US 12,441,148 B2
Controller, vehicle, and control method
Makoto Masuda, Kanagawa (JP)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 18/011,183
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Jun. 11, 2021, PCT No. PCT/IB2021/055139
§ 371(c)(1), (2) Date Dec. 18, 2022,
PCT Pub. No. WO2021/255598, PCT Pub. Date Dec. 23, 2021.
Claims priority of application No. 2020-105377 (JP), filed on Jun. 18, 2020.
Prior Publication US 2023/0242097 A1, Aug. 3, 2023
Int. Cl. B60G 17/016 (2006.01); B60W 30/045 (2012.01); B60W 40/13 (2012.01)
CPC B60G 17/0162 (2013.01) [B60G 2400/0521 (2013.01); B60G 2400/0533 (2013.01); B60G 2400/44 (2013.01); B60G 2800/24 (2013.01); B60W 30/045 (2013.01); B60W 2040/133 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A controller that is mounted to a vehicle, the vehicle including a front wheel-side shock absorber of a damping force adjustment type provided between a vehicle body and a front wheel of the vehicle and a rear wheel-side shock absorber of the damping force adjustment type provided between the vehicle body and a rear wheel of the vehicle, and outputs a command signal corresponding to a damping force of the front wheel-side shock absorber to a front wheel-side actuator that adjusts the damping force of the front wheel-side shock absorber and a command signal corresponding to a damping force of the rear wheel-side shock absorber to a rear wheel-side actuator that adjusts the damping force of the rear wheel-side shock absorber, wherein
the controller is configured to determine if the vehicle is brought into a stable turning state based on a roll rate of the vehicle body, a change amount of a yaw rate per unit time of the vehicle body, and/or a steering angular velocity of a steering wheel of the vehicle, and wherein the controller is configured to, in a case where a value that is acquired by subtracting the damping force of the rear wheel-side shock absorber from the damping force of the front wheel-side shock absorber is defined as a damping force subtracted value, output the command signal to the front wheel-side actuator and the command signal to the rear wheel-side actuator so that the damping force subtracted value becomes smaller or larger than the damping force subtracted value during straight travel of the vehicle, when it is determined that the vehicle is brought into the stable turning state, wherein
the controller is further configured to determine the damping force subtracted value.