JPH10278536A - Suspension control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To always perform the optimal control independently of the using condition of a suspension such as a change with the lapse of time and a change of environment by applying immunological algorithm so as to optimize a parameter of a control regulation. SOLUTION: Sky hook control and IA control are carried out in order of stages 1-2, and when the stage 2 is concluded, the stages 1-2 are repeatedly carried out. Immunological algorithm(IA) introduces the immunological reaction of organism into a programing technique so as to form algorithm. Namely, in the stage 1, control of the sky hook is tested at about 10 seconds per each antibody of antibody I of new generation, and while a vehicle is made to travel, and in the stage 2 after concluding the test, the antibody I, which has the highest degree of compatibility between antigen and antibody, is used so as to perform the sky hook control, and while the vehicle is made to travel for about one hour.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension control method for controlling a vehicle suspension according to a predetermined control law.

[0002]

2. Description of the Related Art Conventionally, as a suspension control method for a vehicle such as an automobile, there is a method described in Japanese Patent Application Laid-Open No. 5-294122. This suspension control method obtains a damping coefficient required for a shock absorber from a sprung speed, a sprung and unsprung relative speed, and a skyhook damping coefficient based on the skyhook theory, and controls the shock absorber based on the damping coefficient. The step is controlled by an actuator.

According to such a suspension control method,
Since the control stage of the shock absorber is controlled such that the damping coefficient of the shock absorber is close to a predetermined damping coefficient obtained based on the skyhook theory, the damping of the shock absorber is compared with a case where such control is not performed. The force can be controlled well and the vibration of the vehicle body can be suppressed.

[0004]

However, in the above-described suspension control method, since the damping force of the shock absorber of the vehicle is treated as fixed, it is necessary to perform appropriate suspension control according to aging, environmental changes, and the like. could not.

An object of the present invention is to optimize a parameter of a control law by applying an immune algorithm to a method of controlling a suspension of a vehicle according to a predetermined control law, so that the suspension of the suspension due to aging, environmental change and the like can be controlled. The goal is to always control the suspension optimally, regardless of usage.

[0006]

According to a first aspect of the present invention, there is provided a suspension control method for controlling a suspension of a vehicle in accordance with a predetermined control law. An antibody is calculated by an immune algorithm, and the suspension of the vehicle is controlled based on the calculation result.

According to the suspension control method of the first aspect, by obtaining the damping force in the damping force control using the immune algorithm, the optimum value of the damping force is quickly obtained even when the environment changes. be able to.

According to a second aspect of the present invention, there is provided a suspension control method according to the first aspect, wherein the vehicle state is a sprung acceleration, and information for controlling the suspension is a skyhook damping coefficient and each control stage. Calculating the affinity between the antigen and the antibody and the affinity between the antibody and the antibody in the immunological algorithm, and controlling the vehicle suspension based on the calculation result. It is characterized in that a combination of coefficients is set.

According to the suspension control method of the present invention, the combination of the damping coefficient for controlling the suspension of the vehicle is set on the basis of the affinity between the antigen and the antibody and the affinity between the antibodies. , The optimum value of the combination of the attenuation coefficients can be quickly obtained.

According to a third aspect of the present invention, in the suspension control method according to the first aspect, the vehicle state is defined as a sprung acceleration, and the information for controlling the suspension is defined as a damping coefficient. Is divided into each region for each predetermined frequency band, and the attenuation coefficient used in the past is stored in the region corresponding to each divided region, and any one of the attenuation coefficients stored corresponding to each region is stored. And performing the calculation by the immune algorithm.

According to the suspension control method of the third aspect, each region, for example, the P.S. S.
Select any one of the regions according to the power of each region of D, and control the immunological algorithm using the attenuation coefficient stored corresponding to this region, so that the convergence of the antibody to the optimum value is expedited. be able to.

According to a fourth aspect of the present invention, in the suspension control method of the third aspect, the update of the damping coefficient in the suspension controlling method of the third aspect is performed by changing the stored damping coefficient corresponding to the area to another area. For an attenuation coefficient having an affinity equal to or higher than a predetermined value compared with the stored attenuation coefficient, replacing the attenuation coefficient stored for another area with the attenuation coefficient stored for the area. It is characterized by the following.

According to the suspension control method of the fourth aspect, the damping coefficient (the damping coefficient used until immediately before) stored corresponding to the area and the other area are stored. When the affinity with the damping coefficient (a damping coefficient not used immediately before) is equal to or more than a predetermined value, the damping coefficient of another area is replaced with the damping coefficient of the corresponding area for this damping coefficient. Even when the suspension control is performed using the damping coefficient stored as such, the connection of the control can be improved.

According to a fifth aspect of the present invention, in the suspension control method according to the third aspect of the present invention, the operation of the suspension algorithm is performed by the immunological algorithm. And a damping coefficient for reducing the sprung acceleration in any of the respective regions without exceeding a set threshold value.

According to the suspension control method of the fifth aspect, the number of trials can be reduced by setting the threshold value of PSD and selecting an attenuation coefficient that does not exceed the threshold value. Therefore, a decrease in ride comfort can be suppressed.

According to a sixth aspect of the present invention, there is provided a suspension control method according to the first aspect, wherein the vehicle state is a sprung acceleration, and information for controlling the suspension is an acceleration threshold value for damping force. Calculating the affinity between the antigen and the antibody in the immunological algorithm, and setting a relationship between a damping force and an acceleration threshold for controlling the suspension of the vehicle based on the calculation result. I do.

According to this suspension control method, the relation between each control stage of the shock absorber and the sprung acceleration can be set optimally.

According to a seventh aspect of the present invention, in the suspension control method of the first aspect, the vehicle state is defined as a sprung acceleration, and the control amount of the suspension is defined as a rate of change of a shock absorber axial force with respect to a damping force. Calculating the affinity between the antibody and the antigen by the immunological algorithm, and setting a relationship between a damping force and a threshold value of an axial force change rate for controlling the suspension of the vehicle based on the calculation result. It is characterized by.

According to the suspension control method of the present invention, it is possible to optimally set the threshold value of each control stage of the shock absorber with respect to the rate of change in the axial force of the shock absorber indicating the road surface input.

The suspension control method according to claim 8 is the suspension control method according to claim 1, wherein the vehicle state is a sprung acceleration peak value during anti-square control, and the control amount of the suspension is, for example, a vehicle speed. Calculate the affinity between the antigen and the antibody in the immune algorithm as a vehicle state quantity such as the engine speed, the differential value of the engine speed, etc., and set the start condition of the anti-square control based on the calculation result. It is characterized by doing.

According to the suspension control method of the eighth aspect, the optimum conditions for starting the anti-squat control are optimally set based on the vehicle speed, the engine speed, and the vehicle state quantity such as the differential value of the engine speed. Can be.

According to a ninth aspect of the present invention, in the suspension control method of the first aspect, the vehicle state is a sprung acceleration peak value during anti-dive control, and information for controlling the suspension is stored. For example, as the vehicle state quantity such as the target control stage of the shock absorber corresponding to the vehicle speed, the affinity between the antigen and the antibody is calculated in the immune algorithm, and the start condition of the anti-dive control is determined based on the calculation result. It is characterized by setting.

According to the suspension control method of the ninth aspect, it is possible to optimally set the target control stage of the shock absorber corresponding to the vehicle speed.

According to a tenth aspect of the present invention, there is provided the suspension control method according to the first or second aspect, further comprising calculating the affinity between the antigen and the antibody in each wheel by the immunological algorithm. The method is characterized in that a deviation of the affinity between the antigen and the antibody in the ring is detected, and an abnormal state of the sprung acceleration detecting means is detected based on the deviation.

According to the suspension control method of the tenth aspect, when the sprung acceleration detecting means is abnormal, the wheel having the abnormal sprung acceleration detecting means cannot perform appropriate suspension control, so that the suspension control cannot be performed. When the control is performed using the same antibody as the ring, the affinity between the antigen and antibody increases. Therefore, the abnormality of the sprung acceleration detecting means can be detected from the difference in the affinity between the antigen and the antibody in each wheel.

The suspension control method according to the eleventh aspect is the suspension control method according to any one of the first, second, and tenth aspects, further comprising the steps of: Is calculated, and an abnormal state of the sprung acceleration detecting means is detected based on the affinity between the antibodies of each wheel.

According to the suspension control method of the eleventh aspect, when the sprung acceleration detection means is abnormal, the degree of coincidence between the antibodies is reduced, so that the affinity between the antibodies is reduced. Therefore, an abnormality of the sprung acceleration detecting means can be detected based on the affinity of the antibody between the wheels.

A suspension control method according to a twelfth aspect of the present invention is the suspension control method according to the first aspect, wherein the vehicle state is a roll rate, and the information for controlling the suspension is a roll rate threshold value. The immunological algorithm calculates an affinity between the antigen and the antibody, and detects an abnormal state of the steering angle detecting means based on the calculation result.

According to the suspension control method of the twelfth aspect, if an abnormality occurs in the steering angle detecting means during the anti-roll control, the affinity between antigens and antibodies changes, and the degree of coincidence between the respective antibody affinities changes. An abnormality can be detected from the place where the operation is performed.

The suspension control method according to claim 13 is the suspension control method according to claim 1 or 2, further comprising calculating the affinity between the antigen and the antibody in each wheel by the immunological algorithm. It is characterized in that a deviation of the affinity between the antigen and the antibody in each wheel is detected, and an abnormal state of the vehicle height sensor is detected based on the deviation.

According to the suspension control method of the thirteenth aspect, if an abnormality occurs in the vehicle height sensor, the affinity between antigens and antibodies changes, and the abnormality is detected from the point where the degree of coincidence between the respective antibody affinity changes. can do.

According to a fourteenth aspect of the present invention, there is provided the suspension control method according to the first aspect, wherein the vehicle state is a pitch rate, and the information for controlling the suspension is a damping force. Calculating the affinity between the antigen and the antibody, and detecting an abnormality in the brake lamp switch from the affinity deviation of each antibody and the brake lamp switch information obtained by the calculation.

According to the suspension control method of the present invention, the affinity between the antigen and the antibody is calculated based on the pitch rate and the damping force, that is, the damping coefficient of each control stage of the shock absorber. Therefore, if an abnormality occurs in the brake lamp switch, the affinity between the antigen and antibody changes,
An abnormality of the brake lamp switch can be detected from the brake lamp switch information and the change state of the affinity of each antibody.

In a suspension control method according to a fifteenth aspect, in the suspension control method according to the first aspect, the immunological algorithm may be configured such that the vehicle state is a pitch rate and the information for controlling the suspension is a damping force. Calculating the affinity between the antigen and the antibody, and detecting an abnormality of the throttle opening sensor from the affinity deviation of each antibody and the throttle opening information obtained by the calculation.

According to the suspension control method of the present invention, the affinity between the antigen and the antibody is calculated based on the pitch rate and the damping force, that is, the damping coefficient of each control stage of the shock absorber. Therefore, when an abnormality occurs in the throttle opening sensor, the affinity between the antigen and antibody changes. Therefore, the abnormality of the throttle opening sensor can be detected from the throttle opening information and the change in the affinity of each antibody.

In the suspension control method according to a sixteenth aspect, in the suspension control method according to the first aspect, the vehicle state is a sprung state quantity, and the information for controlling the suspension is a damping force and a damping force variable. As the responsiveness of the means, the affinity between the antigen and the antibody is calculated in the immunological algorithm, and the responsiveness of the damping force and the damping force variable means with respect to the sprung state amount is set based on the calculation result. It is characterized by doing.

According to this suspension control method, the combination of the energization time of the actuator and the damping coefficient of each control stage of the shock absorber is optimally set based on the sprung state quantity, for example, the integral value of the acceleration. Can be.

According to a seventeenth aspect of the present invention, in the suspension control method according to the first or second aspect, the vehicle state is a sprung state quantity.
The information for controlling the suspension is used as a control gain for the skyhook damping coefficient and the vibration mode, and the affinity between the antigen and the antibody is calculated in the immunological algorithm. The control gain is set.

According to the suspension control method of the present invention, the control gain and the skyhook damping coefficient for the vibration mode (heave, pitch, roll) can be optimally set based on the sprung state, for example, the acceleration. .

The suspension control method according to claim 18 is the suspension control method according to claim 1 or 2, wherein the vehicle state is a sprung state amount,
Using the information for controlling the suspension as a driving relationship value of the damping force changing means, the affinity between the antigen and the antibody is calculated in the immunological algorithm, and the damping for the sprung state is calculated based on the calculation result. It is characterized in that a driving relation value of the force changing means is set.

According to the suspension control method of the eighteenth aspect, the drive-related values, for example, the energization time, the maximum allowable number of switching stages, and the driving voltage are optimally controlled based on the sprung state, so that the control stage can be switched. Can be reduced.

[0042]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A suspension control method according to an embodiment of the present invention will be described below with reference to the drawings.

First, an outline of an immune algorithm (Immune Algorithm: IA) used in the suspension control method according to the embodiment of the present invention will be described.

The IA is an algorithm obtained by introducing an immune reaction (antigen / antibody reaction) of an organism shown in FIGS. 1A and 1B into a programming technique and converting it into an algorithm. It can be used with or without mathematical description.

Here, the immune reaction of an organism is defined as the case where an antigen that has been experienced in the past is stimulated, an antibody that matches the antigen is searched for from among the antibodies stored in memory cells, and this antibody is used in large quantities. To capture the antigen and release it as a harmless substance out of the body (Fig. 1 (A)), and when stimulated by an antigen never experienced in the past, the antibody stored in the memory cell A new antibody is produced from this information, the antibody is multiplied in large quantities, the antigen is captured and released as a harmless substance outside the body, and the produced antibody is stored in memory cells (Fig. 1 (B)). It is a reaction that takes place internally.

FIG. 2 is a flowchart showing the IA. First, an antigen is recognized as input information of the system (step 1). Here, the “antigen” is a stimulus input to the system in the surrounding environment (FIG. 3A).

Next, an initial antibody group is generated (step 2). That is, an antibody group that has been effective in the past is generated by reading out an antibody from a database (memory cells) storing effective antibodies. Here, "antibody"
This is a group of information to be processed to make the stimulation harmless. That is, as shown in FIG.
And n information groups represented by

Next, the calculation of the affinity between the antibodies, that is, the affinity between the antibodies, which indicates the similarity of the antibodies, is calculated for the antibody generated in the process of step 2 (step 3). Here, the “affinity between antibodies” is an index for determining similarity between antibodies, and each antibody has one affinity (FIG. 3 (C)).

Next, trial in the system and calculation of the affinity between the antigen and the antibody are performed (step 4). Here, the “affinity between the antibody and the antigen” is an index for determining how effective the antibody has on the antigen.
As shown in (D), each antibody has one affinity.

Next, a saturation representing the concentration of the antibody is calculated (step 5). Here, the “saturation degree” is an index for determining whether or not an antibody should be stored, and has one saturation degree for each antibody. The saturation of the antibody m is determined by the saturation of the antibody m = (the number of antibodies exceeding the affinity between the antibodies to be stored in advance) / (the number of all antibodies).

Next, it is determined whether there is an antibody to be stored in the memory cell (step 6). If it is determined in step 6 that there is an antibody to be stored in the memory cell, that is, an antibody having a saturation exceeding the threshold, the process proceeds to step 7.

In step 7, differentiation into memory cells and suppressor cells (cells that suppress excessive production of antibodies) and suppression of antibodies by suppressor cells are performed. That is, when the number of memory cells exceeds the maximum number, the currently stored antibody is replaced with the antibody with the highest affinity (the most similar antibody) in the memory cells. In addition, the memory cell formed here is copied to a suppressor cell, and the copied suppressor cell, that is, the affinity between the antibody of the new suppressor cell and the antibody of the old suppressor cell is calculated. The antibody of the old suppressor cell is deleted and replaced with the antibody of the new suppressor cell.

When the determination in step 6 is no, and when the processing in step 7 is completed, n antibodies with low affinity between antigens and antibodies are deleted and the expected value (probability) remaining in the next generation Is calculated (step 8). Here, the expected value is an index for balancing promotion and suppression of proliferation, and is the probability of storing or discarding the antibody. Each antibody has one expected value. Also, the expected value of antibody m is: expected value of antibody m = (affinity of antibody and antigen) × (complement of product of affinity with suppressor cell) / (saturation of antibody m) × (antibody and antigen Sum of the affinities).

Next, hybridization of antibodies is performed (step 9).
However, here, the higher the expected value, the easier it is to select, and an antibody with a higher expected value is used for crossing. Here, antibody production is performed by crossing such that the total number of antibodies is N.
By repeating the processing of the immunological algorithm, a new antibody is produced, and the evolution of the antibody continues.

The crossing of antibodies by IA may be performed by any operation such as a method of recombining antibody information between antibodies, but mainly “crossover by exchanging antibody information” and “crossover within one antibody information” , And "mutation." Here, the antibody a composed of the information 1a to na shown in FIG.
The above three embodiments will be described by taking as an example a cross between the antibody b composed of the antibodies b and n.

First, "crossover by exchanging antibody information"
As shown in FIG. 4 (A), a part of the n pieces of information of one antibody is replaced by the corresponding information of the other antibody. Whether crossover is performed for a combination is determined stochastically.

Further, “crossover within one antibody information”
As shown in FIG. 4 (B), a part of the antibody information corresponding to each other of the two antibodies is replaced with each other. For example, if the antibody information is an eight-digit number,
The first four digits of certain antibody information of a new antibody are set to the number of antibodies a, and the last four digits are set to the number of antibodies b. Also in this case, which information portion of which antibody is to be replaced and which combination of antibodies is crossed are determined stochastically.

