Apparatus and method for controlling suspension of vehicle
An apparatus for controlling a suspension of a vehicle to improve high-speed driving stability of the vehicle includes: a sensor that obtains information about a road surface ahead the vehicle during travel of the vehicle; and a controller that derives a height value of the road surface from the information about the road surface, determines a state of the road surface based on a differential value of the derived height value, predicts vehicle behavior corresponding to the determined state of the road surface, and controls a damping force of the suspension based on the predicted vehicle behavior.
1. An apparatus for controlling a suspension of a vehicle, the apparatus comprising:
a sensor configured to obtain information about a road surface ahead of the vehicle during travel of the vehicle; and
a controller configured to:
derive a height value of the road surface from the information about the road surface,
determine a state of the road surface based on a differential value of the derived height value, wherein the state of the road surface is determined as at least one of an uphill road, a downhill road, or a corrugated road,
set a point at which the derived height value of the road surface exceeds a first reference height value and the differential value of the derived height value of the road surface exceeds a first reference differential value as a determination start time point,
set a point at which the derived height value of the road surface exceeds a second reference height value and the differential value of the derived height value of the road surface exceeds the first reference differential value as a determination confirmation time point,
determine the road surface as the uphill road, when a distance between the determination start time point and the determination confirmation time point is within a reference distance, wherein the reference distance is increased or decreased in proportion to a speed of the vehicle,
predict a vehicle behavior corresponding to the determined state of the road surface, and
control a damping force of the suspension based on the predicted vehicle behavior.
2. The apparatus of claim 1 , wherein the controller is configured to determine the road surface as the corrugated road, when the distance between the determination start time point and the determination confirmation time point exceeds the reference distance.
3. The apparatus of claim 1 , wherein the controller is configured to predict a vehicle behavior corresponding to the uphill road and control the damping force of the suspension based on the predicted vehicle behavior right before entrance to the uphill road.
4. The apparatus of claim 3 , wherein the controller is configured to control the suspension such that the suspension has the damping force harder than a basic damping force.
5. The apparatus of claim 1 , wherein the controller is configured to:
set a point at which the derived height value of the road surface is less than or equal to a third reference height value and the differential value of the derived height value of the road surface is less than or equal to a second reference differential value as another determination start time point,
set a point at which the derived height value of the road surface is less than or equal to a fourth reference height value and the differential value of the derived height value of the road surface is less than or equal to the second reference differential value as another determination confirmation time point, and
determine the road surface as the downhill road, when a distance between the another determination start time point and the another determination confirmation time point is within a reference distance.
6. The apparatus of claim 5 , wherein the controller is configured to determine the road surface as the corrugated road, when the distance between the determination start time point and the determination confirmation time point exceeds the reference distance.
7. The apparatus of claim 5 , wherein the controller is configured to predict a vehicle behavior corresponding to the downhill road and control the damping force of the suspension based on the predicted vehicle behavior right before entrance to the downhill road.
8. The apparatus of claim 7 , wherein the controller is configured to control the suspension such that the suspension has the damping force harder than a basic damping force.
9. The apparatus of claim 1 , wherein the controller is configured to predict a vehicle behavior corresponding to the corrugated road and control the damping force of the suspension based on the predicted vehicle behavior right before entrance to the corrugated road.
10. The apparatus of claim 9 , wherein when the vehicle travels on the corrugated road, the controller is configured to control the damping force of the suspension until a bounce and a pitch of the vehicle are equal to or less than reference values.
11. The apparatus of claim 1 , wherein when a variance value of height values of the road surface exceeds a threshold value, the controller is configured to perform a process of determining the state of the road surface.
12. A method for controlling a suspension of a vehicle, the method comprising:
obtaining, by a sensor, information about a road surface ahead of the vehicle during travel of the vehicle;
deriving, by a controller, a height value of the road surface from the obtained information about the road surface;
determining, by the controller, a state of the road surface based on a differential value of the derived height value, wherein the state of the road surface is determined as at least one of an uphill road, a downhill road, or a corrugated road;
setting a point at which the derived height value of the road surface exceeds a first reference height value and the differential value of the derived height value of the road surface exceeds a first reference differential value as a determination start time point;
setting a point at which the derived height value of the road surface exceeds a second reference height value and the differential value of the derived height value of the road surface exceeds the first reference differential value as a determination confirmation time point;
in response to determining that a distance between the determination start time point and the determination confirmation time point is within a reference distance, determining the road surface as the uphill road, wherein the reference distance is increased or decreased in proportion to a speed of the vehicle;
in response to determining that the distance between the determination start time point and the determination confirmation time point exceeds the reference distance, determining the road surface as the corrugated road;
predicting, by the controller, a vehicle behavior corresponding to the determined state of the road surface; and
controlling, by the controller, a damping force of the suspension based on the predicted vehicle behavior.
13. The method of claim 12 , wherein controlling the damping force of the suspension includes:
predicting a vehicle behavior corresponding to the uphill road; and
controlling the damping force of the suspension based on the predicted vehicle behavior right before entrance to the uphill road.
14. The method of claim 12 , wherein determining the state of the road surface includes:
setting a point at which the derived height value of the road surface is less than or equal to a third reference height value and the differential value of the derived height value of the road surface is less than or equal to a second reference differential value as another determination start time point;
setting a point at which the derived height value of the road surface is less than or equal to a fourth reference height value and the differential value of the derived height value of the road surface is less than or equal to the second reference differential value as another determination confirmation time point;
in response to determining that a distance between the another determination start time point and the another determination confirmation time point is within a reference distance, determining the road surface as the downhill road; and
in response to determining that the distance between the another determination start time point and the another determination confirmation time point exceeds the reference distance, determining the road surface as the corrugated road.
15. The method of claim 14 , wherein controlling the damping force of the suspension includes:
predicting a vehicle behavior corresponding to the downhill road; and
controlling the damping force of the suspension based on the predicted vehicle behavior right before entrance to the downhill road.
16. The method of claim 12 , wherein controlling the damping force of the suspension includes:
predicting a vehicle behavior corresponding to the corrugated road;
starting to control the damping force of the suspension based on the predicted vehicle behavior right before entrance to the corrugated road; and
controlling the damping force of the suspension until a bounce and a pitch of the vehicle are equal to or less than reference values, when the vehicle travels on the corrugated road.