Slip state detection apparatus and suspension control apparatus
A suspension control apparatus includes a slip state detection apparatus configured to detect a slip state of a wheel. The slip state detection apparatus includes a tire characteristic-considered slip ratio determination portion configured to determine a tire characteristic-considered slip ratio, which is a coefficient for correcting a slip ratio of the wheel determined based on a rotational velocity signal of the wheel, based on a longitudinal acceleration of a vehicle detected by a longitudinal acceleration detection portion and a tire characteristic; and a corrected slip ratio determination portion configured to determine a corrected slip ratio of the wheel by correcting the slip ratio of the wheel according to the tire characteristic-considered slip ratio.
1. A suspension control apparatus comprising:
a tire characteristic-considered slip ratio determination portion configured to determine a tire characteristic-considered slip ratio, which is a coefficient for correcting a slip ratio of a wheel determined based on a rotational velocity signal of the wheel, based on a longitudinal acceleration of a vehicle detected by a longitudinal acceleration detection portion and a tire characteristic; and
a corrected slip ratio determination portion configured to determine a corrected slip ratio of the wheel by correcting the slip ratio of the wheel according to the tire characteristic-considered slip ratio;and a suspension control portion configured to output a control signal to an actuator between a body of the vehicle and a wheel-side member based at least in part on the tire characteristic-considered slip ratio and the corrected slip ratio.
2. The suspension control apparatus of claim 1 , wherein:
the wheel is one of a plurality of wheels;
the tire characteristic-considered slip ratio determination portion is configured to determine the tire characteristic-considered slip ratio of each of the plurality of wheels; and
the corrected slip ratio determination portion configured to determine the corrected slip ratio of each of the plurality of wheels.
3. A suspension control apparatus comprising:
a longitudinal acceleration detection portion configured to detect a longitudinal acceleration of a vehicle and output a longitudinal acceleration signal;
a wheel rotational velocity detection portion configured to detect a rotational velocity of a wheel and output a rotational velocity signal of the wheel;
a control device configured to: (i) input the longitudinal acceleration signal and the rotational velocity signal of the wheel; (ii) determine a tire characteristic-considered slip ratio, which is a coefficient for correcting a slip ratio of the wheel determined based on the rotational velocity signal of the wheel, based on the input longitudinal acceleration signal and a tire characteristic; (iii) determine a corrected slip ratio of the wheel by correcting the slip ratio of the wheel according to the tire characteristic-considered slip ratio; (iv) estimate a vertical motion of a body of the vehicle based on the rotational velocity signal of the wheel; (v) correct the estimated vertical motion of the body of the vehicle based on the corrected slip ratio of the wheel; and (vi) output a control signal based on the corrected vertical motion of the body of the vehicle; and
an actuator between the body of the vehicle and a wheel-side member, the actuator being configured to change a state of the body of the vehicle in reaction to an input from the wheel-side member according to the control signal.
4. The suspension control apparatus of claim 3 , wherein:
the wheel is one of a plurality of wheels;
the wheel rotational velocity detection portion is one of a plurality of rotational velocity detection portions for the plurality of wheels, respectively;
the actuator is one of a plurality of actuators for the plurality of wheels, respectively;
the wheel-side member is one of a plurality of wheel-side members for the plurality of wheels, respectively; and
the control device is configured to: (i) input the rotational velocity signal of each of the plurality of wheels; (ii) determine the tire characteristic-considered slip ratio of each of the plurality of wheels; (iii) determine the corrected slip ratio of each of the plurality of wheels; (iv) estimate the vertical motion of the body of the vehicle based on the rotational velocity signal of each of the plurality of wheels; (v) correct the estimated vertical motion of the body of the vehicle based on the corrected slip ratio of each of the plurality of wheels; and (vi) output the control signal based on the corrected vertical motion of the body of the vehicle of one of the plurality of wheels.