JPH0326967Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] This invention relates to an electronically controlled suspension device that prevents roll (rolling) that occurs in a vehicle body, for example, when the vehicle is turning or running in a slalom.

[Technical background of the invention and its problems]

Generally, when an automobile is running in a corner or slalom, the vehicle body rolls, impairing steering stability (hereinafter abbreviated as safety). Therefore, for example, when a roll occurs in the car body, the roll can be reduced by increasing the spring reaction force of each suspension on the side where the roll occurs and lowering the spring reaction force of each suspension on the opposite side. A new suspension control device is being considered.

Furthermore, when performing roll control as described above, if the damping force of each suspension is also increased, the roll that occurs in the vehicle body can be reliably suppressed, but on the other hand, the damping force must be constantly increased during roll control. If it is raised, the riding comfort will deteriorate.

On the other hand, a preset vehicle speed (e.g. 100km/h)
In the above, a control device has been devised that automatically increases the damping force of each suspension to make it harder. However, in this way, for example, 100Km/h
The above suspension control device that hardens the damping force when driving at high speeds provides optimal control when driving straight, but on the other hand, the damping force is turned hard only when the vehicle rolls during turning. It is desirable that the changing range be set depending on, for example, the size of the turning radius, that is, the steering angle of the steering wheel.

[Purpose of invention]

This idea was created in view of the problems mentioned above, and is an electronic control system that reliably suppresses the roll that occurs in the vehicle body, without deteriorating the ride comfort, even when turning, for example. The purpose is to provide a suspension device.

[Summary of the idea]

That is, the electronically controlled suspension device according to this invention soft-sets the damping force of the suspension when performing roll control based on the control time determined by the vehicle speed-steering angle map based on the vehicle speed and steering angle. This is how it was done.

[Example of idea]

Hereinafter, an electronically controlled suspension device according to an embodiment of the invention will be described with reference to the drawings. In Figure 1, S _FR is a suspension unit for the right front wheel of a car, S _FL is a suspension unit for the left front wheel, S _RR is a suspension unit for the right rear wheel, and S _RL is a suspension unit for the left rear wheel. . Each suspension unit
Since S _FR , S _FL , S _RL , and S _RR have the same structure, only the structure of the suspension unit S _RL is shown. The suspension unit S _RL has a main air spring chamber 11, a sub air spring chamber 12, and a shock absorber 1.
3. Consists of a coil spring (not shown) used as an auxiliary spring. Further, 14 is an actuator for switching the damping force of the shock absorber 13 to hard or soft,
In other words, the actuator 14 controls the rotation of the damping force switching valve 14a of the shock absorber 13, and the first damping chamber 13a and the second damping chamber 13b are
It is selected whether the communication is through only orifice a ₁ or through both orifices a ₁ and a ₂ . 15 is a bellows for the main air spring chamber 11. In addition, the above actuator 1
4, the main air spring chamber 11 and the sub air spring chamber 1 are
2, communication and non-communication are controlled, and the air spring reaction force is switched between hard and soft.