As shown in FIG. 4 (C), “mutation” refers to antibody information in which a part of n information of one antibody is opposite to the corresponding antibody information of the other antibody. In this case as well, which information is to be replaced and which combination of antibodies is crossed are determined stochastically.

First Embodiment Next, a suspension control method according to a first embodiment of the present invention will be described with reference to FIGS.

FIG. 5 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the first embodiment. In FIG. 5, the damping force control device 10
Has a skyhook control block 12 and an IA control block 14. In addition, what is indicated by reference numeral 16 is 1 to
The shock absorber 16 is a variable damping force type shock absorber having n control stages.
By controlling the control stage via the actuator 18, the damping force, more precisely, the damping coefficient is controlled.

The skyhook control block 12 is detected by, for example, a vehicle height sensor 20 and a filter (not shown)
The relative speed between sprung and unsprung, that is, the stroke speed Vp of the shock absorber 16 is calculated by differentiating the vehicle height H subjected to the band pass filter processing, and provided on the vehicle body at a position close to the wheels, for example. The sprung speed Vz is calculated by integrating the vertical acceleration Gz of the vehicle body detected by the vertical acceleration sensor 22 and subjected to bandpass filtering by a filter (not shown).

The skyhook control block 12
The calculated stroke speed Vp, sprung speed Vz and I
Based on the skyhook damping coefficient Cs input from the A control block 14, the calculation according to Equation 1 is performed to obtain the damping coefficient C required for the shock absorber 16.
Calculate req.

[0063]

(Equation 1)

The skyhook control block 12
N attenuation coefficients C input from the IA control block 14
i (i = 1 to n), the damping coefficient Ca closest to the damping coefficient Creq calculated according to Equation 1 is selected, and the target control stage Sa of the shock absorber 16 is set to the damping coefficient Ca.
Is set to the control stage corresponding to. Then, a control signal for controlling the control stage of the shock absorber 16 to the target control stage Sa is output to the actuator 18 to control the damping force of the shock absorber 16.

Further, the skyhook control block 12
Based on the new antibody information input from the IA control block 14, the control of the shock absorber 16 for each antibody is tried for a predetermined time according to the Skyhook theory.

On the other hand, as shown in FIG. 6, the IA control block 14 has one skyhook attenuation coefficient Cs
(J) and an antibody group consisting of m antibodies I (j) (j = 1 to m) composed of n attenuation coefficients C1 (j) to Cn (j) are stored in a database (not shown). I have. Each piece of antibody information is represented as an 8-digit number consisting of “0” and “1”, for example.

Next, suspension control according to the first embodiment will be described with reference to FIGS.

FIG. 7 shows this suspension control performed by the skyhook control block 12 and the IA control block 14.
The control flow is divided into A control, and the flow of each control is shown. As shown in FIG. 7, in the skyhook control, an antibody trial (stage 1) and a skyhook control using an antibody having the highest affinity between the antigen and antibody (stage 2) are performed.
Are repeated, and in IA control, production of a new generation antibody (stage 1) and rest (stage 2) are repeated.

First, the trial (stage 1) of the antibody in the skyhook control will be described. Note that the trial of the antibody is performed in the process of step 13 in the flowchart shown in FIG. 8, but at the beginning of the skyhook control, first, in order to incorporate the antibody into the system, step 1 is performed.
Steps 0 to 12 are performed.

First, in step 10, an antigen is recognized as input information of the system. That is, the IA control block 14 acquires the sprung acceleration from the vertical acceleration sensor 22 via the band-pass filter 24.

Next, in step 11, an initial antibody group is generated. That is, the antibody I (j) (j = 1 to 1) composed of the skyhook damping coefficient Cs and the damping coefficients C1 to Cn of the respective control stages as antibodies against the antigen (spring acceleration)
m) (see FIG. 6) is read from a database (not shown) in the IA control block 14.

Next, in step 12, the affinity between the antibodies is calculated. That is, the affinity between the antibodies is calculated as the sum of the squares of the difference between the antibody information. That is, affinity xi] _KJ antibody K and antibodies J is calculated by Equation 2 shown below.

[0073]

(Equation 2)

Next, in step 13, the affinity between the antigen and each antibody is calculated by trialing the antibodies (step 13). That is, as shown in the flowchart of FIG. 9, first, at step 20, the count value T of the timer is reset to 0, and j is set to 1.
In step 21, control parameters for controlling the damping force, that is, the skyhook damping coefficient and the n damping coefficients are the values of the antibody I (j), Cs (j) and n C1
(J) to Cn (j).

Next, in step 22, with the control parameter set to the value of the antibody I (j), the damping force control (trial) of the shock absorber 16 based on the skyhook theory is performed according to the flowchart shown in FIG. Will be

That is, in step 30, the parameter of the damping force control is set to the value of the antibody I (j).
In step 1, a signal indicating the vehicle height H detected by the vehicle height sensor 20 and subjected to bandpass filtering and a signal indicating the vertical acceleration Gz of the vehicle body detected by the vertical acceleration sensor 22 and subjected to bandpass filtering are read.

Next, in step 32, the stroke speed Vp of the shock absorber 16 is calculated by differentiating the vehicle height H, and in step 33, the sprung speed Vz is calculated by integrating the vertical acceleration Gz of the vehicle body.

Next, in step 34, step 3
Skyhook attenuation coefficient Cs (j) set at 0
And the calculated stroke speed Vp and sprung speed Vz
The calculation of the skyhook is performed according to Equation 3 based on the equation (3), and the damping coefficient Cr required for the shock absorber 16 is calculated.
eq is required.

[0079]

(Equation 3)

Next, at step 35, the attenuation coefficient Cr
It is determined whether or not eq is negative. If the determination is no, the process proceeds directly to step 37, and if the determination is yes, in step 36, the attenuation coefficient Cre is determined.
q is set to 0.

Next, at step 37, the attenuation coefficient C
The damping coefficient Ca closest to req is set in step 30. The damping coefficients C1 (j) to Cn (j) of the respective control stages are set.
The control stage of the shock absorber 16 corresponding to the selected damping coefficient is set as the target control stage Sa. In step 38, a control signal for setting the control stage of the shock absorber 16 to the target control stage Sa is output to the actuator 18, whereby the control stage of the shock absorber 16 is controlled to the target control stage Sa.

Next, in step 23 of FIG. 9, the count value T of the timer is incremented by T1 (positive constant), and in step 24, it is determined whether or not the count value T of the timer exceeds the reference value Tc1 (positive constant). That is, it is determined whether or not the skyhook control using the antibody I (j) has been performed for a predetermined trial time (for example, about 10 seconds). Here, when it is determined to be no (when the trial time has not elapsed), the process returns to step 22, and the skyhook control using the antibody I (j) is continued. On the other hand, when it is determined as yes (when the trial time has elapsed), the process proceeds to step S25.

Next, among the vertical accelerations Gz of the vehicle body after the count value T of the timer is reset to 0, the vertical accelerations Gz in a region of about 1 Hz passing through the band-pass filter 24 (a large tilt of the vehicle body). (The corresponding acceleration) is integrated to obtain the affinity ν between the antigen and antibody.
(J) is calculated (step 25).

Next, in step 26, j is incremented by one, and in step 27, it is determined whether or not j exceeds m, that is, all the antibodies I to be tested are tested.
It is determined whether or not a trial has been performed for (j). When the determination is no, the count value T of the timer is reset to 0 in step 28, and the process returns to step 21 to perform a trial on the remaining antibodies I (j), and all the antibodies I (1) to I ( For m), the affinity ν (j) between the antigen and antibody is calculated. On the other hand, when it is determined to be yes in step 27, it means that the trials for all the antibodies I (1) to I (m) have been completed, and the process proceeds to step 14 in FIG.

Next, the production of a new generation of antibodies in IA control (stage 1) will be described. The production of this new generation of antibodies is performed in steps 14 to 18 of FIG. The processing in steps 14 to 18 in FIG. 8 is the same as the processing in steps 5 to 9 in FIG. 2, and stores antibodies having a saturation exceeding the threshold value in a memory cell, that is, a database. (Steps 15, 1
6), among the antibodies being tested in the system, n antibodies with low affinity between the antibodies and antigens are deleted, and the hybridization of the antibodies is performed to produce the deleted antibodies (steps 17 and 18). ).

Note that steps 12 to 18 in FIG.
Is repeated a plurality of times during stage 1 shown in FIG. Therefore, IA control is continued while new antibodies are sequentially generated and antibodies having an effect on the antigen are sequentially stored in the memory cells (database).

Next, with reference to FIG. 11, a description will be given of the skyhook control (stage 2) using the antibody having the highest affinity between the antigen and the antibody, which is performed after the trial of the antibody (stage 1) in the suspension control. . First, in step 40, the count value T of the timer is reset to 0, and in step 41, the affinity v between the antigens and the antibody calculated in step 13 in FIG.
That is, the antibody I (j) that has the most effect on the antigen (reduces the large tilt of the vehicle body) is selected, and the damping force of the shock absorber 16 based on the skyhook theory is selected using the antibody I (j). Perform control. The control of the damping force of the shock absorber 16 based on the skyhook theory is performed according to the process shown in the flowchart of FIG.

In step 42, the count value T of the timer is incremented by T2 (positive constant). In step 43, the count value T of the timer is set to the reference value T.
It is determined whether or not c2 (positive constant) is exceeded. If the determination is no, the process returns to step 41 to continue the skyhook control using the antibody I (j). If the determination is yes, the skyhook control using the antibody I (j) ends. . The reference value Tc
2 is set to a value of about one hour in advance.

As described above, in the first embodiment, as shown in FIG. 7, skyhook control and IA control are executed in the order of stages 1 and 2, and
Are completed, the stages 1 and 2 are repeatedly executed again.
That is, the vehicle is driven while trying to control the skyhook for about 10 seconds for each antibody of the new generation antibody I (j) in stage 1, and after the trial, the affinity between the antigen and antibody is the best in stage 2. The vehicle is driven for about one hour while performing the skyhook control using the antibody I (j).

Therefore, according to the suspension control method of the first embodiment, even if the suspension springs and the like change with time, the control stages of the respective control stages for obtaining the skyhook damping coefficient and the target control stage of the shock absorber. By optimally setting the damping coefficient, the shock absorber based on the skyhook theory can always be optimally controlled to optimally control the vibration of the vehicle body.

Second Embodiment Next, a suspension control method according to a second embodiment of the present invention will be described with reference to FIGS.

First, in the suspension control method according to the second embodiment, a damping force control device substantially the same as the damping force control device used in the suspension control method according to the first embodiment is used. FIG.
reference). The database (not shown) of the IA control block 14 of the damping force control device 10 according to the second embodiment includes a memory cell (stores an antibody used in IA control) and a suppressor cell (memory cell used in IA control). Cells for suppressing the proliferation of antibodies provided in response to the above, memory cells A (for storing antibodies having an effect in a situation where low-frequency acceleration is high in sprung acceleration), suppressor cells A (for memory cells A Correspondingly provided cells for suppressing the proliferation of antibodies), memory cells B (stores antibodies that have an effect in situations where the sprung acceleration is high in medium frequency acceleration), suppressor cells B (corresponds to memory cells B) Cells for suppressing the proliferation of antibodies provided as described above), memory cells C (for storing antibodies that have an effect in a situation where high-frequency acceleration is high in sprung acceleration), suppressor cells C ( Contain cells) for inhibiting the growth of antibody provided corresponding to 憶 cell C is constructed.

In the suspension control method, the suspension control is performed in the skyhook control block 12 and the IA control block 14, which are performed in the skyhook control block 12, as in the suspension control method of the first embodiment. In the IA control, in the skyhook control, the trial of the antibody (stage 1),
Skyhook control (stage 2) using the antibody with the highest affinity between the antigen and antibody is repeated, and in IA control, production of a new generation of antibody (stage 1) and rest (stage 2) are repeated (Fig. 7).

Next, a description will be given of an antibody trial (stage 1) in skyhook control in the suspension control according to the second embodiment. Note that the trial of the antibody is performed in the processing of Step 60 of the flowchart shown in FIG. 12, but before the trial of the antibody, Step 5 is performed.
Steps 0 to 59 are performed.

First, an antigen is recognized as input information of the system. That is, the IA control block 14 acquires the sprung acceleration from the vertical acceleration sensor 22 via the band-pass filter 24 (step 50).

Next, the value of P.S.
S. D (power spectral density) is calculated and classified into a low frequency region (α), a medium frequency region (β), and a high frequency region (γ) as shown in FIG. 15 (step 51). Equation 4
, The power ratio of each region (a: ratio of α region, b: ratio of β region, c: ratio of γ region) is calculated (step 52).

[0097]

(Equation 4)

Next, a flag indicating the magnitude relationship between the calculated a, b, and c is set. That is, it is determined that a> band a> c (step 53). If the determination is yes, the flag q is set to 1 (a situation where low-frequency acceleration is large in sprung acceleration) (step 54). ). Also, if it is determined as no in step 53, b> aand
b> c is determined (step 55), and here, yes
Is determined, the flag is set to q = 2 (a situation where the sprung acceleration is high in the middle frequency) (step 56).
If it is determined to be no in step 55, the flag q is set to 3 (a situation in which high-frequency acceleration is higher than sprung acceleration) (step 57).

Next, by comparing the flag q (the flag set in the current process) with the flag q old (the flag set in the previous process), the flag q has been changed, that is, the running condition of the vehicle has changed. Is determined (Step 5
8). If the determination here is yes, FIG.
The process proceeds to the process shown in the flowchart of FIG. here,
It is determined whether the value of the flag q old is 1, 2, or 3, and it is determined that the flag q old = 1 (step 70).
In the processing shown in the flowchart of FIG. 13B, when it is determined that the flag q old = 2 (step 71),
The processing shown in the flowchart of FIG.
When it is determined that old = 3, the process proceeds to the process shown in the flowchart of FIG.

In the above step 70, the flag q old
If it is determined that = 1, the memory cell used in the IA control (the one initially read from the memory cell A) is replaced with the memory cell A (an antibody having an effect in a situation where the sprung acceleration has a large low-frequency acceleration). (Step 80).
Next, the affinity between the memory cell A and the memory cell B is calculated (step 81), and the memory cell B (the antibody having an effect in a situation where the sprung acceleration has a large middle frequency acceleration) is updated (step 81). Step 82). That is, when the antibody of the memory cell A and the antibody of the memory cell B are similar, the antibody of the similar memory cell B is replaced with the antibody of the memory cell A. Therefore, it is possible to update the memory cell B by reflecting the antibody of the memory cell A on the memory cell B while leaving the unique antibody in the memory cell B.

The affinity between the memory cell A and the memory cell C is calculated (step 83), and the memory cell C (an antibody having an effect in a situation where the sprung acceleration is high in high frequency acceleration is stored) is updated. (Step 84). That is, the update of the memory cell C is performed in the same manner as the update of the memory cell B, and the antibody of the memory cell A is reflected on the memory cell C while leaving the specific antibody in the memory cell C, so that the update of the memory cell C is performed. Do. Then, the process proceeds to the process shown in the flowchart of FIG.

If it is determined in step 71 that the flag q old = 2, the memory cell used in the IA control (the one initially read from the memory cell B) is returned to the memory cell B (step 90). ). Then, by performing the same processing as the processing of steps 81 to 84 described above, the memory cells A and C are updated (steps 91 to 94), and the process proceeds to the processing shown in the flowchart of FIG.

Further, if it is determined in step 71 that the flag q old = 3, the memory cell used in the IA control (the one initially read from the memory cell C) is returned to the memory cell C (step 100). ). And
By performing the same processing as the above-described processing of steps 81 to 84, the memory cells A and B are updated (steps 101 to 104), and the process proceeds to the processing shown in the flowchart of FIG.

Next, in step 110 of FIG. 14, it is determined whether or not the flag q = 1. If the determination here is yes, the memory cell A is copied to the memory cell (memory cell used for IA control), and the suppressor cell (IA
The suppressor cell A is copied to a suppressor cell used for control (step 111). That is, when the flag q = 1, the vehicle is running in a situation where the low-frequency acceleration is large in sprung acceleration. Therefore, the memory cell A having an effect in this situation and the suppressor corresponding to the memory cell A are effective. IA control is performed using the cell A.

If the determination in step 110 is no, it is determined whether or not the flag q = 2 (step 112). If the answer is yes here,
The memory cell B is copied to the memory cell, and the suppressor cell B is copied to the suppressor cell (step 113). That is, when the flag q = 2, the vehicle is running in a situation where the sprung acceleration has a large middle-frequency acceleration. Therefore, the memory cell B having an effect in this situation and the suppressor corresponding to the memory cell B are effective. IA control is performed using the cell B.

Further, when the determination is no in step 112, the memory cell C is copied to the memory cell, and the suppressor cell C is copied to the suppressor cell (step 114). In other words, when the flag q = 3, the vehicle is running in a situation where the sprung acceleration is high in high frequency, and the memory cell C having an effect in this situation and the suppressor cell corresponding to the memory cell C are effective. IA using C
Perform control.

Next, in step 115, an antibody group is generated. That is, the skyhook damping coefficient Cs and the damping coefficient C of each stage are used as antibodies against the antigen (spring acceleration).
The antibody I (j) (j = 1 to m) composed of 1 to Cn is read from the database (memory cell) in the IA control block, and the process proceeds to step 59 of the flowchart shown in FIG.

Next, in step 59, the calculation of the affinity between the antibodies is performed. That is, the affinity between the antibodies is obtained by the above equation 2 in the same manner as that obtained in the first embodiment.

