EP3887191A1 - Motor vehicle and method for controlling an active chassis component of a motor vehicle - Google Patents

Motor vehicle and method for controlling an active chassis component of a motor vehicle

Info

Publication number
EP3887191A1
EP3887191A1 EP19794972.0A EP19794972A EP3887191A1 EP 3887191 A1 EP3887191 A1 EP 3887191A1 EP 19794972 A EP19794972 A EP 19794972A EP 3887191 A1 EP3887191 A1 EP 3887191A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
chassis component
active chassis
active
vehicle according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19794972.0A
Other languages
German (de)
French (fr)
Inventor
Michael Klank
Achim Thomae
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP3887191A1 publication Critical patent/EP3887191A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/017—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/06—Characteristics of dampers, e.g. mechanical dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
    • B60G21/055—Stabiliser bars
    • B60G21/0551—Mounting means therefor
    • B60G21/0553—Mounting means therefor adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
    • B60G21/055—Stabiliser bars
    • B60G21/0551—Mounting means therefor
    • B60G21/0553—Mounting means therefor adjustable
    • B60G21/0555—Mounting means therefor adjustable including an actuator inducing vehicle roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/25—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using haptic output
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/62—Adjustable continuously, e.g. during driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/80—Interactive suspensions; arrangement affecting more than one suspension unit
    • B60G2204/82—Interactive suspensions; arrangement affecting more than one suspension unit left and right unit on same axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/90—Other conditions or factors
    • B60G2400/96—Presence, absence or inactivity of driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/19—Speech recognising means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/40—Steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/914—Height Control System
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/151—Instrument output devices for configurable output
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/164—Infotainment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/178—Warnings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel

Definitions

  • the invention relates to a motor vehicle with a body for receiving at least at least one vehicle occupant and with a chassis on which the body is supported and which has at least one active chassis component for providing driving safety functions and / or driving comfort functions, according to the preamble of claim 1 the invention a method for controlling an active chassis component of a motor vehicle according to the preamble of claim 15.
  • Motor vehicles are known from the prior art, in particular motor vehicles, the chassis of which has at least one active chassis component with which driving safety functions and / or driving comfort functions can be provided.
  • an active chassis component is to be understood as a component with which the condition of the chassis and / or the position of the body which is supported thereon can be influenced.
  • such an active chassis component is equipped with an actuator with which the mechanical state of the chassis and / or the position of the body can be actively adjusted.
  • active chassis component should be interpreted broadly, in particular it should be understood to mean any components with which the body of the vehicle can be translated and / or rotated (roll, pitch and / or yaw movements) in its position influence, that is, lets move generally.
  • active damper and / or spring elements for supporting the vehicle body against wheel-mounted chassis components, active roll stabilizers, active steering systems (“steer-by-wire”) and the like. Movements of the body in the longitudinal direction of the vehicle can be influenced, inter alia, by travel drive components of the motor vehicle and by means of delay devices, in particular braking devices of the motor vehicle, so these are also to be understood in the sense of the present application under the term active chassis component.
  • a motor vehicle according to the preamble of claim 1 or a method for controlling an active chassis component of a motor vehicle according to the preamble of claim 15 is known for example from DE 10 2015 002 603 A1, where reference is made to this by way of example.
  • each wheel is connected to the body via an adjustable actuator unit at a suspension point assigned to the wheel.
  • the inclination of the body is determined in at least one spatial direction, in order to bring about an inclination compensation of the body as a function of it by suitable control of individual actuator units, whereby inclinations of the body caused by incline or slope of the roadway can be compensated for at least to a certain extent.
  • active chassis components for other purposes.
  • a level adjustment of the body can be carried out. H. the position of the body can be adjusted in the vertical direction of the vehicle.
  • active chassis components for motor vehicles are known in the form of adjustable roll stabilizers, with which the roll behavior of the body can be actively influenced. In this connection, reference is made, for example, to DE 10 2016 225 179 A1.
  • Other active chassis components for providing driving safety functions and / or driving comfort functions are also known per se.
  • the motor vehicle should be improved with regard to the entertainment of the vehicle occupant (s).
  • a procedure in this regard is to be specified.
  • a motor vehicle with the features of claim 1. It is a motor vehicle with a body for receiving at least one vehicle occupant and with a chassis on which the body is supported and which has at least one active chassis component. te to provide driving safety functions and / or driving comfort functions. According to the invention, the motor vehicle is characterized by means for controlling the active chassis component as a function of an entertainment device operated within the bodywork for at least one vehicle occupant.
  • the motor vehicle is thus equipped according to the invention with means which allow the at least one active chassis component to be controlled as a function of the operation of an entertainment device located in the body.
  • entertainment devices are usually provided in motor vehicles for one or more of the vehicle occupants. These can be of different types in order to entertain the occupant acoustically and / or visually while driving or when the vehicle is at a standstill.
  • the entertainment experienced by the vehicle occupant could be improved in an advantageous manner by activating the active chassis component in addition to the operation of the entertainment device.
  • the body with the vehicle occupant located therein can also be specifically set in motion. For example, it can be movements such as occur when driving, flying or operating other vehicles.
  • Vibrations or explosions can also be simulated in this way. If the active chassis component is controlled in a suitable manner corresponding to the operated entertainment device, an improved entertainment experience can be generated for the vehicle occupant (s) in this way. For comparison, reference is made to actively movable cinema seats or driving simulators, which are known per se.
  • the active chassis component is advantageously controlled in connection with reproduced contents of the entertainment device.
  • Chassis component and operation of the entertainment device can, for example, generate a scene-dependent or ambient-dependent movement of the bodywork, which can in particular ensure that the content reproduced by the entertainment device can be experienced more intensively, more realistically and / or otherwise sensually for the at least one vehicle occupant are acceptable.
