Suspension control system
In a suspension control system, an actuator adjusts a suspension stroke. An acquisition unit acquires, 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, a road surface displacement-associated value at a predicted passing position of a control target wheel a predetermined time after a present time. A calculation unit calculates a target control force based on the acquired road surface displacement-associated value. A control unit controls 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. The calculation unit calculates the target control force such that an amount of change in the target control force per unit time becomes smaller when a blinker of a vehicle starts operating than when the blinker is not operating.
1 . A suspension control system comprising:
an actuator that adjusts a suspension stroke of a control target wheel of a vehicle; and
a control device that controls the actuator, wherein:
the control device includes
an acquisition unit that acquires, 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, a road surface displacement-associated value at a predicted passing position of the control target wheel a predetermined time after a present time,
a calculation unit that calculates a target control force based on the acquired road surface displacement-associated value, and
a control unit that controls 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
the calculation unit calculates the target control force such that an amount of change in the target control force per unit time becomes smaller when a blinker of the vehicle starts operating than when the blinker is not operating.
2 . The suspension control system according to claim 1 , wherein the calculation unit is configured to:
calculate the target control force based on the acquired road surface displacement-associated value and a gain;
set the gain to a reference value when the blinker is not operating;
gradually reduce the gain from the reference value when the blinker starts operating; and
gradually increase the gain to the reference value when the blinker finishes operating.
3 . The suspension control system according to claim 1 , wherein the calculation unit calculates the target control force so as to limit the amount of change in the target control force per unit time while the blinker is operating or while the blinker is operating and during a predetermined control time after the blinker finishes operating.
4 . The suspension control system according to claim 1 , wherein:
the control device further includes a prediction unit that predicts whether the vehicle makes a lane change or the vehicle makes a right or left turn when the blinker starts operating; and
the calculation unit calculates the target control force such that the amount of change in the target control force per unit time is reduced by a greater amount when the vehicle is predicted to make a lane change than when the vehicle is predicted to make a right or left turn.
5 . The suspension control system according to claim 4 , wherein:
the control unit further executes feedback control for reducing vibration of a sprung structure by controlling the actuator; and
the calculation unit is configured to
render a feedback gain of the feedback control greater when the blinker starts operating than when the blinker is not operating, and
render the feedback gain greater when the vehicle is predicted to make a lane change than when the vehicle is predicted to make a right or left turn.