Next, the affinity between the antigen and each antibody is calculated by performing a trial of the antibody (step 60). That is, similarly to the above-described first embodiment, FIGS.
By performing a trial (Skyhook control) for each antibody by the processing shown in the flowchart of (1), the affinity ν (j) between the antigen and the antibody is calculated.

Next, the production of a new generation of antibodies in IA control (stage 1) will be described. The production of this new generation of antibodies is performed in steps 61 to 68 of the flowchart of FIG. Here, the processing of steps 61 to 67 in FIG. 12 is the same processing as the processing of steps 5 to 9 in FIG. 2, and the antibody having the saturation exceeding the threshold is stored in the memory cell, that is, the database. (Steps 61 to 64), and among the antibodies being tested in the system, n antibodies with low affinity between the antibodies and antigens are deleted, and the hybridization of the antibodies is performed to produce the number of deleted antibodies. (Steps 65 to 67).

Then, the flag q is stored in the flag q old, and the process returns to step 50. The process in FIG. 12 is repeated a plurality of times during the stage 1 of the suspension control (see FIG. 7). Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the suspension control, the skyhook control (stage 2) using the antibody having the highest affinity between the antigen and the antibody, which is performed after the trial of the antibody (stage 1), is performed in accordance with the suspension of the first embodiment. The control is performed according to the flowchart shown in FIG.

As described above, in the second embodiment, the skyhook control and the IA control are executed in the order of the suspension control stages 1 and 2, and when the stage 2 is completed, the stages 1 and 2 are repeatedly executed. Is done. That is, the vehicle is driven while trying the antibody in stage 1 and after the trial is completed, the vehicle is driven in the stage 2 for a predetermined time while executing the skyhook control using the antibody having the highest evaluation value.

Therefore, according to the suspension control method according to the second embodiment, a plurality of memory cells are provided in accordance with the situation in which the vehicle is traveling, and the antibody stored in each memory cell is used. Since the IA control is performed for each memory cell, it is possible to converge to an optimal solution at an early stage, and the control of the shock absorber is always optimally performed according to the running condition of the vehicle to optimally control the vibration of the vehicle body. be able to.

When there is an antibody whose affinity is similar to the memory cell A, the memory cell B and the memory cell C by a predetermined value or more, for example, the antibody information of the memory cell A is stored in the memory cell B and the memory cell C. When the antibody information of the memory cell B and the memory cell C is updated by replacing the similar antibody information among the antibody information of C, the running condition of the vehicle changes and the memory cell used for the skyhook control changes. Even in this case, it is possible to improve the connection of the control.

Third Embodiment Next, a suspension control method according to a third embodiment of the present invention will be described with reference to FIGS.

First, in the suspension control method according to the third embodiment, substantially the same damping force control device as that used in the suspension control method according to the second embodiment is used. FIG.
reference). Also, in this suspension control method, in the skyhook control, the trial of the antibody and the skyhook control using the nominal value (a universal antibody having a certain effect under any vehicle running conditions) are repeated, and the IA control is performed. The production of a new generation of antibodies is repeated.

In the suspension control according to the third embodiment, as shown in FIG. 16, the IA control block 14 takes in the sprung acceleration from the vertical acceleration sensor 22 via the band-pass filter 24 to obtain the antigen. Is recognized, and the P.S. of sprung acceleration during traveling is recognized. S.
D is calculated and classified into a low frequency region (α), a medium frequency region (β), and a high frequency region (γ) (steps 120 and 12).
1). Steps 120 and 121 are the same as steps 50 and 51 of the flowchart shown in FIG. 12 in the second embodiment.

Next, P. S. It is determined whether D has exceeded PsdMax (step 122). That is, as shown in FIG. 19, PsdMax (shown by a dashed line) is predetermined, and P.d. S. It is determined whether or not D (indicated by a solid line) exceeds PsdMax.
The process proceeds to step 186 shown in the flowchart of FIG.

At step 186, it is determined whether or not ia flg = 1. If the determination is no, the process returns to step 120 of FIG. Therefore, P. S. D is PsdM
ax until step ax
2. The process of step 186 is repeated. During this time, in the skyhook control, the skyhook control using the nominal value (universal antibody) is continuously performed.

On the other hand, in step 122 described above,
P. S. If it is determined that D has exceeded PsdMax, the process proceeds to step 123, where ia flg = 1 is set, and the trial of the antibody by the skyhook control is started. That is, P.I.
S. D: Power ratio of each region (a: ratio of α region,
b: the ratio of the β region, c: the ratio of the γ region), determine the magnitude relationship between the regions a, b, and c and set a flag (steps 124 to 129).

By comparing the flag q (the flag set in the current process) with the flag q old (the flag set in the previous process), whether the flag q has been changed or not has changed. (Step 1)
30). Also, it is determined whether the flag q old is 1, 2, or 3. If it is determined that the flag q old = 1 (step 145 in FIG. 17A), the process proceeds to FIG.
If it is determined that the flag q old = 2 in the processing shown in the flowchart of FIG. 17 (step 146 in FIG. 17A), the flag q o is added to the processing shown in the flowchart of FIG.
If it is determined that ld = 3, the process proceeds to the process shown in the flowchart of FIG.

Note that steps 124 to 13
0, steps 145 and 146 in FIG.
Steps 52 to 58 in the flowchart shown in FIG. 12 according to the second embodiment and FIG.
This is the same processing as the processing of step 70 and step 71 in FIG.

In step 145 described above, the flag q o
When it is determined that ld = 1, the memory cell used in the IA control is returned to the memory cell A (an antibody having an effect in a situation where the low-frequency acceleration is large as the sprung acceleration is stored) (step 150). Next, memory cell A and memory cell B
(Step 151) to calculate the affinity between the memory cell A and the memory cell C (the high-frequency acceleration is added to the sprung acceleration. Is calculated (step 15).
2).

Next, the temporary nominal value is updated (step 153). That is, among the antibodies of the memory cell A, the affinity with the antibody of the memory cell B and the antibody of the memory cell C is the highest,
In addition, those having a high affinity for the antigen are stored as temporary nominal values. Then, the memory cells B and C are updated (steps 154 and 155). That is, when the antibody of the memory cell A and the antibody of the memory cell B and the memory cell C are similar, the antibody of the memory cell B and the memory cell C which are similar to each other is replaced with the antibody of the memory cell A. Therefore, it is possible to update the memory cells B and C while leaving the specific antibody in the memory cell B. After that, FIG.
The process proceeds to the process shown in the flowchart of FIG.

If it is determined in step 146 that the flag q old = 2, the memory cell used in the IA control is returned to the memory cell B (step 16).
0). Then, the above-mentioned steps 151 to 155 are performed.
By performing the same processing as the above processing, the provisional nominal value is updated, the memory cells A and C are updated (steps 161 to 165), and the process proceeds to the processing shown in the flowchart of FIG.

Further, when it is determined in step 146 that the flag q old = 3, the memory cell used in the IA control is returned to the memory cell C (step 17).
0). Then, the above-mentioned steps 151 to 155 are performed.
By performing the same processing as the processing of (1), the memory cells A and B are updated (steps 171 to 1).
75), and the process proceeds to the process shown in the flowchart of FIG.

Next, in the process shown in the flowchart of FIG. 18A, the memory cells A,
Any one of the memory cell B and the memory cell C is copied to the memory cell, and any one of the suppressor cell A, the suppressor cell B, and the suppressor cell C is copied to the memory cell (steps 180 to 184). And step 1
At 85, an antibody group is generated, and the process proceeds to step 131 of the flowchart shown in FIG. The processing in steps 180 to 185 is the same as the processing in steps 110 to 115 in FIG. 14 in the second embodiment.

Next, in steps 131 to 140, the calculation of the affinity between the antibodies and the trial of the antibodies are performed to calculate the affinity between the antigen and each antibody. Then, the flag q is stored in the flag qoid, and the process returns to step 120. This step 13
The processing of steps 1 to 140 is the same as the processing of steps 59 to 68 in FIG. 12 in the second embodiment.

In the above-mentioned step 122, it is determined to be no, and in step 186 of FIG.
If it is determined that the answer is "YES" at step 15 in FIG.
3. The temporary nominal value updated in one of step 163 in FIG. 17C and step 173 in FIG. 17D is stored as a nominal value (step 188). And ia f
Assuming that lg = 0 (step 188), step 120 in FIG.
Return to As a result, at step 122 S. D
Is determined to exceed PsdMax, suspension control using a new nominal value (universal antibody) is performed.

As described above, in the third embodiment, the P.D. S. Until it is determined that D exceeds PsdMax, suspension control is performed using the nominal value (universal antibody). S. When it is determined that D has exceeded PsdMax, IA control is performed.

Therefore, according to the suspension control method according to the third embodiment, the suspension is controlled using an antibody (damping coefficient) having an effect in any vehicle running conditions. S. D is P
Since it is performed only when it is determined that sdMax has been exceeded, the number of antibody trials can be reduced, and a decrease in riding comfort can be suppressed.

Fourth Embodiment Next, a suspension control method according to a fourth embodiment of the present invention will be described with reference to FIGS.

FIG. 20 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the fourth embodiment. This damping force control device 101 is obtained by changing the skyhook control block 12 of the damping force control device 10 according to the first embodiment to a damping force adaptive control block 26.

Next, a suspension control according to the fourth embodiment will be described with reference to FIGS. FIG. 21 shows the flow of each of the suspension control divided into the damping force adaptive control performed in the damping force adaptive control block 26 and the IA control performed in the IA control block 14.

As shown in FIG. 21, in the adaptive control of the damping force, the trial of the antibody (stage 1) and the adaptive control of the damping force using the antibody having the highest affinity between the antigen and the antibody (stage 2) are repeated. , IA control, production of a new generation of antibodies (stage 1) and rest (stage 2) are repeated.

First, the trial (stage 1) of the antibody in the damping force adaptive control will be described. As shown in the flowchart of FIG. 22, first, antigen recognition is performed as input information of the system (step 190). That is,
The IA control block 14 recognizes an antigen by taking in sprung acceleration from the vertical acceleration sensor 22.

Next, an initial antibody group is generated (step 191). That is, an antibody I (j) (j = 1 to m) shown in FIG. 23 is read from a database (not shown) in the IA control block 14 as an antibody against the antigen (spring acceleration). Here, each antibody I (j) was used for shock absorber 1
6, the acceleration threshold values A1 (j) to
An (j) (j = 1 to m).

Next, the calculation of the affinity between the antibodies is performed (step 192). The affinity ξ between the antibodies is calculated as the sum of the squares of the differences between the antibody information. That is, antibody K and antibody J
The affinity ξ _{KJ of} is obtained by the following Expression 5.

[0140]

(Equation 5)

Next, the affinity between the antigen and each antibody is calculated by trialing the antibodies (step 193). This antibody trial is based on the damping force adaptive control block 26.
This is performed based on the processing shown in the flowchart of FIG. That is, the flowchart shown in FIG. 24 is obtained by changing step 22 (skyhook control) of the flowchart shown in FIG. 9 used in the description of the first embodiment to step 202 (damping force adaptive control).

In step 202, the vertical acceleration Gz of the vehicle body is fetched from the vertical acceleration sensor 22, and the control stage of the shock absorber 16 determined by the acceleration threshold value of the antibody I (j) corresponding to the vertical acceleration Gz of the vehicle body Is set as the target control stage Sa. Then, a control signal for setting the control stage of the shock absorber 16 to the target control stage Sa is output to the actuator 18.

In steps 200 to 201 and steps 203 to 208, the same processing as steps 20 to 21 and steps 23 to 28 in the flowchart shown in FIG. 9 is performed.
The affinity ν _{1 to} ν _m between the antigens and antibodies is calculated for each antibody I (j). That is, a trial is sequentially performed for each antibody I (j), and the vertical acceleration G of the vehicle body corresponds to the trial time of each antibody I (j).
By integrating z, the affinity ν _{1 to} ν _m between the antigens for each antibody I (j) is calculated. After calculating the affinity ν _{1 to} ν _m between the antigen and the antibody for each antibody, the process proceeds to step 194 in FIG.

Next, the production of a new generation of antibodies in IA control (stage 1) will be described. The production of the new generation of antibodies is performed according to steps 194 to 194 of the flowchart shown in FIG.
Step 198 is performed. Step 1 in FIG.
The processing of steps 94 to 198 is the same as the processing of steps 5 to 9 of the flowchart shown in FIG. 2, and stores antibodies having a saturation exceeding the threshold value in a memory cell, that is, a database ( Step 195, 1
96), among the antibodies being tested in the system, n antibodies with inferior affinity between the antibodies and antigens are deleted, and the hybridization of the antibodies is performed to produce the deleted antibodies (steps 197 and 198). ).

The processing of steps 192 to 198 in FIG. 22 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are sequentially created, and by performing trials on the antibodies, antibodies with inferior affinity between antigens and antibodies are eliminated, so that the affinity between antigens and antibodies is excellent.
In other words, antibodies that are excellent in the ability to reduce the vertical acceleration of the vehicle body are accumulated.

In the adaptive control of the damping force, following the trial of the antibody (stage 1), the control of the stage 2, that is, the adaptive control of the damping force using the antibody having the highest affinity between the antigen and antibody is shown in FIG. The processing is performed for a certain period of time by the same processing as step 202 in the flowchart shown. That is, the damping force adaptive control using the antibody having the smallest affinity value among the affinity values ν _{1 to} ν _m between the antigen and antibody is performed for a certain period of time. In this suspension control method, as shown in FIG. 21, damping force adaptive control and IA control are executed in the order of stages 1 and 2, and when stage 2 is completed, stages 1 and 2 are repeatedly executed again.

Therefore, according to the suspension control method of the fourth embodiment, even if an environmental change occurs due to a temporal change in a suspension spring or the like, the most excellent damping force adaptive control can be performed according to the situation. it can.

Fifth Embodiment Next, a suspension control method according to a fifth embodiment of the present invention will be described with reference to FIGS.

FIG. 25 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the fifth embodiment. The damping force control device 102 changes the skyhook control block 12 of the damping force control device 10 according to the first embodiment to a road surface input control block 28, and includes a load sensor 30 that detects an axial force of the shock absorber 16. It has been added.

That is, the load sensor 30 is provided inside the shock absorber 16 or at a connection between the shock absorber 16 and the vehicle body. The axial force of the shock absorber 16 detected by the load sensor 30 is input to the road surface input control block 28. Then, the road surface input control block 28 calculates the rate of change of the axial force of the shock absorber 16.

Next, suspension control according to the fifth embodiment will be described with reference to FIGS. FIG. 26 shows a road surface input control and an IA which implement this suspension control in a road surface input control block 28.
Divided into IA controls implemented in control block 14,
This shows the flow of each control. As shown in FIG. 26, in the road surface input control, the trial of the antibody (stage 1) and the road surface input control using the antibody having the highest affinity between the antigen and the antibody (stage 2) are repeated, and in the IA control, , Production of a new generation of antibodies (stage 1) and rest (stage 2) are repeated.

First, the trial (stage 1) of the antibody in the road surface input control will be described. As shown in the flowchart of FIG. 27, an antigen is recognized as input information of the system (step 210). That is, the IA control block 1
4 recognizes an antigen by taking in sprung acceleration from the vertical acceleration sensor 22.

Next, an initial antibody group is generated (step 211). That is, an antibody I (j) (j = 1 to m) shown in FIG. 28 is read from a database (not shown) in the IA control block 14 as an antibody against the antigen (spring acceleration). Here, each antibody I has a threshold value A1 (j) to An (j) (j = 1) of the rate of change of the axial force of the shock absorber 16.
To m).

Next, the calculation of the affinity between the antibodies is performed (step 212). The affinity ξ between the antibodies is calculated as the sum of the squares of the differences between the antibody information. That is, antibody K and antibody J
The affinity ξ _{KJ of} is obtained by the following equation (6).

[0155]

(Equation 6)

Next, the affinity between the antigen and each antibody is calculated by performing a trial of the antibody (step 213). This trial of the antibody is performed in the road surface input control block 28, and is performed based on the processing shown in the flowchart of FIG. That is, the flowchart shown in FIG. 29 is obtained by changing step 22 (sky hook control) of the flowchart of FIG. 9 used in the description of the first embodiment to step 222 (road surface input control).

In step 222, the load sensor 3
The change rate of the axial force of the shock absorber 16 is calculated from the axial force of the shock absorber 16 taken from 0, and the control stage of the shock absorber 16 corresponding to the change rate of the axial force of the shock absorber 16 is set as the target control stage Sa. Is done. That is, the antibody I (j) was used for the shock absorber 1
6 has a threshold value related to the axial force change rate corresponding to each control stage, so that the control stage of the threshold value corresponding to the axial force change rate of the shock absorber 16 calculated by the calculation is the target control stage Sa. Is set as Then, a control signal for setting the control stage of the shock absorber 16 to the target control stage Sa is output to the actuator 18.

In steps 220 to 221 and 223 to 228, the same processes as those in steps 20 to 21 and 23 to 28 in the flowchart of FIG. m) affinity between antigen and antibody ν ₁
Νν _m is calculated. That is, the vertical acceleration Gz of the vehicle body is integrated for the trial time for each antibody, and the affinity ν ₁ between the antigen and antibody is obtained.
Νν _m is calculated. After calculating the affinity ν _{1 to} ν _m between the antigen and the antibody for each antibody, the process proceeds to step 214 in FIG.