  • the control of the active chassis component proposed according to the invention takes place as a function of the entertainment device when the vehicle is stationary.
  • This offers the advantage that the active chassis component in this state of the motor vehicle is not required to provide driving safety functions and / or driving comfort functions, and thus can be used exclusively for intensifying the entertainment experience, without impairing driving safety and / or driving comfort .
  • the active chassis component can be controlled as a function of the entertainment device when the vehicle is moving.
  • the active chassis component it seems perfectly acceptable that one or more vehicle occupants, for example, follow a visual entertainment program in the form of a film, the film experience being supported by suitable control of the active chassis components and the body movements caused thereby.
  • An advantageous embodiment of the motor vehicle provides that, in a pure driving mode of operation, the active chassis component can only be controlled to safely and / or comfortably guide the motor vehicle, while in an entertainment mode the active chassis component can additionally be acted upon by a control signal dependent on the entertainment device .
  • the additional loading acts practically like a disturbance variable on the active chassis component, and causes a deliberate deviation of the active chassis component from an ideal condition for safety and / or comfort aspects.
  • an entertainment mode however, an at least sufficiently safe and / or comfortable guidance of the motor vehicle would expediently be ensured, the entertaining movements corresponding to the operation of the entertainment device would only be superimposed on the control. In other words, prioritizing safety and comfort over entertainment seems appropriate, so that entertainment-related movements are only carried out within a tolerable range with regard to driving safety and driving comfort.
  • an active chassis component can be various devices with which the condition of the chassis and / or the position of the body can be actively influenced.
  • the active chassis component can be used to set the body in rotary motion, in particular in a rolling, pitching and / or yawing motion.
  • the active chassis component can be used to translate the body depending on the entertainment device being operated, in particular in the longitudinal, transverse and / or vertical direction of the vehicle.
  • the entertainment device used according to the invention can be any type of device with which vehicle occupants can be entertained. It is advantageously a device for sound reproduction, in particular a radio, a sound playback device for stored or streamed media (music, radio play), a hands-free system (mobile radio) and / or a device for combined picture and sound reproduction, ins especially for video playback.
  • a device for sound reproduction in particular a radio, a sound playback device for stored or streamed media (music, radio play), a hands-free system (mobile radio) and / or a device for combined picture and sound reproduction, ins especially for video playback.
  • the at least one active chassis component of the motor vehicle is advantageously an actively adjustable damper and / or an actively adjustable spring.
  • An actuator supplies all or part of the forces that would otherwise be generated passively by dampers or springs.
  • the at least one active chassis component is an active roll stabilizer. It can be a roll stabilizer of the front axle and / or the rear axle.
  • the at least one active chassis component is an active steering system, in particular in the form of a so-called steer-by-wire system.
  • the at least one active chassis component is a component of a travel drive device and / or deceleration device of the vehicle. Because by using the travel drive device, in particular the vehicle engine and / or transmission or by using the deceleration device, in particular a braking device of the vehicle, it is also possible to actively influence the translational movement of the body in the direction of travel. In addition, pitching movements as well as rolling and yawing movements when cornering can be generated with it.
  • the present invention can be used in a particularly advantageous manner in a motor vehicle which is characterized by devices for ensuring an autonomous ferry operation, ie devices with which the vehicle's acceleration, braking and steering maneuvers can be carried out independently without human intervention .
  • devices for ensuring an autonomous ferry operation ie devices with which the vehicle's acceleration, braking and steering maneuvers can be carried out independently without human intervention .
  • all occupants can turn their attention away from the driving operation of the motor vehicle and devote themselves to the operation of an entertainment facility in order to relax.
  • the entertainment-related movements of the body would not lead to any adverse distraction of a vehicle occupant operating the motor vehicle.
  • the at least one active chassis component is expediently part of an active chassis system for providing driving safety functions and / or driving comfort functions.
  • the above-mentioned object is also achieved by a method for controlling an active chassis component of a motor vehicle according to claim 15.
  • the method is characterized in that the active chassis component is controlled as a function of an entertainment device operated for at least one vehicle occupant.
  • the single figure shows a motor vehicle 1 according to the single embodiment of the invention in a schematic view from above.
  • the motor vehicle 1 has a body 2, in the passenger compartment 1 1 two vehicle occupants 4, 5 have taken ge place.
  • the body 2 is supported with respect to the roadway via a chassis 3, which is only indicated in the drawing.
  • Two front wheels 9 and two rear wheels 10 of the chassis 3 are at least partially visible in plan view.
  • the front wheels 9 are assigned to a front axle (dashed line), the rear wheels 10 to a rear axle (dashed line).
  • the chassis 3 is designed as an active chassis, for this purpose it has four adjustable dampers 6, of which each adjustable damper 6 is assigned to one of the four wheels of the motor vehicle 1.
  • the actively adjustable dampers 6 are each designed in a manner known per se in such a way that the level of the respective wheel can be adjusted by means of an actuator (not shown in greater detail) assigned to the active damper 6.
  • the active chassis 3 of the motor vehicle 1 that is present in this way provides driving safety functions and / or driving comfort functions for the motor vehicle 1 in the usual driving operation of the motor vehicle 1.
  • a vehicle occupant 4 has taken a seat in the motor vehicle 1 with a view in the forward direction of the motor vehicle 1, while another vehicle occupant 5 has taken a seat in the opposite direction in the passenger compartment 11.
  • Vehicle occupant 4 follows a radio play that is played via an acoustic sound reproduction device 7.
  • vehicle occupant 5 follows a film played via a video transfer device 8.
  • the actively adjustable dampers 6 are controlled as a function of the operation of the acoustic sound reproducing device 7 or the video reproducing device 8 and set the body 2 in movements which are related in terms of content to reproduced contents of the devices 7 and 8.
  • the respective entertainment experience of the vehicle occupants 4 and 5 can be experienced more intensively, more realistically and / or otherwise sensually perceived in this way.
  • the motor vehicle 1 can drive in the meantime or be at a standstill.
  • the motor vehicle 1 is an autonomously driving motor vehicle
  • the vehicle occupants 4 and 5 can be entertained without being affected by the ferry operation.
  • the actively adjustable dampers 6 shown in the figure are merely exemplary active chassis components. Alternatively or in addition, other components already described above can also be used.