Further, 16 is an air cleaner. The air sent from the air cleaner 16 is sent to the dryer 18 via an outside air cutoff solenoid valve 17. The air dried by the dryer 18 is compressed by a compressor 19 and stored in a reserve tank 21 via a check valve 20. Note that 191 is a compressor relay, and this relay 191 is controlled by a signal from a control unit 36, which will be described later. The reserve tank 21 is equipped with an air supply solenoid valve 221.
224 are connected to the main and auxiliary air spring chambers 11 and 12 of each suspension unit S _RL to S _FL via the air supply piping 23 in which air supply pipes 224 are installed. In addition, the main and sub air spring chambers 1 of the suspension units S _RL and S _RR
1 and 12 are connected by a communication pipe 25 in which a communication solenoid valve 241 is installed, and the main and sub air spring chambers 1 of the suspension units S _FL and S _FR are
1 and 12 are connected by a communication pipe 26 in which a communication solenoid valve 242 is interposed. Also,
The main and auxiliary air spring chambers 11 and 12 of each of the above-mentioned suspension units S _RL to S _FL include an exhaust pipe 28 in which exhaust solenoid valves 271 to 274 are installed, a check valve 29, a dryer 18, a solenoid valve 17, and an air cleaner. 16 to the atmosphere. A piping 31 in which a solenoid valve 30 for selecting an air supply side flow path is interposed is arranged in parallel with the air supply piping 23 . Furthermore, a pipe 33 in which an exhaust side flow path selection solenoid valve 32 is interposed is arranged in parallel with the exhaust pipe 28 . Further, a hard/soft switching solenoid valve 34 is interposed between the air supply pipe 23 and the actuator 14. Further, the pressure of the compressed air stored in the reserve tank 21 is detected by a pressure switch 35. The detection signal of this pressure switch 35 is sent to a control unit 36. Also, 3
A pressure switch 7 is connected to the communication pipe 25 and detects the internal pressure of the main and auxiliary air spring chambers 11 and 12 of the rear wheel suspension units S _RR and S _RL . A detection signal from this pressure switch 37 is sent to the control unit 36. Also, 38F
38R is a front vehicle height sensor attached to the air arm 39 on the front right side of the vehicle to detect the front vehicle height (front vehicle height), and 38R is attached to the lateral rod 40 on the rear left side of the vehicle to detect the rear vehicle height (rear vehicle height). This is a rear vehicle height sensor that detects vehicle height.
Vehicle height detection signals output from the vehicle height sensors 38F and 38R are input to the control unit 36. The above sensors 38F and 38R are hall
One of the IC elements and magnets is attached to the wheel side and the other to the vehicle body side, and the distance from the normal vehicle height level and the low or high vehicle height level is detected respectively. Further, 41 is a vehicle speed sensor that detects the vehicle speed, and a detection signal outputted from this vehicle speed sensor 41 is inputted to the control unit 36. Furthermore, 42 is a steering wheel steering angle sensor that detects the steering angle of the steering wheel 43, and this sensor 42 sends a steering wheel steering angle detection signal to the control unit 3.
It is output to 6. Further, reference numeral 44 denotes an acceleration G sensor as a vehicle body posture sensor for detecting changes in the posture of the vehicle body, and this acceleration sensor 44 is designed to detect changes in the vehicle body posture such as pitch, roll, and yaw on the automobile spring. For example, when there is no acceleration, the weight is in a hanging state,
Since the light from the light emitting diode is blocked by the shielding plate and does not reach the photodiode, it is detected that there is no acceleration. Then, when acceleration acts in the front and back, left and right, or up and down directions, the weight tilts or moves, and the acceleration state of the vehicle body is detected. Furthermore, 45 is a vehicle height selection switch that sets the vehicle height to high vehicle height (HIGH), low vehicle height (LOW), and vehicle height adjustment (AUTO);
Reference numeral 46 denotes an attitude control selection switch for selecting attitude control to prevent the vehicle from rolling.
Signals from the switches 45 and 46 are input to the control unit 36. Further, numeral 47 is an oil pressure indicator that indicates whether the oil pressure of the engine oil has reached a predetermined value and the amount of oil pressure, and the display operation of this oil pressure indicator 47 is controlled by the control unit 36. A brake switch 48 detects the depression and amount of depression of the brake, and its detection signal is input to the control unit 36. Further, reference numeral 49 denotes an accelerator opening sensor for detecting the opening of the accelerator, and an accelerator opening signal outputted from this sensor 49 is input to the control unit 36. Furthermore, 50 is an engine rotation speed sensor that detects the engine rotation speed, and this sensor 50 outputs an engine rotation speed signal to the control unit 36. Furthermore, 51 is an ignition key switch, the operation signal of which is sent to the control unit 3 mentioned above.
6 is output. A gear position sensor 52 detects the gear position (shift position), and this sensor 52 outputs a gear position signal to the control unit 36. In addition, 53 is each suspension unit S _FL ,
This is a hardware selection switch for setting the damping force of S _FR , S _RL , and S _RR .

In addition, the above-mentioned solenoid valves 17, 221 to 2
24, 271 to 274, 30, 32, 34 are normally closed valves, the solenoid valves 241 and 24
2 is a normally open valve. All of these solenoid valves are two-way valves, and their two states are shown in FIG. FIG. 2A shows a state in which the solenoid valve is activated, and in this state compressed air moves as indicated by arrows a ₁ to a ₂ . On the other hand, when the solenoid valve is not driven, the situation is as shown in FIG. B, and there is no flow of compressed air.

Here, FIG. 3 shows a piping system in which this electronically controlled suspension device is applied to an actual vehicle. In this case, the reserve tank 21 in FIG. 1 is divided into a front reserve tank 21a and a rear reserve tank 21b, and at the same time, the air supply side flow path selection valve 30 is also divided into a front reserve tank 30a and a rear reserve tank 30b. Ru. Similarly, the hard/soft switching solenoid valve 34 is also set to the front 34a.
and rear 34b.

