DE102019214083A1 - Method and control unit for raising and / or lowering a chassis and chassis - Google Patents

Abstract

The invention relates to a method (100) for lifting and / or lowering a chassis (1) of an in particular autonomous or partially autonomous, electrically operated vehicle with the following steps: receiving (102) at least one first input signal (ES) for lifting and / or lowering of the chassis (1); generating (106) a first control signal (AS1) for controlling at least one actuator (30) of the chassis (1) and / or at least one first wheel drive (32) one with the at least one actuator (30) mechanically connected wheel (31) depending on the first input signal (ES) in such a way that the wheel (31) moves along its direction of travel on a vehicle surface (5) and the at least one actuator (30) moves by an angle (51) with respect to the Vertical (19) inclines and thereby the chassis (1) rises and / or lowers at least in some areas; and output (106) the first control signal (AS1) to the at least one actuator (30) and / or the wheel drive (32).

Description

The invention is based on a method for lifting and / or lowering a chassis of an in particular autonomous or partially autonomous, electrically operated vehicle, a control unit for carrying out the method and a chassis for a vehicle with such a control unit according to the preamble of the independent claims.

State of the art

The DE 10 2014 014 248 A1 discloses a method and a system for positioning a vehicle when loading and / or unloading goods, the vehicle having a chassis that can be raised and lowered with the aid of a suspension system of the vehicle.

Disclosure of the invention

Against this background, the approach presented here presents a method for lifting and / or lowering a chassis of an, in particular autonomous or partially autonomous, electrically operated vehicle. The method can advantageously be carried out in a control unit which can have an evaluation unit and a memory unit. The method has a step of receiving at least one first input signal for raising and / or lowering the chassis.

The method also has a step of generating and outputting a first control signal for controlling at least one actuator of the chassis and / or at least one first wheel drive of a wheel mechanically connected to the at least one actuator as a function of the first input signal. In this case, the control is carried out by the first control signal in such a way that the wheel moves along its direction of travel on a vehicle surface and the at least one actuator is inclined at an angle to the vertical, thereby raising and / or lowering the chassis at least in some areas. Raising and / or lowering in certain areas can be understood to mean that the chassis only rises and / or lowers in the area in which the actuators are connected to the chassis. If the chassis has a plurality of such actuators, the chassis can in particular be raised and / or lowered in areas in a coordinated manner. In other words, this allows the chassis to be tilted in the direction of a corner or in the direction of one side or completely lowered and / or raised.

A vehicle can be understood to mean a motorized land vehicle, such as a car, a truck, an omnibus, a mobile home, a mobile work machine or a trike. A partially autonomously or autonomously operated vehicle can preferably be understood to mean electrically operated taxis and / or shuttles for passenger transport or electrically or internal combustion engine-hydraulically operated vehicles for luggage, goods or container transport. Furthermore, it can also be understood as meaning non-motorized vehicles, in particular trailers, such as caravans or cargo movers. All vehicles have in common that they have at least three wheels, preferably in the form of air or gas-filled tires or solid rubber tires.

The first input signal can be triggered automatically, for example, as a function of a driving or parking situation, in particular as a function of location. Furthermore, the first input signal can be triggered manually by a driver, an occupant of the vehicle or a person outside the vehicle.

A chassis can be understood to mean the load-bearing parts of a vehicle. In particular, this can also be understood to mean a frame, a chassis, an underframe or a self-supporting body. An actuator system can be understood as a mechanically, electrically or electromechanically adjustable device which, in particular rotatable about a horizontal axis, is movably arranged at a suspension point on the chassis or is detachably fastened. When the actuator system rotates around the suspension point, the wheel connected to the actuator system moves along its direction of travel and at the same time the actuator system inclines relative to the vertical, which effectively raises or lowers the chassis in an area of the suspension point. A vehicle base can be understood to mean a surface of the roadway on which the vehicle is moving.

Advantages of the invention

With this method, the chassis and thus also the vehicle can be raised or lowered as required in a reliable manner. For example, an entry area of the vehicle can be adjusted to the height of a curb so that it is easier for people or passengers to get on or off. Furthermore, in the event of a one-sided tilting of a mobile work machine or a truck, bulk goods can be specifically unloaded from a loading area. Furthermore, in the case of a mobile work machine, a Container, for example, an overseas container can be deposited. Furthermore, through the specifically adjustable, area-wise raising or lowering of the chassis while the vehicle is driving, it is possible to react to specific wind or headwind conditions depending on the situation in order to reduce air resistance of the vehicle or to improve stability of the vehicle in crosswinds.