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Abstract

The invention relates to a motor vehicle (1) having a bodyshell (2) for accommodating at least one vehicle occupant (4, 5) and having a chassis (3) on which the bodyshell (2) is supported and which has at least one active chassis component (6) for providing driving safety functions and/or driving comfort functions, characterized by means for controlling the active chassis component (6) in dependence upon and entertainment device (7, 8) operated within the bodyshell (2) for at least one vehicle occupant (4, 5).

Description

Kraftfahrzeug und Verfahren zur Ansteuerunq einer aktiven Fahrwerkkomponente eines Kraftfahrzeugs Motor vehicle and method for controlling an active chassis component of a motor vehicle
Die Erfindung betrifft ein Kraftfahrzeug mit einer Karosserie zur Aufnahme wenigs tens eines Fahrzeuginsassen und mit einem Fahrwerk, auf dem sich die Karosserie abstützt und das zumindest eine aktive Fahrwerkkomponente zur Bereitstellung von Fahrsicherheitsfunktionen und/oder Fahrkomfortfunktionen aufweist, gemäß dem Oberbegriff des Anspruchs 1. Daneben betrifft die Erfindung ein Verfahren zur An steuerung einer aktiven Fahrwerkkomponente eines Kraftfahrzeugs gemäß dem Oberbegriff des Anspruchs 15. The invention relates to a motor vehicle with a body for receiving at least at least one vehicle occupant and with a chassis on which the body is supported and which has at least one active chassis component for providing driving safety functions and / or driving comfort functions, according to the preamble of claim 1 the invention a method for controlling an active chassis component of a motor vehicle according to the preamble of claim 15.
Aus dem Stand der Technik bekannt sind Kraftfahrzeuge gemäß den oberbegriffli chen Merkmalen des Anspruchs 1 , insbesondere Kraftfahrzeuge, deren Fahrwerk zumindest eine aktive Fahrwerkkomponente aufweist, mit welcher sich Fahrsicher heitsfunktionen und/oder Fahrkomfortfunktionen bereitstellen lassen. Im Rahmen der vorliegenden Anmeldung sei unter einer aktiven Fahrwerkkomponente eine Kompo nente zu verstehen, mit welcher sich der Zustand des Fahrwerks und/oder die Lage der sich darauf abstützenden Karosserie beeinflussen lässt. Eine derartige aktive Fahrwerkkomponente ist zu diesem Zweck mit einem Aktor ausgestattet, mit wel chem sich der mechanische Zustand des Fahrwerks und/oder die Lage der Karosse rie aktiv verstellen lässt. Im Rahmen der vorliegenden Anmeldung soll der Begriff aktive Fahrwerkkomponente weit auszulegen sein, insbesondere sollen darunter jeg liche Komponenten verstanden werden, mit denen sich die Karosserie des Fahr zeugs translatorisch und/oder rotatorisch (Wank-, Nick- und/oder Gierbewegungen) in deren Lage beeinflussen, d.h. allgemein bewegen lässt. Dazu zählen beispielswei se für sich gesehen bekannte aktive Dämpfer- und/oder Federelemente zur Abstüt zung der Fahrzeugkarosserie gegenüber radnahen Fahrwerkkomponenten, aktive Wankstabilisatoren, aktive Lenkungsysteme („steer-by-wire“) und dergleichen. Be wegungen der Karosserie in Fahrzeuglängsrichtung lassen sich unter anderem durch Fahrantriebskomponenten des Kraftfahrzeugs sowie durch Verzögerungseinrichtun gen, insbesondere Bremseinrichtungen des Kraftfahrzeugs beeinflussen, daher seien auch diese im Sinne der vorliegenden Anmeldung unter dem Begriff aktive Fahr werkkomponente zu verstehen. Ein Kraftfahrzeug gemäß Oberbegriff des Anspruchs 1 bzw. ein Verfahren zur An steuerung einer aktiven Fahrwerkkomponente eines Kraftfahrzeugs gemäß Oberbe griff des Anspruchs 15 ist beispielsweise aus DE 10 2015 002 603 A1 bekannt, wo rauf beispielhaft verwiesen wird. Bei dem dort beschriebenen Kraftfahrzeug mit ei nem aktiven Fahrwerk ist jedes Rad über eine in seiner Länge verstellbare Aktorein heit an einem dem Rad zugeordneten Aufhängepunkt mit der Karosserie verbunden. Es wird die Neigung der Karosserie in zumindest einer Raumrichtung ermittelt, um in deren Abhängigkeit durch geeignete Ansteuerung einzelner Aktoreinheiten einen Neigungsausgleich der Karosserie herbeizuführen, womit sich durch Steigung oder Gefälle der Fahrbahn bedingte Neigungen der Karosserie zumindest in gewissem Maße kompensieren lassen. Motor vehicles are known from the prior art, in particular motor vehicles, the chassis of which has at least one active chassis component with which driving safety functions and / or driving comfort functions can be provided. In the context of the present application, an active chassis component is to be understood as a component with which the condition of the chassis and / or the position of the body which is supported thereon can be influenced. For this purpose, such an active chassis component is equipped with an actuator with which the mechanical state of the chassis and / or the position of the body can be actively adjusted. In the context of the present application, the term active chassis component should be interpreted broadly, in particular it should be understood to mean any components with which the body of the vehicle can be translated and / or rotated (roll, pitch and / or yaw movements) in its position influence, that is, lets move generally. These include, for example, known active damper and / or spring elements for supporting the vehicle body against wheel-mounted chassis components, active roll stabilizers, active steering systems (“steer-by-wire”) and the like. Movements of the body in the longitudinal direction of the vehicle can be influenced, inter alia, by travel drive components of the motor vehicle and by means of delay devices, in particular braking devices of the motor vehicle, so these are also to be understood in the sense of the present application under the term active chassis component. A motor vehicle according to the preamble of claim 1 or a method for controlling an active chassis component of a motor vehicle according to the preamble of claim 15 is known for example from DE 10 2015 002 603 A1, where reference is made to this by way of example. In the motor vehicle described there with egg nem running gear, each wheel is connected to the body via an adjustable actuator unit at a suspension point assigned to the wheel. The inclination of the body is determined in at least one spatial direction, in order to bring about an inclination compensation of the body as a function of it by suitable control of individual actuator units, whereby inclinations of the body caused by incline or slope of the roadway can be compensated for at least to a certain extent.