Next, production of a new generation of antibodies (stage 1) under IA control will be described. Production of a new generation of antibodies is performed in steps 214-218 of FIG. Steps 214 to 218 in FIG.
Is the same as the processing shown in Steps 5 to 9 in FIG. 2, in which an antibody having a saturation exceeding the threshold is stored in a memory cell, that is, a database (Step 2).
15, 216), among the antibodies being tested in the system, the antibody or the like having the lowest affinity between the antibody and the antigen is deleted, and the antibodies are crossed to produce the number of the deleted antibodies (step 217, step 217). 218).

The processing of steps 212 to 218 of the flowchart shown in FIG. 27 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the road surface input control, following the trial of the antibody (stage 1), the road surface input control using the antibody I having the highest affinity between the antigen and the antibody (stage 2) is performed for a fixed time. That is, the antibody I (j) having the smallest value of the affinity between the antigen and the antibody is used, and the shock absorber 1 obtained from the load sensor 30 and the axial force of the shock absorber 16 is used.
Calculate the change rate of the axial force of No. 6 and calculate the shock absorber 1
Road surface input control is performed by setting the control stage of the shock absorber 16 corresponding to the change rate of the axial force of No. 6 as the target control stage Sa with reference to the antibody I (j).

In the fifth embodiment, as shown in FIG. 26, road surface input control and I
A control is executed, and when stage 2 is completed, stage 1
Are repeatedly executed again. That is, the vehicle is caused to travel while trying the antibody in stage 1, and after the experiment is completed, the vehicle is caused to travel in stage 2 while performing road surface input control using an antibody having the highest affinity between the antigen and the antibody.

Therefore, according to the suspension control method of the fifth embodiment, even if an environmental change occurs due to a temporal change in a suspension spring or the like, the most excellent road surface input control can be performed according to the situation. .

Sixth Embodiment Next, a suspension control method according to a sixth embodiment of the present invention will be described with reference to FIGS.

FIG. 30 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the sixth embodiment. The damping force control device 103 changes the skyhook control block 12 of the damping force control device 10 according to the first embodiment to an anti-square control block 32, a vehicle speed sensor 34 for detecting a vehicle speed, and an engine speed. Is provided with a rotation speed sensor 36 for detecting the rotation speed.

In the anti-square control block 32,
A signal indicating the vehicle speed V detected by the vehicle speed sensor 34 and subjected to band-pass processing by a filter (not shown) is input,
A signal indicating the engine speed NE detected by the speed sensor 36 is input to the antisquare control block 32, and a differential value dNE of the engine speed is calculated.

Next, suspension control according to the sixth embodiment will be described with reference to FIGS. FIG. 31 divides this suspension control into anti-square control performed in the anti-square control block 32 and IA control performed in the IA control block 14, and shows the flow of each control.

As shown in FIG. 31, in the anti-square control, the trial of the antibody (stage 1) and the anti-square control using the antibody having the highest affinity between the antigen and antibody (stage 2) are repeated, and the IA In control, production of a new generation antibody (stage 1) and rest (stage 2) are repeated.

First, the trial (stage 1) of an antibody in antisquare control will be described. As shown in the flowchart of FIG. 32, an antigen is recognized as input information of the system (step 230). That is, the IA control block 14 recognizes, as an antigen, the peak value of the sprung acceleration during the anti-squat control from the sprung acceleration taken from the vertical acceleration sensor 22.

Next, an initial antibody group is generated (step 231). That is, FIG. 33 shows an antibody against an antigen (peak value of sprung acceleration during antisquare control).
Is read from a database (not shown) in the IA control block 14. Here, each antibody I is composed of the vehicle speed SPD (j), the differential value dNE (j) of the control start engine speed, and the engine speed NE (j), which are the conditions for starting the antisquat control. Therefore, the vehicle speed sensor 34 and the rotation speed sensor 36
Are the vehicle speed SPD (j) of each antibody I (j) and the differential value dNE of the control start engine speed.
(J) When the engine speed exceeds the engine speed NE (j), anti-squat control is performed.

Next, the calculation of the affinity between the antibodies is performed (step 232). The affinity ξ between the antibodies is calculated as the sum of the squares of the differences between the antibody information. That is, antibody K and antibody J
The affinity ξ _{KJ of} is obtained by Expression 7 shown below.

[0172]

(Equation 7)

Next, the affinity between the antigen and each antibody is calculated by trialing the antibodies (step 233). This trial of the antibody is performed in the anti-square control block 32 based on the processing shown in the flowchart of FIG. That is, the flowchart shown in FIG. 34 is obtained by changing step 22 (skyhook control) of the flowchart of FIG. 9 used in the description of the first embodiment to step 242 (antisquat control).

In step 242, the vehicle speed sensor 3
4, the vehicle speed SPD detected by the sensor 4 and the rotation speed sensor 36
The engine rotation NE detected by the following equation, the engine speed differential value dNE calculated based on the engine speed,
The vehicle speed SPD that the antibody I (j) has as a threshold,
When the rotational speed NE of the engine and the differential value dNE of the engine rotational speed exceed the control stage of the current shock absorber 16, a control stage higher than the current control stage is set as the target control stage Sa. Then, a control signal for setting the control stage of the shock absorber 16 to the target control stage Sa is output to the actuator 18.

In steps 240 to 241 and steps 243 to 248, the same processing as steps 20 to 21 and steps 23 to 28 in the flowchart of FIG. 9 is performed, and for each antibody I (j). The affinity ν _{1 to} ν _m between the antigen and antibody is calculated. That is, the vertical acceleration sensor 2 within the trial time
The maximum value of the detection values of 2 is defined as the affinity ν (j) between the antigen and antibody for each antibody (antibody 1 to antibody m). After calculating the affinity ν (j) between the antigen and antibody for each antibody, the process proceeds to step 234 of the flowchart shown in FIG.

Next, the production of a new generation of antibodies in IA control (stage 1) will be described. The production of the new generation of antibodies is determined by the steps 234 to 234 in the flowchart shown in FIG.
Step 238 is performed. Step 2 in FIG.
The processing in steps 34 to 238 is the same as the processing in steps 5 to 9 in FIG. 2, and stores antibodies having a saturation exceeding the threshold value in a memory cell, that is, a database (step 235, step 235). 236), among the antibodies being tested in the system, n antibodies with inferior affinity between the antibodies and antigens are deleted, and the hybridization of the antibodies is performed to produce the deleted antibodies (steps 237 and 23).
8).

The processing of steps 232 to 238 in FIG. 32 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the anti-square control, following the trial of the antibody (stage 1), anti-square control (stage 2) using an antibody having the highest affinity between the antigen and antibody is performed for a certain period of time. That is, using the antibody having the smallest value of the affinity between the antigen and the antibody, the vehicle speed SPD and the engine speed N
E, when the differential value dNE of the engine speed exceeds the control stage of the shock absorber 16, the control stage of raising the control stage of the shock absorber 16 to a control stage higher than the current control stage of the shock absorber 16 is continued for a certain period of time.

The damping force control device 103 stores the maximum value of the differential value dNE of the engine speed in order to prevent the anti-square control from being permanently stopped, and to control the antibody produced by the hybridization. The differential value dNE of the engine speed does not exceed the stored maximum value.

As described above, in the sixth embodiment, as shown in FIG. 31, antisquare control and IA control are executed in the order of stages 1 and 2, and when stage 2 is completed, stages 1 and 2 are executed. Is repeatedly executed. That is, the vehicle is driven while trying the antibodies in stage 1 and after the trial is completed, the vehicle is driven in stage 2 while performing antisquare control using an antibody having the smallest affinity value between the antigen and antibody.

Therefore, according to the suspension control method of the sixth embodiment, it is possible to set an appropriate anti-squat control start condition even when the suspension spring or the like changes over time.

Seventh Embodiment Next, a suspension control method according to a seventh embodiment of the present invention will be described with reference to FIGS.

FIG. 35 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the seventh embodiment. This damping force control device 104 replaces the skyhook control block 12 of the damping force control device 10 according to the first embodiment with the anti-dive control block 38.
And a brake switch 40 that is turned on when a brake pedal (not shown) is depressed.

In the figure, reference numerals 16FL, 16FR, 1
Reference numerals 6RL and 16RR denote shock absorbers provided for the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel, respectively, and are denoted by reference numerals 18FL, 18FR, 18RL, and 18 respectively.
Those indicated by RR are shock absorbers 16FL, 16
An actuator for controlling FR, 16RL, and 16RR.

Next, suspension control according to the seventh embodiment will be described with reference to FIGS. FIG. 36 divides this suspension control into anti-dive control performed in the anti-dive control block 38 and IA control performed in the IA control block 14, and shows the flow of each control.

As shown in FIG. 36, in the anti-dive control, the trial of the antibody (stage 1) and the anti-dive control using the antibody having the highest affinity between the antigen and antibody (stage 2) are repeated, and the IA is performed. In control, production of a new generation antibody (stage 1) and rest (stage 2) are repeated.

First, the trial (stage 1) of an antibody in anti-dive control will be described. As shown in the flowchart of FIG. 37, an antigen is recognized as input information of the system (step 250). That is, the IA control block 14 recognizes the peak value of the sprung acceleration during the anti-dive control from the sprung acceleration taken from the vertical acceleration sensor 22 as an antigen.

Next, an initial antibody group is generated (step 251). That is, the antibody I (j) (j = 1 to m) shown in FIG. 38 is used as the antibody against the antigen (the peak value of the sprung acceleration during the anti-dive control) in the IA control block 14.
From a database (not shown) in the system. Here, each antibody I (j) is connected to the front wheel shock absorber 16FL,
For 16FR, three target control stages Sfanz (j) (z corresponding respectively to the low speed region, the medium speed region, and the high speed region of the vehicle speed V.
= A, b, c) and the target step Ds (j) of the target control stage of the front and rear wheel shock absorbers is composed of m antibodies I (j) (j = 1 to m) having antigen information. .

Next, the calculation of the affinity between the antibodies is performed (step 252). That is, the affinity ξ _KJ between antibody K and antibody J is
It is obtained by the following equation (8).

[0190]

(Equation 8)

Next, an affinity calculation between the antigen and each antibody is performed by trialing the antibodies (step 253). This trial of the antibody is performed in the anti-dive control block 38 based on the processing shown in the flowchart of FIG. That is, the flowchart shown in FIG. 39 is obtained by changing step 22 (skyhook control) of the flowchart of FIG. 9 used in the description of the first embodiment to step 262 (anti-dive control).

The anti-dive control (step 262)
It is executed according to the flowchart of FIG. That is, first, a signal indicating the vehicle speed V and an on-off signal from the brake switch 40 are read (step 27).
0), it is determined whether or not the brake switch 40 is on (step 271). Here, if the determination is no, the process proceeds to step 272, and if the determination is yes, the process proceeds to step 273.

In step 272, the target control stage Sfan of the front wheel shock absorbers 16FL, 16FR
And the target control stage Sran of the rear wheel shock absorbers 16RL, 16RR is determined to a standard value. On the other hand, in step 273, the vehicle speed range is determined based on the vehicle speed V,
The target control stage Sfan of the front wheel shock absorbers 16FL and 16FR is determined from the antibody information of the antibody under test.

Next, in step 274, Sfan
+ Ds (j) as rear shock absorber 16R
The target control stage Sran of L, 16RR is determined. The control signals corresponding to the target control stages Sfan and Sran are respectively the front wheel actuators 18FL and 18FR.
And output to the rear wheel actuators 18RL, 18RR (step 275).

In steps 260 to 261 and steps 263 to 268, the same processes as those in steps 20 to 21 and steps 23 to 28 in the flowchart of FIG. 9 are performed, and for each antibody I (j). The affinity ν _{1 to} ν _m between the antigen and antibody is calculated. That is, the maximum value of the detection values of the vertical acceleration sensor 22 within the trial time of each antibody (antibody 1 to antibody m) is defined as the affinity ν (j) between the antigen and antibody for each antibody. After calculating the affinity ν (j) between the antigen and antibody for each antibody, the process proceeds to step 254 of the flowchart shown in FIG.

Next, the production of a new generation of antibodies in IA control (stage 1) will be described. The production of a new generation of antibodies is performed in steps 254 to 258 of FIG. Steps 254 to 258 in FIG.
Is the same as the processing shown in Steps 5 to 9 in FIG. 2, in which an antibody having a saturation exceeding the threshold is stored in a memory cell, that is, a database (Step 2).
55, 256), among the antibodies being tested in the system, n antibodies with low affinity between the antibodies and antigens are deleted, and antibodies are crossed to produce the number of antibodies that have been deleted (step 257). 258).

When the antibody is produced and the target control stage Sfanz (j) of the antibody is smaller than the lower limit Sanmin, the target control stage Sfanz (j) is set to the lower limit Sa.
Set to nmin. Also, the target control stage Sfanz
If (j) is greater than the upper limit Sanmax, the target control stage Sfanz (j) is set to the upper limit Sanmax.

If the target step Ds (j) of the antibody is smaller than the lower limit Dsmin, the target step Ds (j)
(J) is set to the lower limit value Dsmin, and the target step Ds
If (j) is larger than the upper limit value Dsmax, the target step Ds (j) is set to the upper limit value Dsmax.

The processing of steps 252 to 258 in FIG. 37 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the anti-dive control, following the trial of the antibody (stage 1), the anti-dive control (stage 2) using the antibody with the best evaluation result is performed for a certain period of time. That is, the anti-dive control shown in the flowchart of FIG. 40 is continued for a certain period of time using the antibody having the smallest affinity between the antigen and the antibody.

As described above, in the seventh embodiment, as shown in FIG. 36, anti-dive control and IA control are executed in the order of stages 1-2, and when stage 2 is completed, stages 1-2 Is repeatedly executed. That is, the vehicle is driven while trying the antibodies in stage 1 and after the trial is completed, the vehicle is driven in stage 2 while performing anti-dive control using the antibody having the smallest affinity value between the antigen and antibody.

Therefore, according to the suspension control method of the seventh embodiment, the damping force of the front and rear wheel shock absorbers during braking of the vehicle can be optimally controlled even when the suspension spring or the like changes over time. As a result, the nose dive of the vehicle body can be optimally controlled.

Further, the target control gear Sfan of the front wheels is always set to a value not less than the upper limit and not more than the lower limit, and the target step Ds (j) is always set to a value not less than the lower limit and not more than the upper limit. The target control stage and the target step of the front wheel diverge due to the hybridization of the antibodies, and are set to inappropriate values, whereby the damping force of the shock absorber can be reliably prevented from being controlled to an inappropriate value. .

Eighth Embodiment Next, a suspension control method according to an eighth embodiment of the present invention will be described with reference to FIGS.

FIG. 41 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the eighth embodiment. The damping force control device 105 controls the vertical acceleration sensor 22 of the damping force control device 10 according to the first embodiment by using the front left wheel FL, the front right wheel FR, the rear left wheel RL,
Prepare for each of the rear right wheels RR (vertical acceleration sensor 22
FL, 22FR, 22RL, 22RR) and an alarm device 42 for notifying an abnormality of the vertical acceleration sensors 22FL, 22FR, 22RL, 22RR.

In the figure, reference numerals 16FL, 16FR, 1
What is indicated by 6RL and 16RR is a shock absorber provided for each wheel.
18RL, 18RR indicate shock absorbers 16FL, 16FR, 16RL, provided on each wheel.
This is an actuator for controlling 16RR.

Next, suspension control according to the eighth embodiment will be described with reference to FIGS.

FIG. 42 shows this suspension control divided into skyhook control performed in the skyhook control block 12 and IA control performed in the IA control block 14, and the flow of each control is shown. As shown in FIG. 42, in the skyhook control, the trial of the antibody (stage 1) and the skyhook control using the antibody having the highest affinity between the antigen and the antibody (stage 2) are repeated, and in the IA control, , G sensor abnormality determination, production of a new generation of antibody (stage 1), and rest (stage 2) are repeated.

First, the trial of the antibody in the skyhook control (stage 1) will be described. As shown in the flowchart of FIG. 43, an antigen is recognized as input information of the system (step 280). That is, the IA control block 14 controls the vertical acceleration sensors 22FL, 22FR, 22R.
The sprung accelerations of the four wheels are fetched from L and 22RR via the band pass filter 24.

Next, an initial antibody group is generated (step 281). That is, the antibody I (j) (j = 1 to m) shown in FIG. 44 is read out from a database (not shown) in the IA control block 14 as an antibody to the antigen (four-wheel sprung acceleration). Wherein each antibody I is skyhook damping coefficient Cs _FL corresponding to each _{wheel, Cs FR, Cs RL, Cs} RR and set the attenuation factor of each stage _{C1 FL, C1 FR, C1 RL} , C1 RR ~C
_{n FL, Cn FR, Cn RL} , consisting of Cn _RR.

Next, the calculation of the affinity between the antibodies is performed (step 282). The affinity ξ between the antibodies is calculated as the sum of the squares of the differences between the antibody information. That is, antibody K and antibody J
The affinity ξ _{KJ of} is obtained by the following equation (9).

[0212]

(Equation 9)

Next, an affinity calculation between the antigen and each antibody is performed by trialing the antibodies (step 283). This antibody trial was performed in accordance with FIG. 9 used in the description of the first embodiment.
And the processing shown in the flowchart of FIG.
For each antibody I (j), the affinity ν _FL (front left wheel), ν _FR (front right wheel), ν _RL (rear left wheel), ν _RR (rear right wheel) between the antigens are calculated. That is, the vertical acceleration sensors 22FL, 22FR, 22RL, 22RR provided on each wheel of the vehicle body
Of the vertical acceleration Gz in the region around 1 Hz passing through the band-pass filter 24 among the vertical accelerations Gz detected by
z is integrated by the trial time for each wheel, and the affinity ν _FL , ν _FR , ν _RL , _{RR of} the antigen-antibody is calculated. After the affinity ν _FL , ν _FR , ν _RL , ν _RR between the antigens for each antibody is calculated, the flow proceeds to step 284 of the flowchart shown in FIG.