Next, the operation of the electronically controlled suspension device configured as described above will be explained. This suspension device is equipped with a vehicle height adjustment function and an attitude control function.Hereinafter, the vehicle height adjustment function and then the attitude control function will be explained with reference to FIG.

This device allows you to set a target vehicle height in three levels: "high,""medium," and "low." First, front vehicle height sensor 3
If the front vehicle height detected by 8F is lower than the target vehicle height, the front vehicle height is raised. In this case, as shown in FIG.
242 is driven. As a result, the compressed air from the reserve tank 21 is transferred to the small diameter air supply pipe L ₁ ,
The air is sent to the front suspension units S _FL and S _FR via the air supply piping 23 and the front side air supply solenoid valves 223 and 224. This raises the front vehicle height.

On the other hand, when the rear vehicle height detected by the rear vehicle height sensor 38R is lower than the target vehicle height, the rear vehicle height is raised. In this case, as shown in FIG. 4, the rear air supply solenoid valves 221 and 22 are controlled by the control unit 36.
2. The front side and rear side communication solenoid valves 241 and 242 are driven. As a result, compressed air from the reserve tank 21 is sent to the rear suspension units S _RL and S _RR via the small-diameter air supply pipe L ₁ , the air supply pipe 23 , and the rear side air supply solenoid valves 221 and 222. Sent. This raises the rear vehicle height.

Next, if both the front and rear vehicle heights are lower than the target vehicle height, the front and rear vehicle heights are raised. In this case, the front side and rear side air supply solenoid valves 221 to 224 and the front side and rear side communication solenoid valves 241 and 242 are controlled by the control unit 36.
is driven. As a result, the reserve tank 21
The compressed air is delivered to each suspension unit S _FL , S _FR , S _RL , through the small-diameter air supply pipe L ₁ , air supply pipe 23 , and air supply solenoid valves 221 to 224.
Sent to S _RR . As a result, the front and rear vehicle heights are raised.

Next, if the front vehicle height detected by the front vehicle height sensor 38F is higher than the target vehicle height, the front vehicle height is lowered. In this case, front side exhaust solenoid valves 273, 274, front side and rear side communication solenoid valve 24
1,242 are driven. As a result, the air exhausted from the main air spring chamber 11 of the front suspension units S _FL and S _FR is routed through the front side exhaust solenoid valves 273 and 274 and the exhaust pipe 2.
8. Exhaust pipe L ₂ with small diameter, check valve 29,
It is released to the atmosphere via the dryer 18, valve 17, and air cleaner 16. Here, dryer 18
By passing the exhaust gas in the direction of the dashed arrow x,
The dryer 18 is regenerated.

Next, when the rear vehicle height detected by the rear vehicle height sensor 38R is higher than the target vehicle height, the rear vehicle height is lowered. In this case, the rear exhaust solenoid valves 271, 272 and the communication solenoid valves 241, 242 are driven. As a result, the air exhausted from the main air spring chamber 11 of the rear suspension units S _RL and S _RR is routed through the rear exhaust solenoid valves 271 and 272, the exhaust pipe 28, the small diameter exhaust pipe L ₂ , and the check valve 29. ,
It is released to the atmosphere via the dryer 18, valve 17, and air cleaner 16.

Next, if the front and rear vehicle heights are respectively higher than the target vehicle height, the air is exhausted from the front and rear suspension units S _FL , S _FR , S _RL , and S _RR . In this case, each exhaust solenoid valve 271 to 274 and each communication solenoid valve 241, 242 are turned on. Therefore, the air exhausted from the main air spring chamber 11 of each suspension unit is transferred to each exhaust solenoid valve 271.
~274, exhaust pipe 28, small diameter exhaust pipe _L2 , check valve 29, dryer 18, valve 17,
It is released to the atmosphere via the air cleaner 16. This lowers the front and rear vehicle heights.