Further advantages result from the subclaims

In a preferred embodiment it is provided that in the generating step a second control signal for unlocking the actuator system is generated and that the second control signal is output to the at least one actuator system in the output step. This makes it possible to ensure that the actuator system can only be moved, in particular rotated, when the chassis is to be raised or lowered.

In a further preferred embodiment it is provided that in the generating step the second control signal for unlocking the wheel drive is generated and that the second control signal is output to the wheel drive in the outputting step. In this way it can be ensured that the wheel only starts moving when the chassis is to be raised or lowered or when the vehicle is to go into driving mode.

Alternatively, it can be provided that in the generating step the second control signal for unlocking the actuator and / or the wheel drive is generated and that the second control signal is output to the at least one actuator and / or the wheel drive in the output step. A particularly safe operation of the vehicle is achieved in this way.

In a further preferred embodiment, it is provided that before the step of generating or outputting, in a second receiving step, at least one first parameter representing vehicle background information is received by a first detection unit, and the first control signal and / or the second control signal is output as a function of the received first parameter takes place. The first detection unit can be designed as a camera, in particular as a stereo camera, as an ultrasonic sensor, as an infrared sensor, in particular as a pyroelectric sensor, as a lidar sensor, as a radar sensor or as a time-of-flight sensor. Vehicle background information can be understood to mean, for example, a distance between the vehicle background and a lowest point on an underside of the chassis or of the vehicle. In this way, the distance of the chassis or vehicle from the surface of the roadway can advantageously be determined and a complete lowering of the chassis can thereby either be prevented or an abrupt lowering of the chassis on the roadway surface can be avoided. This increases the comfort of the vehicle occupants.

Vehicle background information can also be understood to mean information about the presence of a living object, for example an animal or at least part of a human body, in particular a foot, below the chassis. This can advantageously prevent the lowering of the chassis when there is an animal or a human foot between the chassis and the road surface.

In a further preferred embodiment it is provided that before the step of generating or outputting, in a further receiving step, at least one further parameter representing an inclination of the chassis relative to the vehicle surface is received by a further detection unit, and the first control signal and / or the output of the second control signal takes place as a function of the received second parameter. The further detection unit can be designed as an inclination sensor, preferably as a microelectromechanical inertial sensor. By knowing the inclination, the raising and lowering of the chassis, in particular in certain areas, can be set or regulated in a targeted manner.

Furthermore, in a further embodiment it can be provided that in the case of lowering the chassis, the first control signal is generated and / or output in such a way that the chassis is at least partially lowered down to the vehicle ground so that the chassis or the vehicle is seated. As a result, a non-positive connection can be formed between the underside of the chassis or the vehicle and the vehicle ground, preferably the road surface. In this way, the vehicle can be permanently secured against unintentional rolling away in an inexpensive manner.

It can optionally be provided that the underside of the chassis or of the vehicle has attachment elements in the area where it is seated, which protect the underside of the chassis or of the vehicle from mechanical damage. Furthermore, these contact elements can increase the frictional force between the vehicle surface and the chassis or the vehicle and thus advantageously increase the braking effect. Preferably The contact elements can be adapted to the nature and / or the material of the road surface and, for example, be made of wood, rubber or metal and in particular have points or spikes. This further increases the braking effect, particularly when the road surface is wet or icy.

In a further preferred embodiment of the invention it can be provided that in the step of outputting the first control signal and / or the second control signal to at least one further actuator of the chassis and / or at least one further wheel drive of a wheel mechanically connected to the at least one further actuator . As a result, the chassis or the vehicle can be raised or lowered at several areas or suspension points, which further increases the variability and the adaptability of the chassis or the vehicle to different traffic situations. For example, it can be provided that, in a vehicle with four wheels, two actuators and / or wheel drives arranged on the same side of the chassis are activated in order to raise or lower the chassis or the vehicle on one side. Furthermore, in the vehicle with four wheels, all of the actuators and / or wheel drives arranged on the chassis can be activated in order to raise or lower the chassis or the vehicle uniformly. The control of each actuator and / or each wheel drive for raising or lowering the chassis or the vehicle can take place in a position-controlled manner by including the further parameter representing the inclination of the chassis relative to the vehicle surface. This enables the chassis to be raised or lowered particularly evenly and without jerking.