Next, determination of abnormalities of the vertical acceleration sensors 22FL, 22FR, 22RL, 22RR in IA control and production of a new generation antibody (stage 1) will be described. The vertical acceleration sensors 22FL, 22FR, 22R
The determination of the abnormality of L and 22RR is performed in step 284 in FIG.
Step 293 is performed.

That is, first, in step 284, the absolute value of the difference between the affinity ν _FL between the antigen antibodies of the front left wheel and the affinity ν _FR between the antigen antibodies of the front right wheel is smaller than the predetermined value ν ₀ (for each antibody, A similar effect on the antigen). This determination is made for all of the antibodies 1 to m, and if it is determined that all of them are smaller, the process proceeds to step 289. On the other hand, if the absolute value of the difference between the affinity ν _FL and the affinity ν _FR between any of the antibodies is larger than the predetermined value ν ₀ (there are antibodies with different effects)
Proceeds to step 285, affinity xi] _KJF between antibodies information about the front wheel is greater than a predetermined value xi] _0, that is, determines whether or not the antibody information about the front wheels are similar are performed.

[0216] in step 289 if any of the affinity xi] _KJF between antibody information in step 285 is that there are those dissimilar in antibody information for the case, that the front wheels greater than a predetermined value xi] ₀ move on. On the other hand, when all of the affinity ξ _KJF between antibody information is smaller than a predetermined value ξ ₀ , since all antibodies are similar despite the presence of antibodies with different _effects , the vertical acceleration sensor 2
It is determined that there is an abnormality in the 2FL or the vertical acceleration sensor 22FR, and the process proceeds to step 286.

[0217] In step 286, the antibody information and front right on the affinity xi] one is greater in _KJFR, namely front left wheel between antibodies information about affinity xi] _KJFL and front right wheel between antibodies information about front-left wheel A determination is made as to which of the antibody information for the rings is similar. Here, when it is determined that _JKJFR is small, the effect on the antigen is different even though the antibody information on the front right wheel is similar, and thus the vertical acceleration sensor 22FR of the front right wheel has an abnormality. (Step 28).
7).

On the other hand, if it is determined that _ξKJFR is not small, the _effect of the front left wheel on the antigen is different even though the antibody information on the front left wheel is similar. The alarm device 42 informs that there is (step 288).

In step 289, the affinity ν _RL between the antigens and antibodies in the rear left wheel and the affinity ν between the antigens and antibodies in the rear right wheel are determined.
_It is determined whether or not the absolute value of the _RR difference is smaller than a predetermined value ν ₀ (each antibody has the same effect on the antigen). This determination is also made for all of the antibodies 1 to m, and if it is determined that all are small, the process proceeds to step 294. On the other hand, when the absolute value of the difference between the affinity ν _RL and the affinity ν _RR between any of the antibodies is larger than the predetermined value ν ₀ (there is an antibody with a different effect), the process proceeds to step 290, and affinity xi] _KJR between antibodies information is larger than a predetermined value xi] _0, i.e. the rear wheels determined whether antibodies information are similar for is performed.

[0220] When any of the affinity xi] _KJR between antibody information in step 290 is greater than the predetermined value xi] _0, step if the one dissimilar in antibody information about the rear wheel that is present 294 Proceed to. On the other hand, since all the affinity xi] _KJR between antibody information is smaller than a predetermined value xi] ₀ is a case where all antibodies despite efficacy of different antibodies are present are similar, vertical acceleration sensors 2
It is determined that there is an abnormality in the 2RL or the vertical acceleration sensor 22RR, and the process proceeds to step 291.

[0221] In step 291, which of the affinity xi] _KJRR between antibodies information about affinity xi] _KJRL and rear right wheel between antibodies information about the rear left wheel larger, right rear and antibody information about the rear left wheel i.e. A determination is made as to which of the antibody information for the rings is similar. Here, if it is determined that _ξKJRR is small, the effect on the antigen is different even though the antibody information on the rear right wheel is similar, and therefore, there is an abnormality in the vertical acceleration sensor 22RR of the rear right wheel. (Step 29)
3).

On the other hand, when it is determined that _ξKJRR is not small, the effect on the antigen is different even though the antibody information on the rear left wheel is similar, so that the vertical acceleration sensor 22FL of the rear left wheel is abnormal. The alarm device 42 notifies that there is (step 292).

Next, production of a new generation of antibodies will be described. The production of this new generation of antibodies is illustrated in FIG.
4 to step 298. The processing of steps 294 to 298 in FIG.
This is the same as the processing shown in step 9 except that an antibody having a saturation exceeding the threshold is stored in a memory cell, that is, a database (steps 295 and 296). To eliminate n antibodies with low affinity between the antibody and antigen, and breed the antibodies to produce as many antibodies as the number of deleted (steps 297 and 29).
8).

The processing of steps 282 to 298 in FIG. 43 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the suspension control, the skyhook control (stage 2) using the antibody having the highest affinity between the antigen and the antibody, which is performed after the trial of the antibody (stage 1), will be described in the first embodiment. This is performed by the processing shown in the flowchart of FIG.

As described above, in the eighth embodiment, as shown in FIG. 42, skyhook control and IA control are executed in the order of stages 1 and 2, and when stage 2 is completed, stages 1 and 2 are completed. Is repeatedly executed. In other words, the vertical acceleration sensors 22FL, 22FR, 22RL, 22RR are determined based on the affinity ν between the antigen and the antibody and the affinity 間 の between the antibodies while trying the antibodies in stage 1.
Is detected, and after completion of the trial, the vehicle is driven while performing the skyhook control using the antibody having the smallest affinity value between the antigen and the antibody in stage 2.

Therefore, according to the suspension control method of the eighth embodiment, the IA is used for the skyhook control.
, The abnormality of the vertical acceleration sensor can be accurately detected.

Ninth Embodiment Next, a suspension control method according to a ninth embodiment of the present invention will be described with reference to FIGS.

FIG. 45 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the ninth embodiment. The damping force control device 106 controls the skyhook control block 12 of the damping force control device 10 according to the first embodiment by using the anti-roll control block 44.
And a vehicle speed sensor 3 for detecting the speed of the vehicle.
4. An angular velocity sensor 46 for detecting the rotational angular velocity of the steering wheel, and a warning device 42 for notifying an abnormality of the angular velocity sensor 46 are provided.

Next, suspension control according to the ninth embodiment will be described with reference to FIGS.

FIG. 46 shows the flow of each of the suspension control divided into anti-roll control performed in the anti-roll control block 44 and IA control performed in the IA control block 14. As shown in FIG. 46, in the anti-roll control, the trial of the antibody (stage 1) and the anti-roll control using the antibody having the highest affinity between the antigen and antibody (stage 2) are repeated, and in the IA control, , An abnormality of the angular velocity sensor, production of a new generation of antibody (stage 1), and rest (stage 2) are repeated.

First, the trial of an antibody in anti-roll control (stage 1) will be described. As shown in the flowchart of FIG. 47, an antigen is recognized as input information of the system (step 300). That is, the IA control block 14 recognizes the roll rate as an antigen by capturing the vehicle speed from the vehicle speed sensor 34 and capturing the angular velocity of the steering wheel from the angular velocity sensor 46.

Next, an initial antibody group is generated (step 301). That is, the antibody I (j) (j = 1 to m) shown in FIG. 48 is read from a database (not shown) in the IA control block 14 as an antibody to the antigen (roll rate). Here, each antibody I has a roll rate threshold G1 (1) to a roll rate corresponding to each control stage of the shock absorber 16.
Gn (1).

Next, the calculation of the affinity between the antibodies is performed (step 302). The affinity ξ between the antibodies is calculated as the sum of the absolute values of the differences between the antibody information. That is, affinity xi] _KJ antibody K and antibodies J is obtained by the equation 10 shown below.

[0235]

(Equation 10)

Next, an affinity calculation between the antigen and each antibody is performed by trialing the antibodies (step 303). This antibody trial is performed based on the processing shown in the flowchart of FIG. That is, in the flowchart shown in FIG. 49, step 22 (skyhook control) of the flowchart in FIG. 9 used in the description of the first embodiment is replaced with step 3
22 (anti-roll control).

In step 322, step 32
Anti-roll control (trial) is performed for the antibody I (j) set in 1. That is, the vehicle speed is detected by the vehicle speed sensor 34 and the rotational angular speed of the steering wheel is detected by the angular speed sensor 46 to calculate the roll rate of the vehicle. The control stage of the shock absorber 16 corresponding to the threshold value of the roll rate of the antibody I (j) exceeding the roll rate obtained by this calculation is set as the target control stage Sa. Then, a control signal for setting the control stage of the shock absorber 16 to the target control stage Sa is output to the actuator 18.

In steps 320 to 321 and steps 323 to 328, the same processing as steps 20 to 21 and steps 23 to 28 in the flowchart of FIG. 9 is performed. That is, in step 321, antibodies 1 to m are sequentially set, and the affinity v ₁ between the antigen and the antibody for each antibody I (j).
Νν _m is calculated. That is, the maximum roll angle in one cycle of the steering wheel operation is calculated as the affinity between the antigen and the antibody. After calculating the affinity ν _{1 to} ν _m between the antigen and antibody for each antibody, the process proceeds to step 304 in FIG.

Next, the angular velocity sensor 46 in the IA control
The determination of abnormalities and the production of a new generation of antibodies (stage 1) will be described. The determination of the abnormality of the angular velocity sensor 46
This is performed in steps 304 to 307 of FIG. That is, in step 304, ρ _KJ is calculated. Next, in step 305, it is determined whether ρ _KJ is greater than a predetermined ρ ₀ . That is, it is determined whether or not the antibody I (K) and the antibody I (J) have the same effect to reduce the roll rate. If the determination is yes here, the effect on the antigen is different, and the process proceeds to step 306,
Affinity of antibody I (K) and antibody I (J) _ξKJ is a predetermined valueξ
A determination is made whether it is greater than _zero .

If the determination in step 306 is yes, the effects on the antigen differ when antibody I (K) and antibody I (J) are used.
Since (J) is not similar, the angular velocity sensor 46
Proceeds to step 308 assuming that it is operating normally.

On the other hand, if the determination is no in step 306, it is determined that an abnormality has occurred in the angular velocity sensor 46, and the alarm device 42 notifies. That is, antibody I
When the effects on the roll rate of (K) and the antibody I (J) are different, the antibody I (K) and the antibody I (J) are not similar (the affinity _ξKJ is large). Antibody I
If (K) is similar to the antibody I (J), it is determined that an abnormality has occurred in the angular velocity sensor 46.

Next, the production of a new generation of antibodies will be described. The production of this new generation of antibodies is shown in FIG.
Steps 8 to 312 are performed. The processing of steps 308 to 321 in FIG.
-The same processing as the processing shown in Step 9 is carried out. Antibodies having a degree of saturation exceeding the threshold value are stored in a memory cell, that is, a database (Steps 309 and 310). To eliminate n antibodies having inferior affinity between the antibody and antigen, and breeding the antibodies to produce the number of the removed antibodies (steps 311 and 31).
2).

The processing of steps 302 to 312 in FIG. 47 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the anti-roll control, following the trial of a new antibody (stage 1), anti-roll control (stage 2) using an antibody having the smallest affinity value between the antigen and antibody is performed for a certain period of time.

Therefore, according to the suspension control method of the ninth embodiment, the IA is used for the anti-roll control.
In this way, the abnormality of the angular velocity sensor can be accurately detected.

Tenth Embodiment Next, a suspension control method according to a tenth embodiment of the present invention will be described with reference to FIGS.

FIG. 50 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the tenth embodiment. This damping force control device 107
The vehicle height sensor 20 and the vertical acceleration sensor 22 of the damping force control device 10 according to the first embodiment are provided for each of the front left wheel FL, the front right wheel FR, the rear left wheel RL, and the rear right RR (vehicle height sensors 20FL, 20FL). 20FR, 20RL, 20RR, vertical acceleration sensors 22FL, 22FR, 22RL, 22R
R) together with the vehicle height sensors 20FL, 20FR, 20R
An alarm device 42 for notifying an abnormality of L, 20RR is provided.

In the figure, reference numerals 16FL, 16FR, 1
What is indicated by 6RL and 16RR is a shock absorber provided for each wheel.
18RL, 18RR indicate shock absorbers 16FL, 16FR, 16RL, provided on each wheel.
This is an actuator for controlling 16RR.

Next, suspension control according to the tenth embodiment will be described with reference to FIGS.

FIG. 51 shows the flow of each suspension control divided into skyhook control performed in the skyhook control block 12 and IA control performed in the IA control block 14. As shown in FIG. 51, in the skyhook control, the trial of the antibody (stage 1) and the skyhook control using the antibody having the highest affinity between the antigen and the antibody (stage 2) are repeated, and in the IA control, , Abnormality determination of the vehicle height sensor, production of a new generation of antibody (stage 1), and rest (stage 2) are repeated.

First, the trial (stage 1) of an antibody in skyhook control will be described. As shown in the flowchart of FIG. 52, an antigen is recognized as input information of the system (step 330). That is, the IA control block 14 controls the vertical acceleration sensors 22FL, 22FR, 22R.
The sprung accelerations of the four wheels are fetched from L and 22RR via the band pass filter 24.

Next, an initial antibody group is generated (step 331). That is, an antibody I (j) (j = 1 to m) is read from a database (not shown) in the IA control block 14 as an antibody against the antigen (spring acceleration on four wheels).
Incidentally, the antibody I (j) is an antibody and the same antibody used in the eighth embodiment, the skyhook damping coefficient Cs _FL corresponding to each wheel, Cs _FR, Cs _RL, the Cs _RR and each stage set damping coefficient _{C1 FL, C1 FR, C1 RL} , C1 RR ~Cn FL, Cn
_FR , Cn _RL and Cn _RR (see FIG. 44).

Next, the calculation of the affinity between the antibodies is performed (step 332). The affinity ξ between the antibodies is calculated as the sum of the squares of the differences between the antibody information. That is, antibody K and antibody J
The affinity ξ _{KJ of} is obtained by the following equation (11).

[0254]

[Equation 11]

Next, the affinity between the antigen and each antibody is calculated by trialing the antibodies (step 333). This antibody trial was performed in accordance with FIG. 9 used in the description of the first embodiment.
And the processing shown in the flowchart of FIG.
In the same manner as in the eighth embodiment, the affinity ν _FL , ν _FR , ν _RL , ν _RR between antigens and antibodies is calculated for each antibody. And
After calculating the affinity ν _FL , ν _FR , ν _RL , and _RR between antigens and antibodies for each antibody (antibody 1 to antibody m), the flow proceeds to step 334 in FIG.

Next, the vehicle height sensor 20F in the IA control
The determination of abnormalities of L, 20FR, 20RL, and 20RR and production of a new generation antibody (stage 1) will be described. The determination of the abnormality of the vehicle height sensors 20FL, 20FR, 20RL, and 20RR is made in steps 334 to 34 in FIG.
3 is performed.

First, it is determined whether or not _ξKJF is substantially equal to 0, that is, whether or not the skyhook damping coefficients of the front left wheel and the front right wheel are substantially equal (step 334). Proceeds to step 335, where the affinity ν _FL between the front left wheel antigen and antibody and the affinity ν _FR between the front right wheel antigen and antibody
Is determined to be substantially equal to Here, when it is determined that the front left wheel and the front right wheel have different skyhook damping coefficients, the effects on the antibodies are substantially the same, and thus the front left wheel height sensor 22FL is determined.
Alternatively, it is determined that there is an abnormality in any of the front right wheel height sensors 22FR, and the routine proceeds to step 336.

In step 336, _{KJFL > ξ
_{If KJFR} is determined and the determination is yes, the vehicle height sensor 22FR of the front right wheel is determined to be abnormal, and a warning is issued by the warning device 42 (step 337). On the other hand, if the determination is no, the vehicle height sensor 22FL of the front left wheel is determined to be abnormal, and a warning is issued by the warning device 42 (step 33).
8).

The same determination is made for the rear left wheel and the rear right wheel (steps 339, 340, 341), and the notification of the abnormality of the rear right wheel height sensor 22RR (step 3).
42) Or, the abnormality of the vehicle height sensor 22RL of the rear left wheel is notified (step 343).

Next, the production of a new generation of antibodies will be described. The production of this new generation of antibodies is shown in FIG.
4 to 348. The processing of steps 344 to 348 in FIG.
This is the same as the processing shown in step 9 except that an antibody having a degree of saturation exceeding the threshold value is stored in a memory cell, that is, a database (steps 345 and 346). To eliminate n antibodies with inferior affinity between the antibody and antigen, and breed the antibodies to produce as many antibodies as the number of deleted (steps 347, 34).
8).

The processing of steps 332 to 348 in FIG. 52 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the suspension control, the skyhook control (stage 2) using the antibody having the smallest affinity value between the antigen and antibody, which is performed after the trial of the antibody (stage 1), is performed in the first embodiment. 11 used in the description of FIG.
Is performed by the processing shown in the flowchart of FIG.

As described above, in the tenth embodiment, as shown in FIG. 51, skyhook control and IA control are executed in the order of stages 1 and 2, and when stage 2 is completed, stages 1 and 2 are completed. Is repeatedly executed. That is, the vehicle is driven while performing the trial of the antibody, the abnormality determination of the vehicle height sensor, and the production of the new generation antibody in the stage 1, and the skyhook control is performed in the stage 2 by using the antibody having the highest affinity of the antigen antibody. While running the vehicle.