Next, vehicle body posture control when the steering wheel is steered to the right will be explained. In this case, the vehicle height on the left side decreases and the vehicle height on the right side increases, so air is supplied to the left suspension units S _FL and S _RL , and air is exhausted from the right suspension units S _FR and S _RR . . That is, when the steering wheel steering angle sensor 42 detects that the steering wheel 43 is being steered to the right by a predetermined angle or more, a control signal from the control unit 36 causes the left air supply solenoid valve 2 to
21, 223, right exhaust solenoid valve 2
72, 274 and each flow path selection solenoid valve 30, 32 are turned on for a certain period of time. As a result, the compressed air sent from the reserve tank 21 is routed through the air supply flow path selection valve 30, the large-diameter air supply pipe 31, the air supply pipe 23, and the left air supply solenoid valve 22.
Air is supplied to the left suspension units S _FL and S _RL via 1,223. Simultaneously with this air supply operation, air is discharged from the main air spring chambers 11 of the right suspension units S _FR and S _RR through the right exhaust solenoid valves 272, 274, the exhaust piping 28, and the exhaust flow path selection. It is released to the atmosphere via the valve 32, large-diameter exhaust pipe 33, check valve 29, dryer 18, valve 17, and air cleaner 16. In this way, the vehicle body can be kept horizontal when the handlebar 43 is connected to the right. After the valves are opened for a certain period of time, the left air supply solenoid valves 221, 223 and the right exhaust solenoid valves 272, 274 are closed and maintained in that state. When the right steering of the handle 43 is completed, each of the flow path selection valves 30,
32 is turned off, and each communication valve 241,
242 is turned on and attitude control is canceled. As a result, the vehicle body returns to the neutral position.

Next, vehicle body posture control when the steering wheel 43 is steered to the left will be described. In this case, the vehicle height on the right side decreases and the vehicle height on the left side increases, so air is supplied to the right suspension units S _FR and S _RR , and air is exhausted from the left suspension units S _FL and S _RL . . In other words, when the steering wheel steering angle sensor 42 detects that the steering wheel 43 is being steered to the left by a predetermined angle or more, the control unit 36
The right side air supply solenoid valves 222, 224, the left side exhaust solenoid valves 271, 273, and each flow path selection solenoid valve 30, 32 are turned on for a certain period of time by a control signal from the control signal. As a result, the compressed air sent from the reserve tank 21 is routed through the air supply flow path selection valve 30 and the large diameter air supply pipe 3.
1. Air is supplied to the right suspension units S _FR and S _RR via the air supply piping 23 and the right air supply solenoid valves 222 and 224. Also, at the same time as this air supply operation, the left suspension unit
The air exhausted from the main air spring chamber 11 of S _FL and S _RL is discharged through the left exhaust solenoid valves 271 and 27.
3, exhaust pipe 28, exhaust flow path selection valve 32,
It is released to the atmosphere via the large diameter exhaust pipe 33, check valve 29, dryer 18, valve 17, and air cleaner 16. In this way, the handle 43
The vehicle body can be kept level when the vehicle is steered to the left. After the valve is opened for a certain period of time, the air supply solenoid valve 222, 22 on the right side
4. Left exhaust solenoid valve 271, 27
3 is closed and that state is maintained. When the left steering of the handle 43 is completed, the flow path selection valves 30 and 32 are turned off, and the communication valves 241 and 242 are turned on, and the attitude control is canceled. As a result, the vehicle body returns to its neutral position.

Next, a description will be given of attitude control that prevents nose dive, where the front vehicle height drops during braking. For example, when you step on the brake, the front vehicle height lowers,
Since the rear vehicle height is raised, control for raising the front vehicle height and lowering the rear vehicle height is performed as follows. That is, when the acceleration in the longitudinal direction of the vehicle body detected by the acceleration sensor 44 is equal to or greater than a predetermined value, the control unit 36 turns on the flow path selection valves 30 and 32, and the front air supply valves 223 and 224 and rear exhaust valve 2
71 and 272 are turned on for a certain period of time. Therefore, the compressed air from the reserve tank 21 is routed through the air supply flow path selection valve 30, the large-diameter air supply pipe 31, and the front side air supply valves 223, 224 to the main parts of the front suspension units _SFL , _SFR . The air is sent to the spring chamber 11. This raises the front vehicle height. On the other hand, air exhausted from the main air spring chambers 11 of the rear suspension units S _RL and S _RR is passed through the rear exhaust valves 271 and 2.
72, the check valve 29, the dryer 18, and the air cleaner 16 to release it to the atmosphere. This lowers the rear vehicle height and keeps the vehicle level. When the nose dive by depressing the brake is completed, the control unit 3
6 controls the front side exhaust valve 273, 2.
74 and the rear air supply valves 221 and 222 are turned on. Therefore, the air in the main air spring chambers 11 of the front suspension units S _FL , S _FR is released to the atmosphere via the front side exhaust valves 273 , 274 to the air cleaner 16 . On the other hand, the compressed air in the reserve tank 21 is sent to the main air spring chambers 11 of the rear suspension units S _RL and S _RR via the rear air supply valves 221 and 222. As a result, the posture of the vehicle body is returned to its original state.