Eine Nutzung aktiver Fahrwerkkomponenten für andere Zwecke ist ebenfalls be kannt. So lässt sich beispielsweise mit einem Kraftfahrzeug, das mit durch einen Ak tor in der Länge verstellbare Dämpfer pro Fahrzeugrad ausgestattet ist, eine Niveau verstellung der Karosserie durchführen, d. h. lässt sich die Lage der Karosserie in Fahrzeughochrichtung verstellen. Daneben sind aktive Fahrwerkkomponenten für Kraftfahrzeuge in Form von verstellbaren Wankstabilisatoren bekannt, mit denen sich das Wankverhalten der Karosserie aktiv beeinflussen lässt, in diesem Zusammen hang sei beispielhaft auf DE 10 2016 225 179 A1 verwiesen. Weitere aktive Fahr werkkomponenten zur Bereitstellung von Fahrsicherheitsfunktionen und/oder Fahr komfortfunktionen sind ebenfalls für sich gesehen bekannt. The use of active chassis components for other purposes is also known. For example, with a motor vehicle that is equipped with a damper adjustable by an actuator for each vehicle wheel, a level adjustment of the body can be carried out. H. the position of the body can be adjusted in the vertical direction of the vehicle. In addition, active chassis components for motor vehicles are known in the form of adjustable roll stabilizers, with which the roll behavior of the body can be actively influenced. In this connection, reference is made, for example, to DE 10 2016 225 179 A1. Other active chassis components for providing driving safety functions and / or driving comfort functions are also known per se.
Es ist eine Aufgabe der vorliegenden Erfindung für ein mit einer aktiven Fahrwerk komponente ausgestattetes Kraftfahrzeug einen zusätzlichen Nutzen für den bzw. die Fahrzeuginsassen zu schaffen. Insbesondere soll das Kraftfahrzeug hinsichtlich der Unterhaltung des bzw. der Fahrzeuginsassen verbessert sein. Daneben soll ein diesbezügliches Verfahren angegeben werden. It is an object of the present invention to provide an additional benefit for the vehicle occupant (s) for a motor vehicle equipped with an active chassis component. In particular, the motor vehicle should be improved with regard to the entertainment of the vehicle occupant (s). In addition, a procedure in this regard is to be specified.
Die genannte Aufgabe wird zunächst gelöst durch ein Kraftfahrzeug mit den Merkma lend des Anspruchs 1 . Es handelt sich dabei um ein Kraftfahrzeug mit einer Karosse rie zur Aufnahme wenigstens eines Fahrzeuginsassen und mit einem Fahrwerk, auf dem sich die Karosserie abstützt und das zumindest eine aktive Fahrwerkkomponen- te zur Bereitstellung von Fahrsicherheitsfunktionen und/oder Fahrkomfortfunktionen aufweist. Erfindungsgemäß ist das Kraftfahrzeug gekennzeichnet durch Mittel zur Ansteuerung der aktiven Fahrwerkkomponente in Abhängigkeit einer innerhalb der Karosserie für wenigstens einen Fahrzeuginsassen betriebenen Unterhaltungsein richtung. The above object is first achieved by a motor vehicle with the features of claim 1. It is a motor vehicle with a body for receiving at least one vehicle occupant and with a chassis on which the body is supported and which has at least one active chassis component. te to provide driving safety functions and / or driving comfort functions. According to the invention, the motor vehicle is characterized by means for controlling the active chassis component as a function of an entertainment device operated within the bodywork for at least one vehicle occupant.
Das Kraftfahrzeug ist somit erfindungsgemäß mit Mitteln ausgestattet, die es erlau ben, die wenigstens eine aktive Fahrwerkkomponente abhängig vom Betrieb einer in der Karosserie befindlichen Unterhaltungseinrichtung anzusteuern. Auf für sich ge sehen bekannte Weise sind in Kraftfahrzeugen üblicherweise Unterhaltungseinrich tungen für einen oder mehrere der Fahrzeuginsassen vorgesehen. Diese können unterschiedlicher Art sein, um den oder die Insassen akustisch und/oder visuell wäh rend der Fahrt oder bei Fahrzeugstillstand zu unterhalten. Erfindungsgemäß wurde erkannt, dass sich die vom Fahrzeuginsassen erlebte Unterhaltung auf vorteilhafte Weise verbessern ließe, indem begleitend zum Betrieb der Unterhaltungseinrichtung eine Ansteuerung der aktiven Fahrwerkkomponente erfolgt. Durch die Ansteuerung der aktiven Fahrwerkkomponente lässt sich die Karosserie mit darin befindlicher Fahrzeuginsasse nämlich auch gezielt in Bewegungen versetzen. Es kann sich bei spielsweise um Bewegungen handeln, wie sie beim Autofahren, Fliegen oder beim Betrieb sonstiger Fahrzeuge auftreten. Auch können Erschütterungen oder Explosio nen auf diese Weise simuliert werden. Erfolgt die Ansteuerung der aktiven Fahrwerk komponente in geeigneter Weise korrespondierend mit der betriebenen Unterhal tungseinrichtung, so kann für den bzw. die Fahrzeuginsassen auf diese Weise ein verbessertes Unterhaltungserlebnis erzeugt werden. Vergleichend sei dazu verwie sen auf für sich gesehen bekannte aktiv bewegliche Kinosessel oder Fahrsimulato ren. The motor vehicle is thus equipped according to the invention with means which allow the at least one active chassis component to be controlled as a function of the operation of an entertainment device located in the body. In a manner known per se, entertainment devices are usually provided in motor vehicles for one or more of the vehicle occupants. These can be of different types in order to entertain the occupant acoustically and / or visually while driving or when the vehicle is at a standstill. According to the invention, it was recognized that the entertainment experienced by the vehicle occupant could be improved in an advantageous manner by activating the active chassis component in addition to the operation of the entertainment device. By activating the active chassis component, the body with the vehicle occupant located therein can also be specifically set in motion. For example, it can be movements such as occur when driving, flying or operating other vehicles. Vibrations or explosions can also be simulated in this way. If the active chassis component is controlled in a suitable manner corresponding to the operated entertainment device, an improved entertainment experience can be generated for the vehicle occupant (s) in this way. For comparison, reference is made to actively movable cinema seats or driving simulators, which are known per se.
In vorteilhafter Weise erfolgt die Ansteuerung der aktiven Fahrwerkkomponente in einem Zusammenhang mit wiedergegebenen Inhalten der Unterhaltungseinrichtung. Beispielsweise kann zwischen dem Betrieb der Unterhaltungseinrichtung und der Ansteuerung der aktiven Fahrwerkkomponente ein inhaltlicher, ereignisabhängiger, stimmungsabhängiger, rhythmischer oder sonstiger Zusammenhang bestehen.The active chassis component is advantageously controlled in connection with reproduced contents of the entertainment device. For example, there may be a content-related, event-dependent, mood-dependent, rhythmic or other connection between the operation of the entertainment device and the activation of the active chassis component.