Therefore, according to the suspension control method of the tenth embodiment, the sky hook
By adopting A, it is possible to accurately detect the abnormality of the vehicle height sensor.

Eleventh Embodiment Next, a suspension control method according to an eleventh embodiment of the present invention will be described with reference to FIGS.

FIG. 53 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the eleventh embodiment. This damping force control device 108
The skyhook control block 12 of the damping force control device 10 according to the first embodiment is replaced with an anti-dive control block 3.
8 and a brake lamp switch 48 that is turned on when a brake (not shown) is depressed.
Alarm device 42 for notifying abnormality of brake lamp switch
It is provided with.

Next, the suspension control according to the eleventh embodiment will be described with reference to FIGS.

FIG. 54 shows the flow of each of the suspension control divided into the anti-dive control executed in the anti-dive control block 38 and the IA control executed in the IA control block 14. As shown in FIG. 54, in the anti-dive control, the trial of the antibody (stage 1) and the anti-dive control using the antibody having the highest affinity between the antigen and the antibody (stage 2) are repeated. In the IA control, , Abnormality determination of the brake lamp switch, production of a new generation of antibody (stage 1), and rest (stage 2) are repeated.

First, the trial (stage 1) of an antibody in anti-dive control will be described. As shown in the flowchart of FIG. 55, an antigen is recognized as input information of the system (step 350). That is, the IA control block 14 obtains the pitch rate γ of the vehicle based on the vehicle height detected by the vehicle height sensor 20 and recognizes it as an antigen.

Next, an initial antibody group is generated (step 351). That is, the antibody I (j) (j = 1 to m) is read from a database (not shown) in the IA control block 14 as an antibody against the antigen (pitch rate γ of the vehicle). In addition, as shown in FIG. 56, the antibody I (j) is provided with damping coefficients C1 (j) to C1 (j) of each control stage of the shock absorber 16.
n (j) (j = 1 to m).

Next, the calculation of the affinity between the antibodies is performed (step 352). That is, the affinity ξ _KJ between antibody K and antibody J is
It is obtained by the following equation (12).

[0272]

(Equation 12)

Next, an affinity calculation between the antigen and each antibody is performed by trialing the antibodies (step 353). This antibody trial was performed using the method shown in FIG. 3 used in the description of the seventh embodiment.
9 and the processing shown in the flowchart of FIG. That is, when the brake lamp switch 48 is turned on, the front wheel target control stage Sfan and the rear wheel target control stage Sran are determined, the control stage of the front wheel shock absorber 16 is set to the target control stage Sfan, and the rear wheel shock absorber is set. The anti-dive control (trial) is executed by changing the 16 control stages to the target control stage Sran. Further, by performing a trial for each antibody, the affinity γ (j) and ν (j) between the antigen and the antibody are calculated for each antibody. That is, E (not shown) of the ABS (anti-lock brake system)
The vehicle body deceleration from CU (electronic control unit)
(J), and the pitch rate within the trial time is the affinity ν (j). Then, after calculating the affinity γ (j) and ν (j) between the antigens for each antibody (antibody 1 to antibody m), the process proceeds to step 354 in FIG.

Next, the determination of an abnormality of the brake lamp switch 48 in the IA control and the production of a new generation antibody (stage 1) will be described. The determination of the abnormality of the brake lamp switch 48 is performed in steps 354 to 359 of FIG.

[0275] First, whether affinity xi] _KJ antibody I (K) and antibody I (J) is the threshold value xi] ₀ or less, i.e.. Antibody I
It is determined whether or not (K) is similar to the antibody I (J) (step 354). If the determination is yes, the process proceeds to step 355, where the absolute value of the difference between the affinity ν _K of the antibody I ( _K ) for the antigen and the affinity ν _J of the antibody I (J) for the antigen is determined as a threshold value. It is determined whether ν ₀ is equal to or less than (step 355). If the determination is yes here, the process proceeds to step 356 because the antibody I (K) and the antibody I (J) are similar and have the same effect on the antibody.

At step 356, the antibody I (K)
It is determined whether or not the absolute value of the difference between the affinity γ _K of the antibody I (J) for the antigen and the affinity γ _J of the antibody I (J) is equal to or greater than the threshold γ ₀ . Here, if it is determined that yes, despite the vehicle deceleration difference pitch rate is small in the case of using the antibody I (K) antibody I and (J) is greater than the threshold value gamma ₀ Since this is the case, the alarm device 42 notifies that the brake lamp switch 48 is stuck (step 357).

In step 355, the affinity ν
When it is determined that the absolute value of the difference between _K and the affinity ν _J is not smaller than or equal to the threshold ν ₀ , the process proceeds to step 358. In step 358, the absolute value is judged as to whether or not the threshold gamma ₀ or more of the difference between the affinity gamma _J for the antigen affinity of the antibody for the antigen I _(K) γ K and antibody I (J) Is performed. When it is determined where no is the case even though the vehicle deceleration difference of the pitch rate is greater in the case of using the antibody I (K) antibody I and (J) is smaller than the threshold value gamma ₀ Therefore, in the alarm device 42, the brake lamp switch 48 has an open abnormality, that is,
It is informed that it is always off and not on (step 359).

If no is determined in step 354 and if yes is determined in step 358, the process proceeds to step 360 because there is no abnormality in the brake lamp switch 48.

Next, the production of a new generation of antibodies will be described. The production of this new generation of antibodies is shown in FIG.
0 to step 364. The processing of steps 360 to 364 in FIG.
This is the same as the processing shown in Step 9 except that an antibody having a saturation exceeding the threshold is stored in a memory cell, that is, a database (Steps 361 and 362). To eliminate n antibodies with inferior affinity between the antibody and antigen, and breed the antibodies to produce as many antibodies as the number of deleted (steps 363 and 36).
4).

The processing of steps 352 to 364 in FIG. 55 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the suspension control, the anti-dive control using the antibody having the smallest affinity value between the antigen and the antibody, which is performed after the trial of the antibody (stage 1), is as follows.
This is performed by the processing shown in the flowchart of FIG. 40 used in the description of the seventh embodiment.

As described above, in the eleventh embodiment, as shown in FIG. 54, anti-dive control and IA control are executed in the order of stages 1-2, and when stage 2 is completed, stages 1-2 are completed. Is repeatedly executed. That is, in the stage 1, the trial of the antibody is performed, and the abnormality of the brake lamp switch is detected based on the affinity between the antigen and the antibody calculated in the trial.

Thus, according to the suspension control method of the eleventh embodiment, the anti-dive
By adopting A, it is possible to accurately detect an abnormality of the brake lamp switch.

Twelfth Embodiment Next, a suspension control method according to a twelfth embodiment of the present invention will be described with reference to FIGS.

FIG. 57 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the twelfth embodiment. This damping force control device 109
The skyhook control block 12 of the damping force control device 10 according to the first embodiment is changed to an antisquare control block 32, and the abnormality of the throttle sensor 50 for detecting the throttle opening α and the abnormality of the throttle sensor 50 are notified. An alarm device 42 is provided.

Next, suspension control according to the twelfth embodiment will be described with reference to FIGS.

FIG. 58 shows the flow of each of the suspension control, which is divided into anti-square control performed in the anti-square control block 32 and IA control performed in the IA control block 14. As shown in FIG. 58, in the antisquare control, the trial of the antibody (stage 1) and the antisquare control using the antibody having the highest affinity between the antigen and the antibody (stage 2) are repeated. The abnormality determination of the throttle sensor 50, production of a new generation of antibody (stage 1), and rest (stage 2) are repeated.

First, the trial of an antibody in antisquare control (stage 1) will be described. As shown in the flowchart of FIG. 59, an antigen is recognized as input information of the system (step 370). That is, the IA control block obtains the pitch rate γ of the vehicle based on the vehicle height detected by the vehicle height sensor 20 and recognizes it as an antigen.

Next, an initial antibody group is generated (step 371). That is, the antibody I (j) (j = 1 to m) as an antibody against the antigen (pitch rate γ of the vehicle) is read from a database (not shown) in the IA control block. The antibody I has the same damping coefficient C1 of each control stage of the shock absorber 16 as the antibody used in the eleventh embodiment.
(J) to Cn (j) (j = 1 to m) (see FIG. 56).

Next, the calculation of the affinity between the antibodies is performed (step 372). That is, the affinity の between the antibody K and the antibody J can be obtained by the following Expression 13.

[0291]

(Equation 13)

Next, the affinity between the antigen and each antibody is calculated by trialing the antibodies (step 373). This antibody trial was performed using the method of FIG. 3 used in the description of the sixth embodiment.
4 is performed by the processing shown in the flowchart of FIG. That is, when it is determined that the vehicle is in the acceleration state based on the detection values of the vehicle height sensor 20 and the throttle sensor 50, the affinity ν (j) between the antigen and the antibody is calculated for each antibody. That is, the peak-to-peak value of the pitch rate within the trial time is set as the affinity ν (j). Then, after calculating the affinity ν (j) between the antigen and the antibody for each antibody (antibody 1 to antibody m), the process proceeds to step 374 in FIG.

Next, determination of abnormality of the throttle sensor 50 in IA control, production of a new generation of antibody (stage 1)
Will be described. The determination of the abnormality of the throttle sensor 50 is performed in steps 374 to 380 in FIG.

[0294] First, the absolute value is judged as to whether or not the threshold [nu ₀ or more of the difference between the affinity [nu _J for the antigen affinity of the antibody for the antigen I _(K) ν K and antibody I (J) Is performed (step 374). If the determination is yes here, the process proceeds to step 375, where antibody I (K) and antibody I (J) are used.
Is the affinity ξ _KJ of the threshold value 以下₀ or less, that is,? It is determined whether the antibody I (K) and the antibody I (J) are similar. Here, when it is determined to be no, the antibody I (K) and the antibody I (J) are similar despite the difference in the efficacy of the antibody I (K) and the antibody I (J) with the antigen. Therefore, the opening degree of the throttle sensor 50 is
_On condition that it is smaller than ₀ (step 376),
An abnormality of the throttle sensor 50 is notified by the alarm device 42 (step 377). On the other hand, if the determination is yes in step 375, the antibody I (K) and the antibody I
When the effect of (J) on the antigen is different, the antibody I
Since (K) is not similar to the antibody I (J), it is determined that there is no abnormality in the throttle sensor 50, and the routine proceeds to step 381.

[0295] In the above step 374, no
If it is determined that the antibody I
Or affinity xi] _KJ of (K) and antibody I (J) is the threshold value xi] ₀ or more, i.e., performs antibody I (K) and antibody I (J) and is being determined whether the similar. Here, when it is determined to be no, the antibody I (K) and the antibody I (K) and the antibody I (J) have no difference in the efficacy of the antibody I (K) and the antibody I (J) against the antigen.
Since (J) is not similar, the condition is that the opening of the throttle sensor 50 is not smaller than the threshold value α ₀ (step 379).
Is notified by the alarm device 42 (step 38).
0). On the other hand, when it is determined to be yes in step 378, if there is no difference between the efficacy of the antibody I (K) and the antibody I (J) with respect to the antigen, the antibody I (K) and the antibody I (J)
Are similar, the throttle sensor 50
The process proceeds to step 381 assuming that there is no abnormality.

Next, the production of a new generation of antibodies will be described. The production of this new generation of antibodies is shown in FIG.
Steps 1 to 385 are performed. The processing of steps 381 to 385 in FIG.
This is the same as the processing shown in Step 9 except that an antibody having a saturation exceeding the threshold value is stored in a memory cell, that is, a database (Steps 382 and 383). To eliminate n antibodies with low affinity between the antibody and antigen, and breed the antibodies to produce as many antibodies as the number of deleted (steps 384, 38).
5).

The processing of steps 372 to 385 in FIG. 59 is repeated a plurality of times during stage 1 shown in FIG. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

As described above, in the twelfth embodiment, as shown in FIG. 58, anti-square control and IA control are executed in the order of stages 1-2, and when stage 2 is completed, stages 1-2 are completed. Is repeatedly executed. That is, in the stage 1, the trial of the antibody is performed, and the abnormality of the throttle sensor 50 is detected based on the affinity between the antigen and the antibody calculated in the trial.

Therefore, according to the suspension control method according to the twelfth embodiment, an abnormality in the throttle sensor can be accurately detected by incorporating the IA into the anti-squat control.

Thirteenth Embodiment Next, a suspension control method according to a thirteenth embodiment of the present invention will be described with reference to FIGS.

FIG. 60 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the thirteenth embodiment. The damping force control device 110 has substantially the same configuration as the damping force control device 10 according to the first embodiment. In FIG.
Is a variable damping type shock absorber having 1 to n control stages, and the shock absorber 16 is controlled by the skyhook control block 12 through the step motor type actuator 18 to control the control stage. The damping force, more precisely the damping coefficient, is controlled.

As shown in FIG. 61, the actuator 18 is connected to a damping force control valve of the shock absorber 16 and has a rotor 60 having a plurality of permanent magnets (not shown) spaced apart from each other in the circumferential direction. And a stator 62 having a plurality of phase windings 62A to 62D for rotating the 60 by electromagnetic force in cooperation with the permanent magnet.
A drive current is applied to the pair of phase windings 62A to 62D for a predetermined energizing time Te, and the energized phase windings 62A to 62D are driven.
As the 2D is sequentially changed, the rotor 60 rotates one step at a time. As a result, the rotor 60 rotates by a desired number of steps to drive and position the damping force control valve.

The actuator 18 is connected to the rotor 60
And a reset mechanism 68 including a stopper 64 of the stator 62 and a stopper 66 of the stator 62. At the start of the control, the reset mechanism 68 resets the actuator 18. That is, the stopper 64 of the rotor 60 is
The rotor is rotated in the control stage reduction direction so as to hit the second stopper 66, and the actuator 18 is initialized. The skyhook control block 12 determines the current control stage based on the history of the number of increase / decrease stages from the reference position determined by the initialization.

[0304] When the drive power supply 12A of the skyhook control block 12 supplies a drive current for the energization time Te to the actuator 18, the control stage of the shock absorber 16 is raised or lowered.

Next, the suspension control according to the thirteenth embodiment will be described with reference to FIGS. In this suspension control, as in the first embodiment, in the skyhook control, an antibody trial (stage 1) and a skyhook control (stage 2) using an antibody having the highest affinity between the antigen and antibody are repeated. And
Production of a new generation of antibodies in IA control (stage 1),
The rest (stage 2) is repeated (see FIG. 7).

First, the trial (stage 1) of the antibody in the skyhook control will be described. As shown in the flowchart of FIG. 62, an antigen is recognized as input information of the system (step 390). That is, the IA control block 14 takes in the sprung acceleration from the vertical acceleration sensor 22, finds the integrated value of the sprung acceleration, and recognizes this as an antigen.

Next, an initial antibody group is generated (step 391). That is, an antibody I (j) (j = 1 to m) shown in FIG. 63 as an antibody against the antigen (integral value of sprung acceleration)
In the IA control block 14 (not shown)
Read from Here, the antibody I has a current supply time (step motor responsiveness) Te (j) and n damping coefficients C1 (j) to
M antibodies I using antibody information in combination with Cn (j)
(J) (j = 1 to m).

Next, the calculation of the affinity between the antibodies is performed (step 392). That is, the affinity ξ _KJ between antibody K and antibody J is
It is obtained by the following equation (14).

[0309]

[Equation 14]

Next, an affinity calculation between the antigen and each antibody is performed by trialing the antibodies (step 393). This trial of the antibody is performed in the skyhook control block 12, and is performed based on the processing shown in the flowchart of FIG. 9 used in the description of the first embodiment. That is, the control parameter is set to the antibody I (j), and the skyhook control (trial) is performed for a predetermined time.

[0311] Step 2 in the flowchart of FIG.
The process 2 (sky hook control) is performed based on the flowchart of FIG. That is, the control parameter of the actuator 18 is set to the antibody information of the antibody I (j) selected in the skyhook control block 12 (see step 21 in FIG. 9) (step 400), and the vehicle height sensor 2
Vehicle height H detected by 0 and bandpass filtered
And a signal indicating the vertical acceleration Gz of the vehicle body detected by the vertical acceleration sensor 22 and subjected to the band-pass filter processing is read (step 401).

Next, the stroke speed Vp of the shock absorber is calculated by differentiating the vehicle height H (step 402), and the sprung speed Vz is calculated by integrating the vertical acceleration Gz of the vehicle body (step 403). . Further, the damping coefficient Cr required for the shock absorber 16 is
eq is calculated (step 404).

Next, it is determined whether or not the attenuation coefficient Creq is negative (step 405). If the determination is no, the process proceeds directly to step 407. If the determination is yes, the attenuation coefficient Cre is determined in step 406.
q is set to 0. Next, the damping coefficient of each control stage for obtaining the target control stage Sa is set to C1 (j) to Cn (j) selected in step 400, and this C1
The damping coefficient Ca closest to the damping coefficient Creq is selected from (j) to Cn (j), and the control stage of the shock absorber corresponding to the selected damping coefficient is set as the target control stage Sa (step 407).

Next, the energization time Te of the drive current supplied to the actuator 18 is set to the energization time Te (j) of the antibody selected in step 402, and the control stage of the shock absorber is set to the target control stage Sa. The drive current for the actuator 18 during the energization time Te (j).
Output to As a result, the control stage of the shock absorber is controlled to the target control stage, and the skyhook control (trial) is performed in a state where the control stage of the shock absorber is controlled to the target control stage.