Next, a description will be given of vehicle body attitude control that prevents the front vehicle height from squatting when the accelerator is depressed when the vehicle starts and accelerates. In other words, when you press the accelerator to start accelerating, the front vehicle height rises and the rear vehicle height decreases.
The front vehicle height is lowered and the rear vehicle height is raised. That is, the acceleration in the longitudinal direction of the vehicle body (in this case, forward acceleration) detected by the acceleration sensor 44
is greater than a predetermined value, or when the accelerator opening detected by the accelerator opening sensor 49 is greater than a predetermined value, the control unit 36
, the flow path selection valves 30 and 32 are turned on, and the front exhaust valves 273 and 2 are turned on.
74 and the rear air supply valves 221 and 222 are turned on for a certain period of time. Therefore, the compressed air from the reserve tank 21 is transferred to the air supply side flow path selection valve 3.
0, large diameter air supply pipe 31 and rear side air supply valve 22
1,222 to the main air spring chambers 11 of the rear suspension units S _RL and S _RR . This raises the rear vehicle height. On the other hand, the air discharged from the main air spring chamber 11 of the front suspension units S _FL and S _FR is discharged through the front side exhaust valves 273 and 274, the exhaust side flow path selection valve 32, the large diameter exhaust pipe 33, the dryer 18, It is released to the atmosphere via a valve 17 and an air cleaner 16. This lowers the front vehicle height and keeps the vehicle level. Next, when the squat by depressing the accelerator is completed, the front side air intake valve 22 is controlled by the control unit 36.
3,224 and rear exhaust valve 271,272
is turned on. Therefore, the air in the main air spring chambers 11 of the rear suspension units S _RL and S _RR is
Rear side exhaust valve 271, 272 ~ dryer 16
released to the atmosphere through. On the other hand, the compressed air in the reserve tank 21 is sent to the main air spring chambers 11 of the front suspension units S _FL and S _FR via the air supply side flow path selection valve 30 to the front side air supply valves 223 and 224. This prevents tilting from the rear of the vehicle when the starting acceleration state ends.
The vehicle body is returned to normal running condition.

Next, damping force switching control of the suspension by this device will be explained with reference to the flowchart shown in FIG. First, in step S1,
The control unit 36 determines whether the hardware selection switch 53 is on. If the determination in step S1 is "NO", the process proceeds to step S2, where it is determined whether the vehicle speed detected by the vehicle speed sensor 41 is 100 km/h or more. Click “YES” or follow the steps above.
If it is determined “YES” in S1, step S3
Proceed to. In step S3, the hard/soft switching solenoid valve (H/S switching valve) 34 is controlled by the control unit 36.
is turned on and opened. As a result, the compressed air in the reserve tank 21 operates the actuator 14 via the H/S switching valve 34. As a result, each suspension unit S _FL , S _FR , S _RL ,
The main air spring chamber 11 and the auxiliary air spring chamber 12 of the S _RR are in a non-communicating state, the spring reaction force is set hard, and the first damping chamber 13a and the second damping chamber 13b of the shock absorber 13 are There is a small communication state via only _a1 , and the damping force is also set hard.

If the determination in step S2 is "NO", the process proceeds to step S4, where it is determined whether the vehicle speed detected by the vehicle speed sensor 41 is 90 km/h or less. In this step S4, “NO”,
That is, if the vehicle speed is less than 100 km/h and higher than 90 km/h, the process advances to step S5. This step S5 determines whether the suspension is currently set to hard, that is, if the vehicle speed is currently 100
It is determined whether or not it is equal to or greater than Km/h. If the determination is ``YES'' here, the process proceeds to step S3, where the hard setting of the damping force is continued. Further, if it is determined to be "NO" in this step S5 or "YES" in the above step S4, the step
Proceeding to S6, the H/S switching valve 34 is closed under the control of the control unit 36. In this case, the actuator 14 does not operate, and the main air spring chamber 11 and the auxiliary air spring chamber 12 of each suspension unit S _FL , S _FR , S _RL , S _RR are in communication, and the spring reaction force is set by the soft setting. At the same time, the first damping chamber 13a and the second damping chamber 13a of the shock absorber 13 are
There is extensive communication with the damping chamber 13b via both orifices _a1 and _a2 , and the damping force thereof is also set to be soft. That is, the suspension is set to hard after the vehicle speed reaches 100 km/h or more until the vehicle speed drops to 90 km/h or less. This improves high-speed running stability.