Durch eine zeitliche und/oder logische Kopplung zwischen Ansteuerung der aktiven Fahrwerkkomponente und Betrieb der Unterhaltungseinrichtung lässt sich beispiels weise eine szenenabhängige oder ambienteabhängige Bewegung der Karosserie erzeugen, wodurch insbesondere erreicht werden kann, dass die durch die Unterhal tungseinrichtung wiedergegebenen Inhalte für den wenigstens einen Fahrzeuginsas sen intensiver erlebbar, realistischer und/oder auf sonstige Weise sinnlich wahr nehmbar sind. Through a temporal and / or logical coupling between activation of the active ones Chassis component and operation of the entertainment device can, for example, generate a scene-dependent or ambient-dependent movement of the bodywork, which can in particular ensure that the content reproduced by the entertainment device can be experienced more intensively, more realistically and / or otherwise sensually for the at least one vehicle occupant are acceptable.
Grundsätzlich ist es denkbar, dass die erfindungsgemäß vorgeschlagene Ansteue rung der aktiven Fahrwerkkomponente in Abhängigkeit der Unterhaltungseinrichtung bei stehendem Fahrzeug erfolgt. Dies bietet den Vorteil, dass die aktive Fahrwerk komponente in diesem Zustand des Kraftfahrzeugs nicht zur Bereitstellung von Fahr sicherheitsfunktionen und/oder Fahrkomfortfunktionen benötigt wird, somit also ex klusiv für die Intensivierung des Unterhaltungserlebnisses genutzt werden kann, oh ne Beeinträchtigung von Fahrsicherheit und/oder Fahrkomfort. In principle, it is conceivable that the control of the active chassis component proposed according to the invention takes place as a function of the entertainment device when the vehicle is stationary. This offers the advantage that the active chassis component in this state of the motor vehicle is not required to provide driving safety functions and / or driving comfort functions, and thus can be used exclusively for intensifying the entertainment experience, without impairing driving safety and / or driving comfort .
Alternativ oder ergänzend ist es denkbar, dass die Ansteuerung der aktiven Fahr werkkomponente in Abhängigkeit der Unterhaltungseinrichtung bei fahrendem Fahr zeug erfolgt. Insbesondere auf längeren Fahrtstrecken, beispielsweise bei monotoner Autobahnfahrt, erscheint es durchaus vertretbar, dass ein oder mehrere Fahrzeugin sassen beispielsweise eine visuelle Unterhaltungssendung in Form eines Films ver folgen, wobei das Filmerlebnis durch geeignete Ansteuerung der aktiven Fahrwerk komponente und dadurch verursachte Karosseriebewegungen unterstützt wird. As an alternative or in addition, it is conceivable for the active chassis component to be controlled as a function of the entertainment device when the vehicle is moving. In particular on longer journeys, for example when driving on a monotonous motorway, it seems perfectly acceptable that one or more vehicle occupants, for example, follow a visual entertainment program in the form of a film, the film experience being supported by suitable control of the active chassis components and the body movements caused thereby.
Eine vorteilhafte Ausgestaltung des Kraftfahrzeugs sieht vor, dass in einem reinen Fahrbetriebsmodus die aktive Fahrwerkkomponente ausschließlich dazu ansteuerbar ist, das Kraftfahrzeug sicher und/oder komfortabel und führen, während in einem Un terhaltungsmodus die aktive Fahrwerkkomponente zusätzlich mit einem von der Un terhaltungseinrichtung abhängigen Steuersignal beaufschlagbar ist. Die zusätzliche Beaufschlagung wirkt dabei praktisch wie eine Störgröße auf die aktive Fahrwerk komponente, und verursacht eine gewollte Abweichung der aktiven Fahrwerkkompo nente von einem aus Sicherheit- und/oder Komfortaspekten idealen Zustand. In ei nem solchen Unterhaltungsmodus wäre zweckmäßigerweise jedoch eine zumindest ausreichend sichere und/oder komfortable Führung des Kraftfahrzeugs gewährleistet, die unterhaltenden Bewegungen korrespondierend mit dem Betrieb der Unterhal tungseinrichtung würden lediglich überlagernd in die Ansteuerung einfließen. Anders ausgedrückt, eine Priorisierung hinsichtlich Sicherheit und Komfort gegenüber Unter haltung erscheint zweckmäßig, so dass unterhaltungsbedingte Bewegungen nur in einem hinsichtlich Fahrsicherheit und Fahrkomfort tolerierbaren Rahmen durchge führt werden. An advantageous embodiment of the motor vehicle provides that, in a pure driving mode of operation, the active chassis component can only be controlled to safely and / or comfortably guide the motor vehicle, while in an entertainment mode the active chassis component can additionally be acted upon by a control signal dependent on the entertainment device . The additional loading acts practically like a disturbance variable on the active chassis component, and causes a deliberate deviation of the active chassis component from an ideal condition for safety and / or comfort aspects. In such an entertainment mode, however, an at least sufficiently safe and / or comfortable guidance of the motor vehicle would expediently be ensured, the entertaining movements corresponding to the operation of the entertainment device would only be superimposed on the control. In other words, prioritizing safety and comfort over entertainment seems appropriate, so that entertainment-related movements are only carried out within a tolerable range with regard to driving safety and driving comfort.
Wie bereits erwähnt, kann es sich bei einer aktiven Fahrwerkkomponente um ver schiedenartige Einrichtungen handeln, mit denen sich der Zustand des Fahrwerks und/oder die Lage der Karosserie aktiv beeinflussen lässt. Gemäß einer vorteilhaften Weiterbildung der Erfindung lässt sich mit der aktiven Fahrwerkkomponente die Ka rosserie in rotatorische Bewegung, insbesondere in Wank-, Nick- und/oder Gierbe wegung versetzen. As already mentioned, an active chassis component can be various devices with which the condition of the chassis and / or the position of the body can be actively influenced. According to an advantageous development of the invention, the active chassis component can be used to set the body in rotary motion, in particular in a rolling, pitching and / or yawing motion.
Alternativ oder ergänzend ist die aktive Fahrwerkkomponente dazu nutzbar, die Ka rosserie in Abhängigkeit der betriebenen Unterhaltungseinrichtung in translatorische Bewegung, insbesondere in Fahrzeuglängs-, Fahrzeugquer- und/oder Fahrzeug hochrichtung zu versetzen. Alternatively or in addition, the active chassis component can be used to translate the body depending on the entertainment device being operated, in particular in the longitudinal, transverse and / or vertical direction of the vehicle.
