.
4 . The suspension control system according to claim 1 , wherein when the acquired change amount of the road surface displacement-associated value per unit time is equal to or larger than the threshold value, the processor is configured to calculate the target control force to increase an amount of reduction in the change amount of the target control force per unit time as the acquired change amount increases.