Next, suspension damping force switching control during roll control, which has already been explained with reference to FIG. 4, will be described in detail with reference to the flowchart shown in FIG. 6. First, when the ignition key is turned on, an ignition operation signal is output from the ignition key switch 51, and step S11 is performed.
At this point, the damping force drive circuit in the control unit 36 is turned on. Next, proceed to step S12,
It is determined whether roll control is currently in progress. Here, if the determination is "YES", the process advances to step S13.
Also, if the determination is "NO", after executing steps S1 to S6 in FIG.
Proceed to S13.

FIG. 7 shows a flowchart for determining whether to start roll control in step S13. First, in step S131, the vehicle speed detected by the vehicle speed sensor 41 and the steering angle of the steering wheel 43 detected by the steering wheel steering angle sensor 43 are determined. It is read by the control unit 36. Here, the control unit 36 determines and reads the steering angular velocity of the steering wheel 43 from the temporal change in the steering wheel steering angle read above, and then proceeds to step S132. In this step S132, based on the vehicle speed and steering wheel angle, a map of valve opening time versus vehicle speed vs. steering wheel angle shown in FIG. 8 stored in the control unit 36 is referred to, and the current vehicle speed vs. steering wheel angle is determined. It is determined whether the object belongs to the control area (an area where attitude control is performed) or a dead zone area (an area where attitude control is not performed). If it is determined in this step S132 that it belongs to the control area ~, the step
Proceeding to S133, the roll control flag is set to "1". Then, the direction of roll control is determined from the steering direction of the handle 43, and the control area ~
are stored in a predetermined memory area in the control unit 36 along with control times t ₁ to _{t 3} respectively determined by .

On the other hand, if it is determined in step S132 that the area belongs to the dead zone area, the process proceeds to step S134.
Proceed to. In this step S134, based on the vehicle speed and the steering angular velocity of the steering wheel 43, a map of the valve opening time relative to the vehicle speed-steering wheel angular velocity shown in FIG. It is determined whether the angular velocity belongs to the control area ~ or the dead zone area. If it is determined in step 134 that the control area belongs to the control area ~, the process proceeds to step S135, where it is determined whether or not the steering direction of the handle 43 is on the return side. This step
If the determination in S135 is "NO", the process proceeds to step S133, and if it is "YES", that is, even if it is determined in step S134 that the object belongs to the control area, if the steering direction of the handle 43 is on the inferior side, As there is no need for posture control, the process proceeds to step S14 in FIG. 6 above. Also, the above steps
Even if it is determined in S134 that there is a dead zone, the process similarly proceeds to step S14.

In step S14, it is determined whether or not the roll control flag was set to "1" in step S133 in FIG. 7, that is, whether or not roll control is necessary. If so, proceed to step S15, and proceed to step S133 above.
The roll control flag “1” set in
It is determined in step S132 whether or not it was set based on the determination that it belongs to the control area of the vehicle speed-steering angle map. If the result in step S15 is "NO", that is, if it is determined that the vehicle belongs to the control area of the vehicle speed-steering angular velocity map in step S134 due to, for example, quick steering, the process proceeds to step S16, where the hard/soft switching solenoid valve ( The H/S switching valve 34 is turned on and opened under the control of the control unit 36. As a result, the compressed air in the reserve tank 21 operates the actuator 14 via the H/S switching valve 34. As a result, the main air spring chamber 11 and the auxiliary air spring chamber 12 of each suspension unit S _FL , S _FR , S _RL , S _RR become disconnected, the spring reaction force is hard set, and the shock absorber The damping force No. 13 is also set to hard, and the process advances to step S17, a flowchart for implementing roll control.