Furthermore, it can be provided in one embodiment that the output of the first control signal and / or the second control signal to the actuators and / or wheel drives takes place simultaneously. As a result, the chassis or the vehicle can be raised or lowered particularly evenly and smoothly.

In an alternative embodiment, it can be provided that the output of the first control signal and / or the second control signal to the actuators and / or wheel drives takes place in a coordinated manner, preferably in terms of time. As a result, the individual actuators and / or wheel drives can be controlled in succession as required in order to raise or lower the chassis or the vehicle in a manner adapted to any situation.

The aforementioned advantages also apply in a corresponding manner to a control unit for raising and / or lowering a chassis of an in particular autonomous or partially autonomous, electrically operated vehicle, which is set up to carry out one of the methods described above.

Here, the method can be implemented in software or hardware, for example, or in a mixed form of software and hardware in the control unit. For this purpose, the control unit can have at least one evaluation unit for processing signals or data and at least one memory unit for storing signals or data. Furthermore, the control unit can have at least one input interface for receiving at least one first input signal for raising and / or lowering the chassis. The evaluation unit can be designed to generate a first control signal for controlling at least one actuator of the chassis and / or at least one first wheel drive of a wheel mechanically connected to the at least one actuator as a function of the first input signal. The generation takes place here in such a way that the wheel moves along its running direction on a vehicle surface and the at least one actuator system inclines at an angle to the vertical and thereby the chassis rises and / or lowers at least in some areas. Furthermore, the control unit can have at least one output interface for outputting the first control signal to the at least one actuator and / or the wheel drive.

Furthermore, the control unit can have at least one communication interface for reading in or outputting data that is embedded in a communication protocol. The communication interface can be designed to read in or output data wirelessly and / or wired, the communication interface that can read in or output wired data, for example, can read this data electrically or optically from a corresponding data transmission line or output it into a corresponding data transmission line. The evaluation unit can be, for example, a signal processor, a microcontroller or the like, wherein the storage unit can be a flash memory, an EPROM or a magnetic storage unit.

A computer program product or computer program with program code that can be stored on a machine-readable, in particular non-volatile carrier or storage medium such as a semiconductor memory, a hard disk or an optical memory and for implementation, conversion and / or Control of the steps of the method according to one of the embodiments described above is used, in particular when the program product or program is executed on a computer or a device according to one of the embodiments described above.

The aforementioned advantages also apply in a corresponding manner to a chassis for an in particular autonomous or partially autonomous, electrically operated vehicle, having a control unit according to the embodiment described above, at least one actuator which is movably connected to the chassis by a joint, at least one wheel , which is mechanically connected to the at least one actuator system, and at least one wheel drive of the wheel mechanically connected to the at least one actuator system, the wheel being movable along its direction of travel on a vehicle surface and the at least one actuator system being inclined by an angle relative to the vertical and as a result, the chassis can be raised and / or lowered at least in some areas.

Here, the control unit can be designed as part of a higher-level control unit of the vehicle. This saves installation space in the vehicle.

In a further embodiment it can be provided that the at least one actuator, the at least one wheel and the at least one wheel drive are designed as a wheel suspension module. In this context, a wheel suspension module can be understood to mean a device which is essentially one-piece at least in some areas and which comprises the actuators, the wheel and the wheel drive. In particular, the wheel drive can preferably be arranged as an electric wheel drive in the vicinity of the wheel or integrated into the wheel. The wheel suspension module, which is also referred to as a corner module, can thus be attached or arranged in a simple manner, preferably through the joint, on the chassis. Preferably, four suspension modules can be arranged or attached to each corner of the vehicle.

The aforementioned advantages also apply in a corresponding manner to a vehicle with a chassis according to one of the previously described embodiments.

Figure list

Embodiments of the invention are shown schematically in the drawings and explained in more detail in the description below. The same reference numerals are used for the elements shown in the various figures and having a similar effect, a repeated description of the elements being dispensed with.