Grundsätzlich kann es sich bei der erfindungsgemäß zum Einsatz kommenden Un terhaltungseinrichtung um jede Art von Einrichtung handeln, mit welcher Fahrzeugin sassen unterhalten werden können. Vorteilhaft handelt es sich um eine Einrichtung zur Tonwiedergabe, insbesondere um ein Radio, eine Tonabspieleinrichtung für ge speicherte oder gestreamte Medien (Musik, Hörspiel), eine Freisprechanlage (Mobil- funk) und/oder um eine Einrichtung zur kombinierten Bild- und Tonwiedergabe, ins besondere zur Videowiedergabe. Basically, the entertainment device used according to the invention can be any type of device with which vehicle occupants can be entertained. It is advantageously a device for sound reproduction, in particular a radio, a sound playback device for stored or streamed media (music, radio play), a hands-free system (mobile radio) and / or a device for combined picture and sound reproduction, ins especially for video playback.
Wie bereits eingangs erwähnt, sind unterschiedliche aktive Fahrwerkkomponenten aus dem Stand der T echnik für sich gesehen bekannt. Im Zusammenhang der vorlie genden Erfindung handelt es sich bei der zumindest einen aktiven Fahrwerkkompo nente des Kraftfahrzeugs in vorteilhafter Weise um einen aktiv verstellbaren Dämpfer und/oder um eine aktiv verstellbare Feder. Dabei liefert ein Aktor ganz oder teilweise die Kräfte, die sonst passiv durch Dämpfer bzw. Feder erzeugt werden. Durch aktive Verstellung der Länge lässt sich der Höhenstand des betroffenen Rades gegenüber der Karosserie beeinflussen, je nach Ansteuerung einer oder mehrerer derartiger Komponenten lässt sich somit der Höhenstand der Karosserie, ein Nicken und/oder ein Wanken der Karosserie beeinflussen. As already mentioned at the beginning, different active chassis components are known per se from the prior art. In connection with the present invention, the at least one active chassis component of the motor vehicle is advantageously an actively adjustable damper and / or an actively adjustable spring. An actuator supplies all or part of the forces that would otherwise be generated passively by dampers or springs. Through active Adjusting the length can influence the level of the affected wheel relative to the body, depending on the control of one or more such components, the level of the body, pitching and / or swaying of the body can be influenced.
Alternativ oder ergänzend handelt es sich bei der zumindest einen aktiven Fahrwerk komponente um einen aktiven Wankstabilisator. Es kann sich dabei um einen Wank- stabilisator der Vorderachse und/oder der Hinterachse handeln. Alternatively or additionally, the at least one active chassis component is an active roll stabilizer. It can be a roll stabilizer of the front axle and / or the rear axle.
Alternativ oder ergänzend handelt es sich bei der zumindest einen aktiven Fahrwerk komponente um eine aktive Lenkung insbesondere in Form eines sogenannten steer-by-wire-Systems. Alternatively or additionally, the at least one active chassis component is an active steering system, in particular in the form of a so-called steer-by-wire system.
Alternativ oder ergänzend handelt es sich bei der zumindest einen aktiven Fahrwerk komponente um eine Komponente einer Fahrantriebseinrichtung und/oder Verzöge rungseinrichtung des Fahrzeugs. Denn durch Nutzung der Fahrantriebseinrichtung, insbesondere des Fahrzeugmotors und/oder Getriebes bzw. durch Nutzung der Ver zögerungseinrichtung, insbesondere einer Bremseinrichtung des Fahrzeugs kann ebenfalls aktiv Einfluss genommen werden auf die translatorische Bewegung der Ka rosserie in Fahrtrichtung. Zudem lassen sich damit auch Nickbewegungen sowie bei Kurvenfahrt Wankbewegungen und Gierbewegungen erzeugen. As an alternative or in addition, the at least one active chassis component is a component of a travel drive device and / or deceleration device of the vehicle. Because by using the travel drive device, in particular the vehicle engine and / or transmission or by using the deceleration device, in particular a braking device of the vehicle, it is also possible to actively influence the translational movement of the body in the direction of travel. In addition, pitching movements as well as rolling and yawing movements when cornering can be generated with it.
Die vorliegende Erfindung kann auf besonders vorteilhafte Weise zum Einsatz kom men bei einem Kraftfahrzeug, das gekennzeichnet ist durch Einrichtungen zur Ge währleistung eines autonomen Fährbetriebs, d.h. Einrichtungen mit denen Beschleu- nigungs-, Brems- und Lenkmanöver des Kraftfahrzeugs ohne menschliches Eingrei fen selbständig durchführbar sind. Bei einem autonom fahrenden Kraftfahrzeug kön nen sämtliche Insassen ihre Aufmerksamkeit vom Fährbetrieb des Kraftfahrzeugs abwenden und sich zur Entspannung dem Betrieb einer Unterhaltungseinrichtung widmen. Die unterhaltungsbedingten Bewegungen der Karosserie würden in diesem Fall zu keiner nachteiligen Ablenkung einer das Kraftfahrzeug bedienenden Fahr zeuginsasse führen. Zweckmäßigerweise ist die zumindest eine aktive Fahrwerkkomponente Teil eines aktiven Fahrwerksystems zur Bereitstellung von Fahrsicherheitsfunktionen und/oder Fahrkomfortfunktionen. The present invention can be used in a particularly advantageous manner in a motor vehicle which is characterized by devices for ensuring an autonomous ferry operation, ie devices with which the vehicle's acceleration, braking and steering maneuvers can be carried out independently without human intervention . In the case of an autonomously driving motor vehicle, all occupants can turn their attention away from the driving operation of the motor vehicle and devote themselves to the operation of an entertainment facility in order to relax. In this case, the entertainment-related movements of the body would not lead to any adverse distraction of a vehicle occupant operating the motor vehicle. The at least one active chassis component is expediently part of an active chassis system for providing driving safety functions and / or driving comfort functions.
Die eingangs genannte Aufgabe wird zudem gelöst durch ein Verfahren zur Ansteue rung einer aktiven Fahrwerkkomponente eines Kraftfahrzeugs gemäß Anspruch 15. Das Verfahren ist erfindungsgemäß dadurch gekennzeichnet, dass die aktive Fahr werkkomponente in Abhängigkeit einer für wenigstens einen Fahrzeuginsassen be triebenen Unterhaltungseinrichtung angesteuert wird. Zu den Wirkungen sowie vor teilhaften Ausgestaltungen sei zur Vermeidung von Wiederholungen auf die vorigen Ausführungen bezüglich des erfindungsgemäßen Kraftfahrzeugs verwiesen, welche gleichermaßen auf das erfindungsgemäße Verfahren anwendbar sind. The above-mentioned object is also achieved by a method for controlling an active chassis component of a motor vehicle according to claim 15. The method is characterized in that the active chassis component is controlled as a function of an entertainment device operated for at least one vehicle occupant. Regarding the effects as well as before partial configurations, in order to avoid repetition, reference is made to the previous statements regarding the motor vehicle according to the invention, which are equally applicable to the method according to the invention.