On the other hand, if "YES" is answered in step S15, that is, the above step is executed by normal steering wheel operation.
If it is determined in S132 that the vehicle belongs to the control area of the vehicle speed-steering angle map, the process proceeds to step S18, where it is determined whether or not the hardware selection switch 53 is on. Here, if the determination is ``YES'', the process unconditionally proceeds to step S16, and each suspension is set to hardware. If the determination is "NO", the process advances to step S19 and the above H/
The S switching valve 34 is closed under the control of the control unit 36. In this case, the actuator 14 does not operate, so the main air spring chamber 11 and the auxiliary air spring chamber 12 of each suspension unit S _FL , S _FR , S _RL , S _RR are in communication, and the spring reaction force is set by the soft setting. At the same time, the damping force of the shock absorber 13 is also set soft. That is,
As shown in FIG. 8, when controlling the attitude of a relatively small roll that belongs to the control area of the vehicle speed-handle angle map, the suspension is set to software and the process proceeds to step S17.

FIG. 10 shows a flowchart for implementing roll control in step S17. First, in step S171, this roll control is performed based on the control area of the vehicle speed-steering wheel angular velocity map shown in FIG. It is determined whether or not. If "YES" is determined here, that is, if it is determined that roll control is to be implemented by quickly steering the steering wheel 43, the process proceeds to step S172 in order to perform quick roll control in response to this. Then, each flow path selection valve 30, 32 is opened under the control of the control unit 36. On the other hand, if the answer in step S171 is "NO", that is, based on the control area of the vehicle speed-steering wheel angle map in FIG.
If it is determined that roll control is to be performed as a result of steering, the process proceeds to step S173, in which each flow path selection valve 30, 32 is controlled to perform slow roll control. It is closed under the control of unit 36. Then, the process advances to step S174, and each communication valve 241,
242 is closed under the control of the control unit 36, and the left and right suspension units are closed.
The communication between S _FL , S _RL , S _FR , and S _RR is cut off, and the step
Proceed to S175. In this step S175, it is determined in which direction the steering wheel 43 is steered. If it is determined that the steering wheel 43 is in the right direction (R), the process proceeds to step S176, and under the control of the control unit 36, the left wheel is steered. air supply valve 221,
223 are opened in accordance with the control time t stored in step S133 in FIG. As a result, compressed air from the reserve tank 21 is supplied to the main air spring chamber 11 of the left wheel suspension units S _FL , S _RL , and at the same time the main air of the right wheel suspension units S _FR , S _RR is supplied. The air in the spring chamber 11 is released to the atmosphere via a dryer 18 to an air cleaner 16. As a result, the vehicle body is prevented from rolling to the left when the steering wheel 43 is turned to the right. Also, the above steps
In S175, if it is determined that the direction is leftward L,
Proceed to step S177 and control unit 3
6, the air intake valve 222, 2 on the right wheel side
24 is opened in accordance with the control time t stored in step S133 in FIG.
The left wheel side exhaust valves 271, 273 are also opened in accordance with the control time t. As a result, the main air spring chamber 11 of the right wheel suspension unit S _FR , S _RR
At the same time, compressed air is supplied from the reserve tank 21 to the left wheel suspension unit.
The air in the main air spring chambers 11 of S _FL and S _RL is released to the atmosphere via the dryer 18 to the air cleaner 16 . As a result, the vehicle body is prevented from rolling toward the right when the steering wheel 43 is steered to the left.

In this case, steps S15 to S15 in FIG.
According to S19, if the vehicle falls within the control area of the vehicle speed-handle steering angular velocity map shown in Figure 9, the damping force of each suspension unit S _FL , S _FR , S _RL , S _RR is set as hard to implement roll control. , also the eighth
If it belongs to the control area of the vehicle speed-handle steering angle map shown in the figure, each suspension unit _SFL ,
Roll control is performed by setting the damping force of S _FR , S _RL , and S _RR to soft, so for example, when the roll is large due to quick steering, the suspension can be set to hard to reduce the roll that occurs in the vehicle body. When the roll is gentle due to normal steering wheel operation, the suspension is set to a soft setting to reduce the roll to an extent that does not worsen ride comfort or impair steering stability. You will be able to do this. Therefore,
This makes it possible to maximize the contradictory effects of handling and ride comfort.