• 1 eine schematische Darstellung einer Steuereinheit, die eingerichtet ist, ein Verfahren zum Heben und/oder Senken eines Fahrgestells eines insbesondere autonomen oder teilautonomen, elektrisch betriebenen Fahrzeugs auszuführen gemäß einem Ausführungsbeispiel;
• 2 ein Ablaufdiagramm eines Verfahrens zum Heben und/oder Senken eines Fahrgestells gemäß einem Ausführungsbeispiel;
• 3 eine schematische Darstellung eines Fahrgestells für ein insbesondere autonomes oder teilautonomes, elektrisch betriebenes Fahrzeug in angehobenem Zustand gemäß einem Ausführungsbeispiel;
• 4 eine schematische Darstellung eines Fahrgestells für ein insbesondere autonomes oder teilautonomes, elektrisch betriebenes Fahrzeug in abgesenktem Zustand gemäß einem Ausführungsbeispiel;
• 5 eine schematische Darstellung einer Kräfteverteilung bei einem Radaufhängungsmodul gemäß einem Ausführungsbeispiel, sowie
• 6 eine schematische Darstellung des Stromverlaufs und der Motordrehzahl über der Zeit bei einem Anheben des Fahrgestells gemäß einem Ausführungsbeispiel; sowie
• 7 eine schematische Darstellung verschiedener Stromverläufe für verschiedene Gesamtfahrzeugmassen über einem Neigungswinkel einer Aktorik bei einem Absenken des Fahrgestells gemäß einem Ausführungsbeispiel.

Show it:

• 1 a schematic representation of a control unit which is set up to carry out a method for lifting and / or lowering a chassis of an in particular autonomous or partially autonomous, electrically operated vehicle according to an exemplary embodiment;
• 2 a flowchart of a method for raising and / or lowering a chassis according to an embodiment;
• 3 a schematic representation of a chassis for an in particular autonomous or partially autonomous, electrically operated vehicle in the raised state according to an embodiment;
• 4th a schematic representation of a chassis for an in particular autonomous or partially autonomous, electrically operated vehicle in the lowered state according to an exemplary embodiment;
• 5 a schematic representation of a force distribution in a wheel suspension module according to an embodiment, and
• 6th a schematic representation of the current curve and the engine speed over time when the chassis is raised according to an exemplary embodiment; such as
• 7th a schematic representation of different current profiles for different total vehicle masses over an angle of inclination of an actuator when lowering the chassis according to an embodiment.

As already stated above, the present invention describes a method, a control unit and a chassis which make it possible to raise and / or lower the chassis and a vehicle connected to it.

To carry out the procedure according to 2 is a control unit 10 as provided in 1 is shown schematically. The control unit 10 can, as shown in this embodiment, part of a chassis 1 be or on the chassis 1 be arranged, which is next to the control unit 10 at least one actuator 30th which by a joint with the chassis 1 is movably connected, at least one wheel 31 , which with the at least one actuator 30th is mechanically connected, as well as at least one wheel drive 32 the one with the at least one actuator 30th mechanically connected wheel 31 having.

The control unit 10 receives after an initialization step 101 during a first receiving step 102 via an input interface 13th one from an input unit 20th triggered input signal ES. The input unit 20th can be designed as a manual release unit. The input unit 20th can alternatively also be part of an automatic system which automatically generates the input signal ES. The input signal ES contains the information whether the chassis 1 should be raised or lowered.

The control unit optionally receives 10 in a second receiving step 103 via the input interface 13th at least one first parameter representing vehicle background information K1 by a first acquisition unit 21 . The first registration unit 21 can in this case, for example, be designed as a stereo camera which, as vehicle background information, shows, for example, a distance between the vehicle background and a lowest point on an underside of the chassis 1 detected and / or a living object, such as an animal or a part of a person's body. Furthermore, the acquisition unit 21 be designed as a pyroelectric sensor, whereby living objects can be detected particularly effectively.

The control unit optionally receives 10 in a third receiving step 104 via the input interface 13th at least one inclination of the chassis 1 second parameter representing the vehicle ground K2 by a second acquisition unit 22nd . The second registration unit 22nd can be designed, for example, as a microelectromechanical inertial sensor which is set up to detect rotational movements and thus also an inclination.

The first parameter K1 and / or the second parameter K2 can if necessary in a storage unit 12th the control unit 10 can be saved.