Next, the calculation of the affinity ν (j) between the antigen and antibody is performed (see step 25 in FIG. 9). That is, the vertical acceleration Gz of the vehicle body detected by the vertical acceleration sensor 22 is taken in through the filter, and integrated for the trial time to obtain the affinity ν (j) between the antigen and the antibody.

[0316] The trial of the antibodies is performed for each of the antibodies 1 to m, and the affinity ν (j) between the antigen and the antibody is determined for each of the antibodies (antibody 1 to antibody m). And
After calculating the affinity ν _{1 to} ν _m between the antigen and antibody for each antibody, the process proceeds to step 394 of the flowchart shown in FIG.

Next, the production of a new generation of antibodies in IA control (stage 1) will be described. Production of a new generation of antibodies is performed in steps 394-398 of FIG. Steps 392 to 398 in FIG.
2 is the same as the processing shown in Steps 5 to 9 in FIG. 2, and the antibody having the saturation exceeding the threshold is stored in a memory cell, that is, a database (Step 3).
95, 396), among the antibodies being tested in the system, n antibodies with low affinity between the antibodies and antigens are deleted, and the antibodies are crossed to produce the deleted antibodies (step). 397, 398).

The processing of steps 392 to 398 in FIG. 62 is repeated a plurality of times during the stage 1 (see FIG. 7) of the skyhook control and the IA control. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the skyhook control, following the trial of the antibody (stage 1), the control of the stage 2, that is, the skyhook control using the antibody having the smallest affinity value between the antigen and antibody, is performed in the above-described FIG. The processing is performed for a fixed time by the processing of the flowchart.

As described above, in the thirteenth embodiment, the skyhook control and the IA control are executed in the order of the stages 1 and 2, and when the stage 2 is completed, the stages 1 and 2 are repeatedly executed again. That is, stage 1
The vehicle is run while trying the antibody in the above, and after the trial is completed, the antibody having the highest affinity for the antigen in stage 2;
That is, the energization time Te and the attenuation coefficients C1 (j) to Cn (j)
, The control of the damping force of the shock absorber by the skyhook control is executed.

Therefore, according to the thirteenth embodiment,
When the voltage of the drive power supply 12A decreases and the energizing time Te becomes insufficient and the actuator 16 loses synchronism, the antibody having the best affinity for the antigen obtained by the trial of the antibody, that is, the energizing time Te becomes Since the value is set to a relatively long value suitable for the low drive voltage, the speed of the ascending and succeeding stages of the actuator is correspondingly reduced, and the risk of frequent step-out or further deterioration of step-out is reduced. Is done.

If the energization time Te becomes too long,
Since the damping force of the shock absorber is no longer controlled with good responsiveness and the affinity between antigen and antibody decreases, the repeated entrainment, trial, and evaluation eliminates the excessively energized antibody. The long setting is suppressed, thereby preventing the response of the damping force control of the shock absorber from being significantly impaired.

Further, even if the shock absorber or the like changes over time, the damping coefficient Ci corresponding to the actual change of the damping coefficient of each control stage of the shock absorber accompanying the change over time.
Since (j) is set optimally, the vibration of the vehicle body can be optimally controlled by optimally executing the control of the shock absorber based on the skyhook theory regardless of the temporal change of the shock absorber or the like.

Fourteenth Embodiment Next, a suspension control method according to a fourteenth embodiment of the present invention will be described with reference to FIGS.

FIG. 65 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the fourteenth embodiment. This damping force control device 111
The vehicle height sensor 20 and the vertical acceleration sensor 22 of the damping force control device 10 according to the first embodiment are provided for each of the front left wheel fl, the front right wheel fr, the rear left wheel rl, and the rear right wheel rr (vehicle height sensor 20fl). , 20fr, 20rl, 20r
r, vertical acceleration sensors 22fl, 22fr, 22rl,
22rr).

In the figure, reference numerals 16fl, 16fr, 1
What is indicated by 6rl and 16rr is a shock absorber provided in each wheel, and reference numerals 18fl, 18fr,
Reference numerals 18rl and 18rr denote shock absorbers 16fl, 16fr, 16rl,
This is an actuator for controlling 16rr.

[0327] Next, the 14th according to Figs.
The suspension control according to the embodiment will be described. In this suspension control, as in the first embodiment, in the skyhook control, an antibody trial (stage 1) and a skyhook control (stage 2) using an antibody having the highest affinity between the antigen and antibody are repeated. And
Production of a new generation of antibodies in IA control (stage 1),
The rest (stage 2) is repeated (see FIG. 7).

First, the trial of an antibody in the skyhook control (stage 1) will be described. As shown in the flowchart of FIG. 66, an antigen is recognized as input information of the system (step 410). That is, the IA control block 14 controls the vertical acceleration sensors 22fl, 22fr, 22r.
The sprung acceleration is acquired from 1,22rr, and the vertical velocity on the sprung is obtained and recognized as an antigen.

Next, an initial antibody group is generated (step 411). That is, the antibody I (j) (j = 1 to m) shown in FIG.
The data is read from a database (not shown) in the A control block 14. Here, the antibody I has one skyhook attenuation coefficient Cs (j) and weighting coefficients KH (j), KP of each mode (heave mode, pitch mode, roll mode).
(J), antibody I using antibody information in combination with KR (j)
(J) (j = 1 to m).

Next, the calculation of the affinity between the antibodies is performed (step 412). That is, the affinity ξ _KJ between antibody K and antibody J is
It is obtained by the following equation (15).

[0331]

(Equation 15)

Next, the affinity between the antigen and each antibody is calculated by trialing the antibodies (step 413). This antibody trial is performed in the skyhook control block 12, and is performed based on the processing shown in the flowchart of FIG. 9 used in the description of the first embodiment.
That is, the control parameter is set to the antibody I (j), and the skyhook control (trial) is performed for a predetermined time.

[0333] Step 2 in the flowchart of FIG.
The process 2 (sky hook control) is performed based on the flowchart in FIG. That is, the control parameter of the actuator 18 is set to the antibody information of the antibody I (j) selected in the skyhook control block 12 (see step 21 in FIG. 9) (step 420), and the vehicle height sensor 2
Signals indicating vehicle height H detected by 0fl, 20fr, 20rl, 20rr and subjected to band-pass filtering, and vertical acceleration sensors 22fl, 22fr, 22rl, 22r.
A signal indicating the vertical acceleration Gz of the vehicle body detected by r and subjected to the band pass filter processing is read (step 421).

Next, the vehicle height Hk of each wheel (k = fl, fr,
rl, rr), the stroke speed Vpk of each shock absorber is calculated (step 42).
2), the vertical acceleration Gzk of the body of each wheel (k = fl, f
r, rl, rr) to obtain the sprung velocity Vz
k is calculated (step 423).

Next, the heave mode component Gh, the pitch mode component Gp, and the roll mode component Gr of the vehicle speed are calculated according to Equation 16 (step 424).

[0336]

(Equation 16)

Further, by multiplying the heave mode component Gha, the pitch mode component Gpa, and the roll mode component Gra by the weighting according to Expression 17, the weighted mode components Gha, Gpa, and Gra are calculated (step 425).

[0338]

[Equation 17]

Further, the sprung speed Vzak (k = fl, fr, rl, rr) of each wheel after correction according to equation (18).
Is calculated (step 426).

[0340]

(Equation 18)

Next, based on the skyhook damping coefficient Cs (j) set in step 102, the stroke speed Vpk calculated in step 422, and the sprung speed Vzak, the skyhook is calculated according to the following equation (19). Thus, the damping coefficient Creqk (k = fl, f
(r, rl, rr) are calculated (step 427).

[0342]

[Equation 19]

Next, it is determined whether or not the damping coefficient Creqk is negative (step 428). If the determination is no, the process proceeds to step 430. If the determination is yes, the process proceeds to step 430. At 429, the damping coefficient Cre
qk is set to 0. Note that the processing of steps 428 and 429 is performed by the front left wheel (k = fl) and the front right wheel (k
= Fr), rear left wheel (k = rl), rear right wheel (k = rr) in this order.

Next, the damping coefficient Cak closest to the damping coefficient Creqk is selected from the damping coefficients corresponding to each control stage of the shock absorber, and the control stage of each shock absorber corresponding to the selected damping coefficient is set to the target control stage. Sak
(Step 430). Then, a control signal for setting the control stage of the shock absorber to the target control stage Sa is output to the actuator 18, whereby the control stage of each shock absorber is controlled to the target control stage (step 431).

Next, calculation of the affinity ν (j) between the antigen and antibody is performed (see step 25 in FIG. 9). That is, the vertical acceleration Gz of the vehicle body detected and detected by the vertical acceleration sensors 22fl, 22fr, 22rl, and 22rr and subjected to the band-pass filtering is integrated for a trial time, and the affinity ν between the antigen and the antibody is obtained.
(J) is obtained.

Note that the trial of the antibodies is performed for each of the antibodies 1 to m, and the affinity ν (j) between the antigen and the antibody is determined for each antibody. Then, after calculating the affinity ν _{1 to} ν _m between the antigen and antibody for each antibody, FIG.
Proceed to step 414 in FIG.

Next, the production of a new generation of antibodies in IA control (stage 1) will be described. Production of a new generation of antibodies is performed in steps 414-418 of FIG. Steps 414 to 418 in FIG.
Is the same as the processing shown in Steps 5 to 9 in FIG. 2, and stores the antibody having a saturation exceeding the threshold value in a memory cell, that is, a database (Step 4).
15, 416), among the antibodies being tested in the system, n antibodies with low affinity between the antibodies and antigens are deleted, and the antibodies are crossed to produce the deleted antibodies (step 416). 417, 418).

When a new antibody is produced, it is determined whether the weight KH (j) of the heave mode is smaller than the lower limit KHmin. If it is determined that the weight KH (j) is smaller, the weight KH (j) is reduced to the lower limit KH (j). KHmin is set. Further, the weight KH (j) of the heave mode is set to the upper limit KHmax.
A determination is made as to whether or not the weight is larger, and when it is determined that the weight is larger, the weight KH (j) is set to the upper limit KHmax. Similar processing is performed for the pitch mode weight KP (j) and the roll mode weight KR (j).

The processing of steps 412 to 418 in FIG. 66 is repeated a plurality of times during the stage 1 (see FIG. 7) of the skyhook control and the IA control.
Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the skyhook control, following the trial of a new antibody (stage 1), the control of stage 2
Skyhook control using an antibody having the smallest affinity value between the antigen and antibody is performed for a certain period of time by the processing of the above-described flowchart of FIG.

As described above, in the fourteenth embodiment, the skyhook control and the IA control are executed in the order of the stages 1 and 2, and when the stage 2 is completed, the stages 1 and 2 are repeatedly executed. That is, stage 1
In step 2, after the trial is completed, the vehicle is driven while trying the antibody, and the damping force of the shock absorber is controlled by skyhook control based on the antibody having the highest affinity for the antigen in stage 2.

According to the fourteenth embodiment, the sprung speed Vzk is calculated based on the sprung acceleration of each wheel, and each mode component Gh, Gp, Gr of the vehicle body speed is calculated based on the sprung speed of each wheel. Is calculated, and each mode component is weighted, so that the corrected mode components Gha and Gha
pa and Gra are calculated. Further, the sprung speed Vzak of each wheel after correction is calculated based on each mode component after correction, and the skyhook calculation is performed based on the sprung speed of each wheel after correction, so that the shock absorber for each wheel is calculated. The required attenuation coefficient Creqk is calculated, and the skyhook attenuation coefficient and the weights KH, KP,
KR is optimized by IA.

Therefore, the damping force of the shock absorber is optimally controlled as compared with the conventional case in which the weight of each mode component is set to a constant value. Vibration in the heave mode, pitch mode, and roll mode can be optimally controlled.

The skyhook decay coefficient Cs (j) of the new antibody is always lower than the lower limit Csmin and higher than the upper limit Csm.
ax or less, and the weights (KH (j), KP (j), KR (j)) of each mode component of the antibody are respectively set to values not less than the lower limit and not more than the upper limit. Of the skyhook damping coefficient and the weight of each mode component are divergently prevented from being improperly set, and as a result, the skyhook damping coefficient is earlier than when the upper limit and the lower limit are not set. Etc. can reach their optimal values.

Fifteenth Embodiment Next, a suspension control method according to a fifteenth embodiment of the present invention will be described with reference to FIGS.

In the suspension control method according to the fifteenth embodiment, the same damping force control device as used in the thirteenth embodiment is used (see FIGS. 60 and 61).

Next, suspension control according to the fifteenth embodiment will be described. In this suspension control, as in the first embodiment, in the skyhook control, an antibody trial (stage 1) and a skyhook control (stage 2) using an antibody having the highest affinity between the antigen and antibody are repeated. In the IA control, production of a new generation of antibody (stage 1) and rest (stage 2) are repeated (see FIG. 7).

First, the trial (stage 1) of the antibody in the skyhook control will be described. As shown in the flowchart of FIG. 69, an antigen is recognized as input information of the system (step 440). That is, the IA control block 14 recognizes the sprung acceleration and the rod acceleration taken from the vertical acceleration sensor 22 as antigens.

Next, an initial antibody group is generated (step 441). That is, antibodies I (j) (j) shown in FIG. 70 as antibodies against antigens (spring acceleration and rod acceleration)
= 1 to m) from a database (not shown) in the IA control block 14. Here, the antibody I (j) is composed of the energization time (Te (j)), the maximum number of switching stages (Sg (j)), and the driving voltage (Vd (j)).

Next, the calculation of the affinity between the antibodies is performed (step 442). That is, the affinity ξ _KJ between antibody K and antibody J is
It is obtained by the following equation (20).

[0361]

(Equation 20)

The relationship between the weighting factors is set to β>α> γ from the contribution to the switching noise countermeasures.

Next, the affinity between the antigen and each antibody is calculated by trialing the antibodies (step 443). This antibody trial is performed in the skyhook control block 12, and is performed based on the processing shown in the flowchart of FIG. 9 used in the description of the first embodiment.
That is, the control parameters are sequentially set to the antibody I (j), and the skyhook control (trial) is performed for a predetermined time.

Note that step 2 in the flowchart of FIG.
The process 2 (sky hook control) is performed based on the flowchart shown in FIG. That is, the actuator 18
Are selected in the skyhook control block 12 (see step 21 of FIG. 9).
The signal indicating the vehicle height H that is set in the antibody information (j) (step 450), detected by the vehicle height sensor 20, and subjected to bandpass filtering, and the upper and lower sides of the vehicle body detected by the vertical acceleration sensor 22 and subjected to bandpass filtering. A signal indicating the acceleration Gz is read (step 45).
1).

Next, the stroke speed Vp of the shock absorber is calculated by differentiating the vehicle height H (step 452), and the sprung speed Vz is calculated by integrating the vertical acceleration Gz of the vehicle body (step 453). . Further, the damping coefficient Cr required for the shock absorber 16 is
eq is calculated (step 454).

Next, it is determined whether or not the attenuation coefficient Creq is negative (step 455). If the determination is no, the process proceeds directly to step 457. If the determination is yes, the attenuation coefficient Cre is determined at step 456.
q is set to 0. Next, the damping coefficient of each control stage for obtaining the target control stage is set to C1 (j) to Cn (j) selected in step 450, and this C1 (j)
ＣCn (j), the damping coefficient Ca closest to the damping coefficient Creq is selected, and the control stage of the shock absorber corresponding to the selected damping coefficient is set as the target control stage Sa (step 457).

Next, assuming that the current control stage is Sp, it is determined whether or not the change width Sa-Sp of the control stage exceeds the maximum allowable switching stage number Sg (j) of the antibody selected in step 450. Step 4 if determined no
Proceed to 60, and if it is determined yes, step 45
At 9, the target control stage Sa is set to Sp + Sg (j).

In step 460, it is determined whether Sa-Sp is less than -Sg (j). If no is determined, the flow directly advances to step 462, and y
If it is determined to be es, in step 461, the target control valve Sa is set to Sp-Sg (j). In step 462, the drive time of the drive current and the drive voltage are set to Te (j) and Vd set at 450, respectively.
In the state set in (j), a drive current for setting the control stage of the shock absorber to the target control stage Sa is output to the actuator 18, whereby the control stage of the shock absorber is controlled to the target control stage.

Next, calculation of the affinity ν (j) between the antigen and antibody is performed (see step 25 in FIG. 9). That is, it is taken in through the vertical acceleration Gz filter of the vehicle body detected by the vertical acceleration sensor 22 and integrated for the trial time to obtain the affinity ν between the antigen and the antibody.

[0370] The trial of the antibodies is performed for each of the antibodies 1 to m, and the ν (j) of the affinity between the antigen and the antibody is determined for each antibody. After calculating the affinity ν _{1 to} ν _m between the antigen and antibody for each antibody, FIG.
The process proceeds to step 444 of FIG.

Next, the production of a new generation of antibodies in IA control (stage 1) will be described. Production of a new generation of antibodies is performed in steps 444-448 of FIG. Steps 442 to 448 of FIG. 69
Is the same as the processing shown in Steps 5 to 9 in FIG. 2, and stores the antibody having a saturation exceeding the threshold value in a memory cell, that is, a database (Step 4).
45, 446), among the antibodies being tested in the system, n antibodies with inferior affinity between the antibodies and antigens are deleted, and the antibodies are crossed to produce as many antibodies as the deleted number (step). 447, 448).

The processing of steps 442 to 448 in FIG. 69 is repeated a plurality of times during the stage 1 (see FIG. 7) of the skyhook control and the IA control. Therefore, new antibodies are successively created and the evolution of the antibodies continues.

In the skyhook control, following the trial of the antibody (stage 1), the control of the stage 2, that is, the skyhook control using the antibody having the highest affinity between the antigen and the antibody, is performed in the flowchart of FIG. The processing is performed for a certain period of time.