Die Erfindung wird nachfolgend anhand eines in der Zeichnung dargestellten Ausfüh rungsbeispiels beschrieben. Daraus ergeben sich auch weitere Funktionen und vor teilhafte Effekte der Erfindung. In Zeichnung zeigt die einzige: The invention is described below using an exemplary embodiment shown in the drawing. This also results in further functions and advantageous effects of the invention. In the drawing, the only one shows:
Figur ein Kraftfahrzeug gemäß einem Ausführungsbeispiel der Figure a motor vehicle according to an embodiment of the
Erfindung in schematischer Ansicht von oben. Invention in a schematic view from above.
Die einzige Figur zeigt ein Kraftfahrzeug 1 gemäß dem einzigen Ausführungsbeispiel der Erfindung in schematischer Ansicht von oben. Das Kraftfahrzeug 1 weist eine Karosserie 2 auf, in deren Fahrgastraum 1 1 zwei Fahrzeuginsassen 4, 5 Platz ge nommen haben. Die Karosserie 2 stützt sich über ein zeichnerisch nur angedeutetes Fahrwerk 3 gegenüber der Fahrbahn ab. Von dem Fahrwerk 3 sind in der Draufsicht zwei Vorderräder 9 und zwei Hinterräder 10 zumindest teilweise sichtbar dargestellt. Die Vorderräder 9 sind einer Vorderachse (gestrichelte Linie), die Hinterräder 10 ei ner Hinterachse (gestrichelte Linie) zugeordnet. Das Fahrwerk 3 ist als aktives Fahr werk ausgestaltet, dazu weist es vier verstellbare Dämpfer 6 auf, von denen jeder verstellbare Dämpfer 6 einem der vier Räder des Kraftfahrzeugs 1 zugeordnet ist.The single figure shows a motor vehicle 1 according to the single embodiment of the invention in a schematic view from above. The motor vehicle 1 has a body 2, in the passenger compartment 1 1 two vehicle occupants 4, 5 have taken ge place. The body 2 is supported with respect to the roadway via a chassis 3, which is only indicated in the drawing. Two front wheels 9 and two rear wheels 10 of the chassis 3 are at least partially visible in plan view. The front wheels 9 are assigned to a front axle (dashed line), the rear wheels 10 to a rear axle (dashed line). The chassis 3 is designed as an active chassis, for this purpose it has four adjustable dampers 6, of which each adjustable damper 6 is assigned to one of the four wheels of the motor vehicle 1.
Die aktiv verstellbaren Dämpfer 6 sind jeweils auf für sich gesehen bekannte Weise so ausgeführt, dass sich der Höhenstand des jeweiligen Rades mittels eines dem aktiven Dämpfer 6 zugeordneten Aktors (nicht näher dargestellt) verstellen lässt. Das auf diese Weise vorliegende aktive Fahrwerk 3 des Kraftfahrzeugs 1 stellt im üblichen Fährbetrieb des Kraftfahrzeugs 1 Fahrsicherheitsfunktionen und/oder Fahr komfortfunktionen für das Kraftfahrzeug 1 bereit. The actively adjustable dampers 6 are each designed in a manner known per se in such a way that the level of the respective wheel can be adjusted by means of an actuator (not shown in greater detail) assigned to the active damper 6. The active chassis 3 of the motor vehicle 1 that is present in this way provides driving safety functions and / or driving comfort functions for the motor vehicle 1 in the usual driving operation of the motor vehicle 1.
Wie der Figur zu entnehmen, hat ein Fahrzeuginsasse 4 im Kraftfahrzeug 1 mit Blick in Vorwärtsrichtung des Kraftfahrzeugs 1 Platz genommen, während ein weiterer Fahrzeuginsasse 5 in Gegenrichtung im Fahrgastraum 11 Platz genommen hat. Fahrzeuginsasse 4 folgt einem Hörspiel, das über eine akustische Tonwiedergabe einrichtung 7 abgespielt wird. Gleichzeitig oder zu einem späteren Zeitpunkt folgt Fahrzeuginsasse 5 einem über eine Videoübergabeeinrichtung 8 abgespielten Film. Auf erfindungsgemäße Weise werden die aktiv verstellbaren Dämpfer 6 abhängig vom Betrieb der akustischen Tonwiedergabeeinrichtung 7 bzw. der Videowiederga beeinrichtung 8 angesteuert und versetzen die Karosserie 2 in Bewegungen, die in inhaltlichem Zusammenhang mit wiedergegebenen Inhalten der Einrichtungen 7 bzw 8 stehen. Das jeweilige Unterhaltungserlebnis des Fahrzeuginsassen 4 bzw. 5 wird auf diese Weise intensiver erlebbar, realistischer und/oder auf sonstige Weise sinn lich wahrnehmbar. As can be seen from the figure, a vehicle occupant 4 has taken a seat in the motor vehicle 1 with a view in the forward direction of the motor vehicle 1, while another vehicle occupant 5 has taken a seat in the opposite direction in the passenger compartment 11. Vehicle occupant 4 follows a radio play that is played via an acoustic sound reproduction device 7. Simultaneously or at a later point in time, vehicle occupant 5 follows a film played via a video transfer device 8. In the manner according to the invention, the actively adjustable dampers 6 are controlled as a function of the operation of the acoustic sound reproducing device 7 or the video reproducing device 8 and set the body 2 in movements which are related in terms of content to reproduced contents of the devices 7 and 8. The respective entertainment experience of the vehicle occupants 4 and 5 can be experienced more intensively, more realistically and / or otherwise sensually perceived in this way.
Das Kraftfahrzeug 1 kann währenddessen fahren oder sich im Stillstand befinden. Insbesondere wenn es sich wie im gezeigten Beispiel bei dem Kraftfahrzeug 1 um ein autonom fahrendes Kraftfahrzeug handelt, kann die Unterhaltung der Fahrzeu ginsassen 4 bzw. 5 vom Fährbetrieb unbeeinträchtigt erfolgen. Es sei angemerkt, dass es sich bei den in der Figur gezeigten aktiv verstellbaren Dämpfern 6 lediglich um beispielhafte aktive Fahrwerkkomponenten handelt. Alternativ oder ergänzend können auch andere, bereits zuvor beschriebene Komponenten zum Einsatz kom men. Bezuaszeichen Kraftfahrzeug The motor vehicle 1 can drive in the meantime or be at a standstill. In particular, if, as in the example shown, the motor vehicle 1 is an autonomously driving motor vehicle, the vehicle occupants 4 and 5 can be entertained without being affected by the ferry operation. It should be noted that the actively adjustable dampers 6 shown in the figure are merely exemplary active chassis components. Alternatively or in addition, other components already described above can also be used. Regarding motor vehicle
Karosserie body
Fahrwerk landing gear
Fahrzeuginsasse Vehicle occupants
Fahrzeuginsasse Vehicle occupants
aktiv verstellbarer Dämpfer actively adjustable damper
akustische Tonwiedergabeeinrichtung Videowiedergabeeinrichtung acoustic sound reproducing device video reproducing device
Vorderräder Front wheels
Hinterräder Rear wheels
Fahrgastraum Passenger compartment

