초록

In a satellite global positioning system, satellite acquisition and location assistance is based upon shared information between a GPS receiver and a remote server. Satellite position is predicted by satellite almanac data.

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In a satellite global positioning system, satellite acquisition and location assistance is based upon shared information between a GPS receiver and a remote server. Satellite position is predicted by satellite almanac data. detected, and if the value of the upwards and downwards acceleration falls

In a satellite global positioning system, satellite acquisition and location assistance is based upon shared information between a GPS receiver and a remote server. Satellite position is predicted by satellite almanac data. detected, and if the value of the upwards and downwards acceleration falls within a predetermined range of values, and has continued to be within said predetermined value range for longer than a predetermined time period, then control is not performed to suppress vibration of said vehicle based upon the value of said upwards and downwards acceleration which is detected. 7. A suspension control method according to claim 1, wherein the actuators are electromagnetic actuators, and the method further comprising: a step of, when supplying electrical current to said electromagnetic actuator to generate a desired output, calculating a first duty ratio for said electrical current to be supplied to said electromagnetic actuator corresponding to a target electrical current value for said electrical current; a step of calculating a second duty ratio for said electrical current to converge the actual electrical current value which flows through said electromagnetic actuator to said target electrical current value by proportional integral and differential control; and a step of supplying electrical current to said electromagnetic actuator according to a third duty ratio which is obtained by adding together said first duty ratio and said second duty ratio. 8. A suspension control method according to claim 1, wherein in the rolling suppression control, a difference between amounts of movement of left and right wheels of said vehicle in the upwards and downwards direction is detected, and rate of change of steering angle is detected, and actuators are controlled based upon said vehicle wheel movement amount difference and upon said rate of change of steering angle. 9. A suspension control method according to claim 8, wherein in the rolling suppression control, a stabilizer is provided which mechanically links together said left and right vehicle wheels, and which generates torque according to the difference between the movement amounts of said left and right vehicle wheels in the upwards and downwards direction with respect to said vehicle body; and wherein deficiency of force to suppress rolling of said vehicle body is, as required, supplemented by said actuators. 10. A suspension control method according to claim 8, wherein in the rolling suppression control, when the roll direction of said vehicle and the steering speed direction are the same, control is performed based upon said vehicle wheel movement amount difference with respect to said vehicle body, and upon said rate of change of steering angle; when the roll direction of said vehicle and the steering speed direction are not the same, control is performed based upon said vehicle wheel movement amount difference with respect to said vehicle body; and in the central state when the amount of rolling of said vehicle body is small, without any dependence upon whether or not the roll direction of said vehicle and the steering speed direction are the same, control is performed based upon said vehicle wheel movement amount difference with respect to said vehicle body, and upon said rate of change of steering angle. 11. A suspension control method according to claim 10, wherein when determining said central state, the decision is made utilizing hysteresis. 12. A suspension control method according to claim 1, wherein in the rolling suppression control, sidewise acceleration of said vehicle body is detected, and said actuator is controlled according to the sidewise acceleration and upon rate of change of steering angle. 13. A suspension control method according to claim 12, wherein in the rolling suppression control, when the roll direction of said vehicle and the steering speed direction are the same, control is performed based upon said sidewise acceleration and upon said rate of change of steering angle; and when the roll direction of said vehicle and the steering speed direction are not the same, control is performed based upon said sidewise acceler