Patent ID: 11904864
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 11:
12. An update method for related value information in which a road surface displacement-related value measured by a first vehicle, which is a value related to a road surface displacement, in a vertical direction, of a road surface corresponding to a position of the road surface, is registered, the update method comprising:
obtaining, at predetermined measurement intervals, a sensor value measured by a sensor of the first vehicle to identify the road surface displacement-related value of a road surface on which the first vehicle is traveling and obtaining a measurement position at which the sensor value is measured, in a period from a time at which a predetermined measurement start condition is satisfied to a time at which a predetermined measurement end condition is satisfied;
generating a control force in the vertical direction by a second vehicle such that the control force is generated between at least one wheel of the second vehicle and a vehicle body part corresponding to a position of the at least one wheel;
obtaining a road surface displacement related value at a predicted passing position of the second vehicle at which the at least one wheel is predicted to pass at a time when a predetermined period elapses from a current time;
obtaining a target force for damping a sprung portion of the second vehicle based on the road surface displacement related value by the second vehicle;
executing preview damping control of controlling a control force generation device by the second vehicle such that the control force generation device coincides the control force with the target force when the wheel passes the predicted passing position;
applying high-pass filter processing to one of the sensor value and the road surface displacement-related value identified based on the sensor value, to thereby obtain a road surface displacement-related value from which a low frequency component lower than a predetermined cutoff frequency is removed;
adding a value which is obtained by applying the high-pass filter processing to one of the sensor value and the road surface displacement-related value in a chronological order of the measurement of the sensor value, and a value which is obtained by applying the high-pass filter processing to one of the sensor value and the road surface displacement-related value in a reverse chronological order of the measurement of the sensor value, to each other, to thereby remove the low frequency component from the road surface displacement-related value; and
updating the related value information based on the road surface displacement-related values obtained by excluding, from the road surface displacement-related values from which the low frequency component is removed, at least one of: start-stage related values being a first predetermined number of road surface displacement-related values from a start-point related value being a road surface displacement-related value identified based on the sensor value obtained when the predetermined measurement start condition is satisfied; or end-stage related values being a second predetermined number of road surface displacement-related values to an end-point related value being a road surface displacement-related value identified based on the sensor value obtained when the predetermined measurement end condition is satisfied; and
updating the related value information based on the road surface displacement-related values obtained by excluding the start-stage related values and the end-stage related values from the road surface displacement-related values from which the low frequency component is removed.