According to the suspension control method of the fifteenth embodiment, the control of the damping force of the shock absorber by the skyhook control is performed by the energization time Te and the drive voltage Vd of the antibody having the highest affinity between the antigen and the antibody. In this case, the maximum switching width of the control stage is limited to the maximum allowable number of switching stages of the antibody having the highest evaluation value.

Therefore, in the damping force control of the shock absorber based on the skyhook theory, it is possible to control the damping force of the shock absorber with the highest possible responsiveness while preventing the generation of abnormal noise at the time of switching control stages.

[0376]

According to the first aspect of the present invention, the optimum value of the damping force can be quickly obtained even when the environment changes by obtaining the damping force in the damping force control using the immune algorithm. Can be.

According to the second aspect of the present invention, the combination of the damping coefficient for controlling the suspension of the vehicle is set based on the affinity between the antigen and the antibody and the affinity between the respective antibodies. Even if it changes, the optimum value of the combination of the attenuation coefficients can be quickly obtained.

According to the third aspect of the present invention, any one of the regions is selected according to the running condition of the vehicle, and the control of the immune algorithm is performed using the attenuation coefficient stored in correspondence with the selected region. Thus, the convergence of the antibody to the optimum value can be accelerated.

According to the invention of claim 4, the affinity between the attenuation coefficient stored corresponding to the area and the attenuation coefficient stored corresponding to another area is equal to or greater than a predetermined value. In this case, since the damping coefficient of the other area is replaced with the damping coefficient of the relevant area, the connection of the control is good even when the suspension control is performed using the damping coefficient stored corresponding to the other area. It can be.

According to the fifth aspect of the present invention, P.
By setting a threshold value of SD and selecting an attenuation coefficient that does not exceed the threshold value, the number of trials can be reduced, and a decrease in ride quality can be suppressed.

Further, according to the present invention, the relationship between each control stage of the shock absorber and the sprung acceleration can be set optimally, and optimal adaptive control can be performed.

According to the seventh aspect of the present invention, it is possible to optimally set the threshold value of each control stage of the shock absorber with respect to the rate of change of the axial force of the shock absorber indicating the road surface input, and to execute the optimum road surface input control. can do.

According to the eighth aspect of the present invention, the optimum conditions for starting the anti-squat control can be optimally set based on the vehicle speed, the engine speed, and the vehicle state quantity such as the differential value of the engine speed. Optimum anti-squat control can be performed.

According to the ninth aspect of the present invention, the target control stage of the shock absorber corresponding to the vehicle speed can be set, and the optimum anti-dive control can be performed.

According to the tenth aspect of the present invention, it is possible to accurately detect the abnormality of the sprung acceleration detecting means based on the difference in the affinity between the antigen and the antibody in each wheel.

According to the eleventh aspect of the present invention, it is possible to accurately detect an abnormality of the sprung acceleration detecting means based on the affinity of the antibody between the wheels.

Further, according to the twelfth aspect, it is possible to accurately detect an abnormality in the steering angle detecting means based on a change in the affinity between the antigen and the antibody.

Further, according to the thirteenth aspect, it is possible to accurately detect the abnormality of the vehicle height sensor based on the change in the affinity between the antigen and the antibody.

According to the fourteenth aspect of the present invention, it is possible to accurately detect an abnormality of the brake lamp switch from the brake lamp switch information and the change in the affinity of each antibody.

According to the fifteenth aspect of the present invention, if an abnormality occurs in the throttle opening sensor, the affinity between the antigen and the antibody changes, so that the throttle opening information and the change in the affinity of each antibody are changed. An abnormality of the throttle opening sensor can be detected.

According to the sixteenth aspect of the present invention, it is possible to optimally set the combination of the energizing time of the actuator and the damping coefficient of each control stage of the shock absorber based on the sprung state quantity, for example, the integral value of the acceleration. it can.

According to the seventeenth aspect, the control gain and the skyhook damping coefficient for the vibration mode can be optimally set based on the sprung state, for example, the acceleration.

According to the eighteenth aspect of the present invention, the drive relationship values, for example, the energization time, the maximum number of switching stages, and the driving voltage are optimally controlled based on the sprung state, thereby switching the control stage of the shock absorber. The abnormal noise at the time can be reduced.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining an immune reaction of an organism.

FIG. 2 is a flowchart showing an immunological algorithm.

FIG. 3 is a diagram for explaining phrases used in an immunological algorithm.

FIG. 4 is a diagram for explaining hybridization of antibodies used in an immunological algorithm.

FIG. 5 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the first embodiment.

FIG. 6 is a diagram for explaining an antibody in the suspension control method according to the first embodiment.

FIG. 7 is a diagram for explaining a control flow for executing suspension control according to the first embodiment;

FIG. 8 is a flowchart illustrating a suspension control method according to the first embodiment.

FIG. 9 is a flowchart for explaining trial of skyhook control in the suspension control method according to the first embodiment.

FIG. 10 is a flowchart for explaining skyhook control in the suspension control method according to the first embodiment.

FIG. 11 is a flowchart for explaining skyhook control in the suspension control method according to the first embodiment.

FIG. 12 is a flowchart illustrating a suspension control method according to a second embodiment;

FIG. 13 is a flowchart illustrating a suspension control method according to a second embodiment.

FIG. 14 is a flowchart illustrating a suspension control method according to a second embodiment;

FIG. 15 illustrates a P.O. used in the suspension control method according to the second embodiment. S. It is a figure for explaining D.

FIG. 16 is a flowchart illustrating a suspension control method according to a third embodiment.

FIG. 17 is a flowchart illustrating a suspension control method according to a third embodiment.

FIG. 18 is a flowchart illustrating a suspension control method according to a third embodiment.

FIG. 19 is a diagram showing a P.O. used in the suspension control method according to the third embodiment. S. 6 is a graph showing a nominal value of D.

FIG. 20 is a schematic configuration diagram of a damping force control device used in a suspension control method according to a fourth embodiment.

FIG. 21 is a diagram for explaining a control flow for executing suspension control according to the fourth embodiment.

FIG. 22 is a flowchart illustrating a suspension control method according to a fourth embodiment.

FIG. 23 is a diagram for explaining antibodies in the suspension control method according to the fourth embodiment.

FIG. 24 is a flowchart illustrating a trial of damping force adaptive control in the suspension control method according to the fourth embodiment.

FIG. 25 is a schematic configuration diagram of a damping force control device used in a suspension control method according to a fifth embodiment.

FIG. 26 is a diagram for explaining a control flow for executing suspension control according to the fifth embodiment.

FIG. 27 is a flowchart illustrating a suspension control method according to a fifth embodiment.

FIG. 28 is a diagram for explaining antibodies in the suspension control method according to the fifth embodiment.

FIG. 29 is a flowchart illustrating a trial of road surface input control in the suspension control method according to the fifth embodiment.

FIG. 30 is a schematic configuration diagram of a damping force control device used in a suspension control method according to a sixth embodiment.

FIG. 31 is a diagram for explaining a control flow for executing suspension control according to the sixth embodiment.

FIG. 32 is a flowchart illustrating a suspension control method according to a sixth embodiment.

FIG. 33 is a diagram for explaining antibodies in the suspension control method according to the sixth embodiment.

FIG. 34 is a flowchart for explaining trial of anti-squat control in the suspension control method according to the sixth embodiment.

FIG. 35 is a schematic configuration diagram of a damping force control device used in a suspension control method according to a seventh embodiment.

FIG. 36 is a diagram for describing a control flow for executing suspension control according to the seventh embodiment.

FIG. 37 is a flowchart illustrating a suspension control method according to a seventh embodiment.

FIG. 38 is a diagram for explaining antibodies in the suspension control method according to the seventh embodiment.

FIG. 39 is a flowchart illustrating a trial of anti-squat control in the suspension control method according to the seventh embodiment.

FIG. 40 is a flowchart for explaining anti-squat control in the suspension control method according to the seventh embodiment.

FIG. 41 is a schematic configuration diagram of a damping force control device used in a suspension control method according to an eighth embodiment.

FIG. 42 is a diagram for describing a control flow for executing suspension control according to the eighth embodiment.

FIG. 43 is a flowchart illustrating a suspension control method according to an eighth embodiment;

FIG. 44 is a view for explaining antibodies in the suspension control method according to the eighth embodiment.

FIG. 45 is a schematic configuration diagram of a damping force control device used in a suspension control method according to a ninth embodiment.

FIG. 46 is a diagram for describing a control flow for executing suspension control according to the ninth embodiment.

FIG. 47 is a flowchart illustrating a suspension control method according to a ninth embodiment;

FIG. 48 is a diagram for explaining antibodies in the suspension control method according to the ninth embodiment.

FIG. 49 is a flowchart for explaining anti-roll control in the suspension control method according to the ninth embodiment.

FIG. 50 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the tenth embodiment.

FIG. 51 is a diagram for explaining a control flow for executing suspension control according to the tenth embodiment.

FIG. 52 is a flowchart illustrating a suspension control method according to the tenth embodiment;

FIG. 53 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the eleventh embodiment.

FIG. 54 is a diagram for describing a control flow for executing suspension control according to the eleventh embodiment.

FIG. 55 is a flowchart illustrating a suspension control method according to an eleventh embodiment.

FIG. 56 is a diagram for explaining antibodies in the suspension control method according to the eleventh embodiment.

FIG. 57 is a schematic configuration diagram of a damping force control device used in the suspension control method according to the twelfth embodiment.

FIG. 58 is a view illustrating a control flow for executing suspension control according to the twelfth embodiment.

FIG. 59 is a flowchart illustrating a suspension control method according to a twelfth embodiment.

FIG. 60 is a schematic configuration diagram of a damping force control device used in a suspension control method according to a thirteenth embodiment.

FIG. 61 is a schematic plan view of an actuator used for suspension control according to a thirteenth embodiment;

FIG. 62 is a flowchart illustrating a suspension control method according to a thirteenth embodiment.

FIG. 63 is a diagram for explaining antibodies in the suspension control method according to the thirteenth embodiment.

FIG. 64 is a flowchart of skyhook control in a suspension control method according to a thirteenth embodiment.

FIG. 65 is a schematic configuration diagram of a damping force control device used in a suspension control method according to a fourteenth embodiment.

FIG. 66 is a flowchart illustrating a suspension control method according to a fourteenth embodiment.

FIG. 67 is a diagram for explaining antibodies in the suspension control method according to the fourteenth embodiment.

FIG. 68 is a flowchart of skyhook control in the suspension control method according to the fourteenth embodiment.

FIG. 69 is a flowchart illustrating a suspension control method according to a fifteenth embodiment.

FIG. 70 is a diagram for explaining antibodies in the suspension control method according to the fifteenth embodiment.

FIG. 71 is a flowchart of skyhook control in the suspension control method according to the fifteenth embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Damping force control device, 12 ... Skyhook control block, 14 ... Immune algorithm control block, 16 ... Shock absorber, 18 ... Actuator, 20 ... Vehicle height sensor, 22 ... Vertical acceleration sensor, 24 ... Bandpass filter, 26 ... damping force adaptive control block, 28
... road surface input control block, 30 ... weight sensor, 32 ... antisquare control block, 34 ... vehicle speed sensor, 36
... Rotation speed sensor, 38 ... Anti-dive control block, 4
0: brake switch, 42: alarm device, 44: anti-roll control block, 46: angular velocity sensor, 48: brake lamp switch, 50: throttle sensor, 60:
Rotor, 62 ... Stator, 101-111 ... Damping force control device.

────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] May 19, 1997

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0073

[Correction method] Change

[Correction contents]

[0073]

(Equation 2)

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0212

[Correction method] Change

[Correction contents]

[0212]

(Equation 9)

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0254

[Correction method] Change

[Correction contents]

[0254]

[Equation 11]

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0272

[Correction method] Change

[Correction contents]

[0272]

(Equation 12)

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0291

[Correction method] Change

[Correction contents]

[0291]

(Equation 13)

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroshi Shibuya 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation

Claims (18)

[Claims] 1. A suspension control method for controlling a suspension of a vehicle according to a predetermined control law, wherein a vehicle state is used as an antigen, and information for controlling the suspension is calculated as an antibody by an immune algorithm, and based on the result of the calculation. A suspension control method comprising controlling a suspension of the vehicle. 2. The affinity between the antigen and the antibody in the immunological algorithm, wherein the vehicle state is a sprung acceleration, and information for controlling the suspension is a skyhook damping coefficient and a damping coefficient of each control stage. And calculating the affinity between the antibody and the antibody, and setting the combination of the damping coefficients for controlling the suspension of the vehicle based on the calculation result.
The described suspension control method. 3. The vehicle state is defined as a sprung acceleration, and information for controlling the suspension is defined as a damping coefficient.
The sprung acceleration is divided into each region for each predetermined frequency band, and a damping coefficient used in the past is stored in the region corresponding to each divided region, and the damping coefficient stored corresponding to each region is stored. 2. The suspension control method according to claim 1, wherein any one of the coefficients is selected to perform an operation according to the immune algorithm. 4. An attenuation coefficient stored in correspondence with one of the areas is compared with an attenuation coefficient stored in correspondence with another area.
The suspension according to claim 3, wherein the damping coefficient is updated by replacing the damping coefficient stored corresponding to another area with the damping coefficient stored corresponding to one of the areas. Control method. 5. In the calculation by the immunological algorithm, furthermore, a value obtained from a signal in each region of each of the frequency bands of the sprung acceleration does not exceed a set threshold value and any one of the respective regions. 4. The suspension control method according to claim 3, further comprising selecting a damping coefficient for reducing the sprung acceleration. 6. The immunological algorithm calculates an affinity between the antigen and the antibody, wherein the vehicle state is a sprung acceleration, and the information for controlling the suspension is an acceleration threshold value for a damping force. 2. The suspension control method according to claim 1, wherein a relationship between a damping force and an acceleration threshold value for controlling the suspension of the vehicle is set based on the calculation result. 7. The immunological algorithm calculates the affinity between the antibody and the antigen by using the vehicle state as a sprung acceleration and the information for controlling the suspension as a rate of change of a shock absorber axial force with respect to a damping force. 2. The suspension control method according to claim 1, wherein a relationship between a damping force for controlling the suspension of the vehicle and a threshold value of an axial force change rate is set based on the calculation result. 8. The affinity between the antigen and the antibody in the immunological algorithm, wherein the vehicle state is defined as a sprung acceleration peak value during anti-squat control, and information for controlling the suspension is defined as a vehicle state quantity. 2. The suspension control method according to claim 1, wherein the calculation is performed, and a start condition of the anti-squat control is set based on the calculation result. 9. An affinity between the antigen and the antibody in the immunological algorithm, wherein the vehicle state is a sprung acceleration peak value during anti-dive control, and information for controlling the suspension is a vehicle state quantity. 2. The suspension control method according to claim 1, wherein the calculation is performed, and a start condition of the anti-dive control is set based on the calculation result. 10. The immunological algorithm calculates the affinity between antigens and antibodies in each wheel, detects a difference in the affinity between antigens and antibodies in each wheel, and detects a sprung acceleration based on the difference. 3. The suspension control method according to claim 1, wherein an abnormal state of the means is detected. 11. The method according to claim 1, further comprising calculating an affinity between the antibodies in each wheel by the immunological algorithm, and detecting an abnormal state of the sprung acceleration detecting means based on the affinity between the antibodies in each wheel. The suspension control method according to any one of claims 1, 2, and 10. 12. The immunological algorithm calculates the affinity between the antigen and the antibody by using the vehicle state as a roll rate and the information for controlling the suspension as a roll rate threshold. The suspension control method according to claim 1, wherein an abnormal state of the steering angle detection means is detected based on the result. 13. The immuno-algorithm calculates the affinity between the antigens and antibodies in each wheel, detects the difference in the affinity between the antigens and antibodies in each wheel, and, based on the difference, calculates the affinity of the vehicle height sensor. 3. The suspension control method according to claim 1, wherein an abnormal state is detected. 14. The vehicle state is defined as a pitch rate, and the information for controlling the suspension is defined as a damping force.
The immunological algorithm calculates an affinity between the antigen and the antibody, and detects an abnormality of the brake lamp switch from the affinity deviation of each antibody and the brake lamp switch information obtained by the calculation. Item 4. The suspension control method according to Item 1. 15. The vehicle state is defined as a pitch rate, and the information for controlling the suspension is defined as a damping force.
The immunological algorithm calculates the affinity between the antigen and the antibody, and detects an abnormality in the throttle opening sensor from the affinity deviation and the throttle opening information of each antibody obtained by the calculation. The suspension control method according to claim 1. 16. The affinity between the antigen and the antibody in the immunological algorithm, wherein the vehicle state is a sprung state amount, and the information for controlling the suspension is a damping force and a response of a damping force variable means. 2. The suspension control method according to claim 1, wherein the responsiveness of the damping force and the damping force variable means with respect to the sprung state amount is set based on the calculation result. 17. The affinity between the antigen and the antibody in the immunological algorithm, wherein the vehicle state is a sprung state quantity and the information for controlling the suspension is a skyhook damping coefficient and a control gain for a vibration mode. 3. The suspension control method according to claim 1, wherein the control gain is set for the sprung state based on the calculation result. 18. The immunological algorithm calculates an affinity between the antigen and the antibody by using the vehicle state as a sprung state amount and information for controlling the suspension as a driving relation value of damping force changing means. 3. The suspension control method according to claim 1, wherein a driving relation value of the damping force changing unit with respect to the sprung state is set based on a result of the calculation.