In a first test step 105 is in the evaluation unit 11 checked whether there is underneath the chassis 1 a living object is located. For this purpose, for example, by means of the first acquisition unit designed as a stereo camera 21 captured images as the first parameter K1 of the vehicle underground with classified and previously in the storage unit 12th stored images representing certain living objects are compared. Alternatively or additionally, data recorded by the pyroelectric sensor can be used as the first parameter K1 of the vehicle underground with previously in the storage unit 12th stored, certain living objects representing data are compared to a living object below the chassis 1 to detect. Thus, in the evaluation unit 11 determine whether there is below the chassis 1 a living object is located. If the first test step falls 105 positive, so will the chassis 1 neither raised nor lowered and the second receiving step is repeated 103 .

If the first test step falls 105 negative, ie there is no living object below the chassis 1 , so in a first generation step 106 a first output signal AS1 for raising or lowering the chassis 1 generated and via an output interface 16 issued. The first output signal AS1 and / or the second output signal AS2 are output to an actuator system 30th and / or a wheel drive 32 of the chassis 1 . The first output signal AS1 acts on a drive of the actuator system 30th and / or directly to the wheel drive 32 so that the actuators 30th and / or the wheel drive 32 be set in motion. Alternatively or additionally, in the first generation step 106 a second output signal AS2 is generated and via the output interface 16 to the actuators 30th and / or the wheel drive 32 output to in the event of a locking of the actuators 30th and / or the wheel drive 32 unlock it beforehand.

The output of the first output signal AS1 and / or the second output signal AS2 can only be sent to an actuator 30th and / or to a wheel drive 32 of the chassis 1 or to a plurality of actuators 30th and / or wheel drives 32 of the chassis 1 take place, depending on whether the chassis 1 should only be raised or lowered at one corner, on one side or completely.

During or after this, a second test step takes place 107 , in which it is checked whether a previously determined one is in the memory unit 12th stored target value of a distance between the underside of the chassis 1 and a road surface is reached. The first acquisition unit, which is designed as a stereo camera, can be used for this purpose 21 as the first parameter K1 to the control unit 10 Transmit images from which the evaluation unit 11 the distance between the underside of the chassis 1 and a road surface. If the second test step falls 107 negative, ie the previously determined distance has not yet been reached, the step is repeated 106 .

If the second test step falls 107 positive, that is, the previously determined distance has been reached, is optional in a third test step 108 checked whether a previously determined one is in the storage unit 12th stored target value of an inclination of the chassis 1 is reached. For this purpose, the second detection unit designed as a microelectromechanical inertial sensor can be used 22nd the inclination of the chassis 1 data representing the road surface as a second parameter K2 to the control unit 10 to transfer. The evaluation unit 11 determines a value for the inclination from the data and checks whether the actual inclination of the chassis 1 corresponds to the previously stored slope value. If the third test step falls 108 negative, ie the previously determined inclination value has not yet been reached, the step is repeated 106 .

If the third test step falls 108 positive, ie the previously determined inclination value has been reached, the output of the first output signal AS1 is carried out in a further method step 109 stopped. Optionally, in the next step 109 it can be provided that a further output signal AS3 is generated and sent to the actuator system 30th and / or the wheel drive 32 is issued in order to fix or lock them again.

In 3 and 4th are schematic representations of a side view of the chassis 1 for a particularly autonomous or partially autonomous, electrically operated vehicle shown in the raised or lowered state. The chassis 1 in this embodiment has four as corner modules 40 designated suspension modules, each with a corner module 40 at one of the four corners of the chassis 1 is arranged and with the chassis 1 is mechanically connected. Due to the side view, there is only one corner module in each case 40 shown per chassis side.

The corner modules 40 each have an actuator 30th , a wheel 31 as well as a wheel drive 32 on, the wheel drive being designed electrically and in close proximity to the wheel 31 or in the wheel 31 can be integrated. The corner modules 40 are about a joint 50 with the chassis 1 mechanically connected and can be configured, for example, as an electromechanically actuated pawl fixation 45 , preferably on the actuators 30th , detachable on the chassis 1 be fixed. This is particularly the case when the chassis is being driven 1 having vehicle advantageous. A fixation of the corner modules 40 can also be achieved in that the actuators 30th and / or the wheel drive 32 be controlled in such a way that freewheeling is prevented.

The actuators 30th , the wheel drive 32 and optionally the fixation 45 are signal-wise with the control unit (not shown here) 1 and are connected according to the in 2 described method controlled.