On the other hand, if "NO" is determined in step S14, that is, if it is determined that roll control is not necessary in step S13, the process advances to step S20, which is a flowchart for determination of return to roll control. FIG. 11 shows a flowchart for determining roll control return in step S20.
In S201, currently the steering wheel angle sensor 4
It is determined whether or not the steering wheel steering angle θ detected in step 2 is less than or equal to a preset steering angle θ ₀ . Here, if the determination is ``YES'', the process proceeds to step S202, and after setting the roll control flag to ``0'', the process proceeds to step S21 in FIG. Also, the above steps
If the determination in S201 is "NO", the process proceeds to step S203, where it is determined whether the vehicle speed V detected by the vehicle speed sensor 41 is higher than the set vehicle speed _V0 . In this step S203, “NO”,
In other words, the steering angle θ of the handle 43 is the set steering angle θ ₀
Even if the vehicle speed V is greater than the set vehicle speed _V0 , if it is determined that roll control is completely unnecessary, the process proceeds to step S202 and the roll control flag is lowered to "0". And the above step S203
``YES'', that is, the steering wheel steering angle θ is larger than the set steering angle θ ₀ , and the vehicle speed V is the set vehicle speed
If it is higher than V ₀ , the process proceeds to step S21 in FIG. 6 above.

In this step S21, it is determined whether the roll control flag is "0" or not.
When it is determined that the communication valves 241 and 242 are opened under the control of the control unit 36, the process proceeds to step S22. As a result, the main air spring chambers 11 of the left wheel suspension units S _FL and S _RL are in communication with the main air spring chambers 11 of the right wheel suspension units S _FR and S _RR , and the vehicle body is quickly controlled to a neutral position. Control by the roll is restored. Further, if the determination in step S21 is "NO", the process returns to step S12.

Although the above embodiments have been explained using an air suspension system that uses compressed air, this device can be applied to all fluid suspension systems, such as hydroneumatic suspension systems that use both liquid and gas. Of course, it is possible to implement it.

[Effect of idea]

As described above, according to this invention, when performing roll control according to the control time determined by the vehicle speed-steering angle map or the vehicle speed-steering angular velocity map, when performing roll control using the vehicle speed-steering angle map, the suspension Since the damping force of the shock absorber is set to a soft setting, it is possible to reduce roll without impairing both riding comfort and steering stability.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an electronically controlled suspension device according to an embodiment of the invention, and FIGS. 2A and B are respectively on and off states of the solenoid valve used in the electronically controlled suspension device shown in FIG. 1. FIG. 3 is a diagram showing the piping system when the electronically controlled suspension device in FIG. A diagram showing the driving state of the solenoid valve in the control mode, FIG. 5 is a flowchart showing the operation of suspension damping force switching control by the electronically controlled suspension device, and FIG. 6 is a flowchart showing the operation of damping force switching control of the suspension by the electronically controlled suspension device. A flowchart showing the operation of suspension damping force switching control during control, FIG. 7 is a flowchart showing the operation of roll control start determination in step S13 of FIG. 6 above, and FIG. 8 shows vehicle speed vs. steering wheel steering angle characteristics. FIG. 9 is a diagram showing the vehicle speed-handle steering angular velocity characteristic curve. FIG. 10 is a flowchart showing the roll control implementation operation in step S17 of FIG. 6 above. FIG.
7 is a flowchart showing the operation of roll control return determination in step S20 of the figure. S _FL , S _RL ... Suspension unit for left wheel,
S _FR , S _RR ...Right wheel suspension unit, 1
1...Main air spring chamber, 12...Sub air spring chamber, 1
4... Actuator, 21... Reserve tank, 221-224... Solenoid valve for air supply, 241, 242... Solenoid valve for communication, 271-274... Solenoid valve for exhaust, 34... For hard/soft switching Solenoid valve, 36... Control unit, 41...
Vehicle speed sensor, 42... Steering wheel steering angle sensor.

Claims (1)

[Scope of utility model registration request] In an electronically controlled suspension system equipped with an attitude control function that reduces roll displacement of the vehicle body by individually adjusting the fluid pressure in the fluid spring chambers provided in each left and right suspension unit, damping is provided in each suspension unit. A damping force switching function that switches between hard and soft forces, an actuator that controls the damping force switching function, a vehicle speed sensor that detects vehicle speed, a steering angle sensor that detects the steering angle of the steering wheel, and the above-mentioned in the attitude control function. When performing roll control according to a control time determined by a vehicle speed-steering angle map or a vehicle speed-steering angular velocity map based on the vehicle speed and steering angle or its steering angular velocity, when performing roll control using the vehicle speed-steering angle map. An electronically controlled suspension device comprising: control means for softly controlling the damping force switching function of each of the suspension units by the actuator.