If the vehicle is to be secured against rolling away when it is at a standstill, the chassis can 1 as in 4th shown except for a road surface 5 be lowered. Here the chassis 1 optional attachment elements 7th have an underside of the chassis 1 or the vehicle against damage and the braking effect between the chassis 1 and the road surface 5 improve. A material is preferably the attachment elements 7th to the road surface 5 or the purpose of the chassis 1 customized. Here it can be provided that the attachment elements are made of metal, wood or plastic, at least in some areas, and / or have tips.

The chassis 1 is lowered by the fixation 45 is unlocked and / or the actuators 30th and / or the wheel drive 32 a second control signal AS2 for unlocking the actuators 30th or the wheel drive 32 receives and the actuators 30th and / or the wheel drive 32 receives a first control signal AS1. As a result, the actuators 30th and / or the wheel drive 32 actively set in motion.

In the case of actuators 30th will this around the joint 50 rotated in relation to the vertical, whereby the actuators 30th at the end where the wheel 31 is mounted, from the chassis 1 straddles. As a result of this and there the wheel drive 32 is unlocked the wheel turns 31 freely along its running surface, which makes the chassis 1 lowers.

We the wheel drive 32 actively driven, this is how the wheel settles 31 in motion along its tread, the wheel 31 from the chassis 1 rolls away. The free-running actuators 30th is doing this around the joint 50 rotated in relation to the vertical, whereby the actuators 30th at the end where the wheel 31 is mounted, from the chassis 1 splayed, causing the chassis 1 lowers. Of course, the actuators 30th and the wheel drive 32 are driven at the same time.

Depending on the design of the joint 50 it can be provided that a wheel axle of the wheel 31 before lowering and / or raising the chassis 1 parallel to an axis of rotation of the actuators 30th is aligned. This is especially necessary when the joint 50 is designed as a tilting joint.

Will all corner modules 40 of the chassis 1 Controlled simultaneously and in the same way, the chassis lowers 1 accordingly evenly so that the attachment elements 7th on the road surface 5 put on and a positive connection between the chassis 1 and the road surface 5 produce.

On the chassis 1 can do the already too 1 and 2 described first detection unit 21 and / or second acquisition unit 22nd be arranged.

In 5 is a schematic representation of a distribution of forces in a corner module 40 shown. Here is the actuator 30th compared to the vertical 19th , indicated by a vertical line, already at an angle 51 inclined. Should now the chassis 1 (not shown in full) are raised, a driving force must be applied 17th , indicated by a horizontal arrow pointing to the left, by the actuator system 30th and / or the wheel drive 32 provided so that the angle 51 downsized, the actuators 30th straighten up and the wheel 31 towards the chassis 1 rolls. This creates a lifting force 18th , indicated by the vertical arrow, over the joint 50 on the chassis 1 transferred, which is then raised. It is clear from the illustration that at small angles 51 a little driving force 17th sufficient to have a large lifting force 18th to generate, whereas at large angles 51 a great driving force 17th Must be provided to the chassis 1 to raise.

In 6th is a schematic representation of a motor current 60 and an engine speed 61 over time when lifting the chassis 1 shown. The motor current 60 and the engine speed 61 can be done by means of appropriate sensors on the actuators 30th and / or on the wheel drive 32 are recorded. Here is the motor current 60 and the engine speed 61 on the ordinate and the time 59 plotted on the abscissa. It can be clearly seen that the motor current 60 is relatively high at the beginning of the increase and decreases in the further course. The engine speed 61 however, increases from the start of lifting the chassis 1 until it reaches a maximum after some time and then falls further.

In 7th is a schematic representation of various motor current curves 60a , 60b , 60c for different total vehicle masses over an angle of inclination 51 when lowering the chassis 1 shown. The angle of inclination 51 can through the second acquisition unit 21 detected and / or by a further inclination sensor on the joint 50 or the actuators 30th are recorded. It can be clearly seen that the motor current associated with a vehicle with a large total mass 60a above the angle of inclination 51 increases faster than the motor current 60b and the motor current 60c , which are assigned to both vehicles with a lower total mass. By calibrating a system consisting of the chassis 1 or a vehicle and the actuators 30th and / or the wheel drive 32 can over the course of the motor current 60 above the angle of inclination 51 the total mass of the chassis 1 or the vehicle and thus also the payload can be determined. If an inadmissible overload is detected, the vehicle can automatically be prevented from driving away.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102014014248 A1 [0002]

Claims (10)

Method (100) for raising and / or lowering a chassis (1) of an in particular autonomous or partially autonomous, electrically operated vehicle, comprising the steps: - Receiving (102) at least one first input signal (ES) for raising and / or lowering the chassis (1); - Generating (106) a first control signal (AS1) for controlling at least one actuator (30) of the chassis (1) and / or at least one first wheel drive (32) of a wheel (31) mechanically connected to the at least one actuator (30) in Dependence on the first input signal (ES) such that the wheel (31) moves along its direction of travel on a vehicle surface (5) and the at least one actuator (30) inclines at an angle (51) relative to the vertical (19) and as a result, the chassis (1) rises and / or lowers at least in some areas; such as - Outputting (106) the first control signal (AS1) to the at least one actuator (30) and / or the wheel drive (32). Method (100) according to Claim 1 , characterized in that in the step of generating (106) a second control signal (AS2) for unlocking the actuator (30) and / or the wheel drive (32) is generated and that in the step of outputting (106) the second control signal (AS2) is output to the at least one actuator (30) and / or the wheel drive (32). Method (100) according to Claim 1 or 2 , characterized in that before the generating (106) or output (106) step, in a second receiving step (103), at least one first parameter (K1) representing vehicle background information is received by a first acquisition unit (21), and the output ( 106) of the first control signal (AS1) and / or the second control signal (AS2) takes place as a function of the received first parameter (K1). Method (100) according to one of the Claims 1 to 3 , characterized in that before the step of generating (106) or output (106) in a further receiving step (104) receiving at least one further parameter (K2) representing an inclination of the chassis (1) relative to the vehicle ground (5) by a Another detection unit (22) takes place, and the output (106) of the first control signal (AS1) and / or the second control signal (AS2) takes place as a function of the received second parameter (K2). Method (100) according to one of the preceding claims, characterized in that in the case of lowering the chassis (1) the first control signal (AS1) is generated (106) and / or output (106) in such a way that the chassis (1) at least is lowered in areas down to the vehicle ground (5). Method (100) according to one of the preceding claims, characterized in that in the step of outputting (106) the first control signal (AS1) and / or the second control signal (AS2) to at least one further actuator (30) of the chassis (1) and / or at least one further wheel drive (32) of a wheel (31) mechanically connected to the at least one further actuator system (30) takes place. Method (100) according to Claim 6 , characterized in that the output (106) of the first control signal (AS1) and / or the second control signal (AS2) to the actuators (30) and / or wheel drives (32) takes place simultaneously. Control unit (10) for raising and / or lowering a chassis (1) of an in particular autonomous or partially autonomous, electrically operated vehicle, in particular according to the method (100) according to one of the preceding claims - At least one input interface (13) for receiving (102) at least one first input signal (ES) for raising and / or lowering the chassis (1); - At least one evaluation unit (11) for generating (106) a first control signal (AS1) for controlling at least one actuator (30) of the chassis (1) and / or at least one first wheel drive (32) one with the at least one actuator (30) Mechanically connected wheel (31) as a function of the first input signal (ES) in such a way that the wheel (31) moves along its direction of travel on a vehicle surface (5) and the at least one actuator (30) is opposite by an angle (51) the vertical (19) inclines and thereby the chassis (1) rises and / or lowers at least in some areas; such as - At least one output interface (16) for outputting (106) the first control signal (AS1) to the at least one actuator (30) and / or the wheel drive (32). Chassis (1) for an in particular autonomous or partially autonomous, electrically operated vehicle, comprising - a control unit (10) according to FIG Claim 8 ; - At least one actuator (30) which is movably connected to the chassis (1) by a joint (50); - At least one wheel (31) which is mechanically connected to the at least one actuator (30); such as - at least one wheel drive (32) of the wheel (31) mechanically connected to the at least one actuator (30), the wheel (31) being movable along its direction of travel on a vehicle surface (5) and the at least one actuator (30) being movable by an angle (51) can be inclined with respect to the vertical (19) and, as a result, the chassis (1) can be raised and / or lowered at least in some areas. Chassis (1) according to Claim 9 , characterized in that the at least one actuator (30), the at least one wheel (31) and the at least one wheel drive (32) are designed as a wheel suspension module, in particular as a corner module (40).

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