Claims

Patentansprüche Claims
1. Kraftfahrzeug (1 ) mit einer Karosserie (2) zur Aufnahme wenigstens eines Fahrzeuginsassen (4, 5) und mit einem Fahrwerk (3), auf dem sich die Karosserie (2) abstützt und das zumindest eine aktive Fahrwerkkomponente (6) zur Bereitstellung von Fahrsicherheitsfunktionen und/oder Fahrkomfortfunktionen aufweist, 1. Motor vehicle (1) with a body (2) for receiving at least one vehicle occupant (4, 5) and with a chassis (3) on which the body (2) is supported and which has at least one active chassis component (6) of driving safety functions and / or driving comfort functions,
gekennzeichnet durch Mittel zur Ansteuerung der aktiven Fahrwerkkomponente (6) in Abhängigkeit einer innerhalb der Karosserie (2) für wenigstens einen Fahrzeuginsas sen (4, 5) betriebenen Unterhaltungseinrichtung (7, 8). characterized by means for controlling the active chassis component (6) as a function of an entertainment device (7, 8) operated within the body (2) for at least one vehicle occupant (4, 5).
2. Kraftfahrzeug nach Anspruch 1 , dadurch gekennzeichnet, dass die Ansteue rung in einem Zusammenhang mit wiedergegebenen Inhalten der Unterhaltungsein richtung (7, 8) erfolgt, insbesondere um wiedergegebene Inhalte für den wenigstens einen Fahrzeuginsassen (4, 5) intensiver erlebbar, realistischer und/oder auf sonstige Weise sinnlich wahrnehmbar zu machen. 2. Motor vehicle according to claim 1, characterized in that the control takes place in connection with reproduced content of the entertainment device (7, 8), in particular to reproduced content for the at least one vehicle occupant (4, 5) more intensely experienced, realistic and / or otherwise make it perceptible to the senses.
3. Kraftfahrzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die An steuerung der aktiven Fahrwerkkomponente (6) in Abhängigkeit der Unterhaltungs einrichtung (7, 8) bei stehendem Fahrzeug (1 ) erfolgt. 3. Motor vehicle according to claim 1 or 2, characterized in that the control of the active chassis component (6) as a function of the entertainment device (7, 8) takes place when the vehicle (1) is stationary.
4. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die Ansteuerung der aktiven Fahrwerkkomponente (6) in Abhängigkeit der Un terhaltungseinrichtung (7, 8) bei fahrendem Fahrzeug (1 ) erfolgt. 4. Motor vehicle according to one of the preceding claims, characterized in that the activation of the active chassis component (6) as a function of the entertainment device (7, 8) takes place when the vehicle is moving (1).
5. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass in einem reinen Fahrbetriebsmodus die aktive Fahrwerkkomponente (6) aus schließlich dazu ansteuerbar ist, das Kraftfahrzeug (1 ) sicher und/oder komfortabel zu führen, während in einem Unterhaltungsmodus die aktive Fahrwerkkomponente (6) zusätzlich mit einem von der Unterhaltungseinrichtung (7, 8) abhängigen Steuer signal, insbesondere im Sinne einer Störgröße, beaufschlagbar ist. 5. Motor vehicle according to one of the preceding claims, characterized in that in a pure driving mode of operation, the active chassis component (6) can finally be controlled to safely and / or comfortably guide the motor vehicle (1), while in an entertainment mode the active chassis component ( 6) additionally with a control signal dependent on the entertainment device (7, 8), in particular in the sense of a disturbance variable, can be acted upon.
6. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die aktive Fahrwerkkomponente (6) dazu nutzbar ist, die Karosserie (2) in Ab- hängigkeit der betriebenen Unterhaltungseinrichtung (7, 8) in rotatorische Bewegung, insbesondere in Wank-, Nick- und/oder Gierbewegung zu versetzen. 6. Motor vehicle according to one of the preceding claims, characterized in that the active chassis component (6) can be used to the body (2) in Ab- dependence of the operated entertainment device (7, 8) in rotary motion, in particular in roll, pitch and / or yaw movement.
7. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die aktive Fahrwerkkomponente (6) dazu nutzbar ist, die Karosserie (2) in Ab hängigkeit der betriebenen Unterhaltungseinrichtung (7, 8) in translatorische Bewe gung, insbesondere in Fahrzeuglängs-, Fahrzeugquer- und/oder Fahrzeughochbe wegung zu versetzen. 7. Motor vehicle according to one of the preceding claims, characterized in that the active chassis component (6) can be used to the body (2) in dependence on the operated entertainment device (7, 8) in translatory movement, in particular in vehicle longitudinal, vehicle transverse - and / or to move the vehicle.
8. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass es sich bei der Unterhaltungseinrichtung um eine Einrichtung zur Tonwiederga be (7), insbesondere ein Radio, eine Tonabspieleinrichtung für gespeicherte oder gestreamte Medien, eine Freisprechanlage, und/oder um eine Einrichtung zur kombi nierten Bild- und Tonwiedergabe (8), insbesondere zur Videowiedergabe handelt. 8. Motor vehicle according to one of the preceding claims, characterized in that the entertainment device is a device for sound reproduction (7), in particular a radio, a sound player for stored or streamed media, a hands-free system, and / or a device for combined picture and sound reproduction (8), in particular for video reproduction.
9. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass es sich bei der zumindest einen aktiven Fahrwerkkomponente (6) um einen ak tiv verstellbaren Dämpfer und/oder eine aktive verstellbare Feder handelt. 9. Motor vehicle according to one of the preceding claims, characterized in that the at least one active chassis component (6) is an ac tively adjustable damper and / or an active adjustable spring.
10. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass es sich bei der zumindest einen aktiven Fahrwerkkomponente um einen aktiven Wankstabilisator handelt. 10. Motor vehicle according to one of the preceding claims, characterized in that the at least one active chassis component is an active roll stabilizer.
1 1 . Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass es sich bei der zumindest einen aktiven Fahrwerkkomponente um eine aktive Lenkung, insbesondere ein steer-by-wire-System handelt. 1 1. Motor vehicle according to one of the preceding claims, characterized in that the at least one active chassis component is an active steering system, in particular a steer-by-wire system.
12. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass es sich bei der zumindest einen aktiven Fahrwerkkomponente um eine Kompo nente einer Fahrantriebseinrichtung und/oder Verzögerungseinrichtung des Fahr zeugs handelt. 12. Motor vehicle according to one of the preceding claims, characterized in that the at least one active chassis component is a component of a travel drive device and / or deceleration device of the vehicle.
13. Kraftfahrzeug nach einem der vorigen Ansprüche, gekennzeichnet durch Ein richtungen zur Gewährleistung eines autonomen Fährbetriebs, mit denen Beschleu- nigungs-, Brems- und Lenkmanöver des Kraftfahrzeugs (1 ) ohne menschliches Ein greifen selbständig durchführbar sind. 13. Motor vehicle according to one of the preceding claims, characterized by a device to ensure autonomous ferry operation, with which the nigungs-, braking and steering maneuvers of the motor vehicle (1) without human intervention can be carried out independently.
14. Kraftfahrzeug nach einem der vorigen Ansprüche, dadurch gekennzeichnet, dass die zumindest eine aktive Fahrwerkkomponente (6) Teil eines aktiven Fahr werksystems zur Bereitstellung von Fahrsicherheitsfunktionen und/oder Fahrkomfort funktionen ist. 14. Motor vehicle according to one of the preceding claims, characterized in that the at least one active chassis component (6) is part of an active chassis system for providing driving safety functions and / or driving comfort functions.
15. Verfahren zur Ansteuerung einer aktiven Fahrwerkkomponente (6) eines Kraft fahrzeugs (1 ), insbesondere eines Kraftfahrzeugs gemäß einem der vorigen Ansprü che, dadurch gekennzeichnet, dass die aktive Fahrwerkkomponente (6) in Abhängig keit einer für wenigstens einen Fahrzeuginsassen (4, 5) betriebenen Unterhaltungs einrichtung (7, 8) angesteuert wird . 15. A method for controlling an active chassis component (6) of a motor vehicle (1), in particular a motor vehicle according to one of the preceding claims, characterized in that the active chassis component (6) is a function of one for at least one vehicle occupant (4, 5 ) operated entertainment device (7, 8) is controlled.
EP19794972.0A 2018-11-30 2019-10-24 Motor vehicle and method for controlling an active chassis component of a motor vehicle Withdrawn EP3887191A1 (en)

Applications Claiming Priority (2)

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DE102018220664.3A DE102018220664A1 (en) 2018-11-30 2018-11-30 Motor vehicle and method for controlling an active chassis component of a motor vehicle
PCT/EP2019/079013 WO2020108891A1 (en) 2018-11-30 2019-10-24 Motor vehicle and method for controlling an active chassis component of a motor vehicle

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CN112706707A (en) * 2021-01-06 2021-04-27 恒大新能源汽车投资控股集团有限公司 Rhythm chassis, rhythm control method thereof and automobile
DE102022202644A1 (en) 2022-03-17 2023-09-21 Zf Friedrichshafen Ag vehicle

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DE102009060213B4 (en) * 2009-12-23 2012-06-14 Audi Ag Method for operating a motor vehicle as a travel simulator and motor vehicle
US8380394B1 (en) * 2011-03-14 2013-02-19 Gary Snodgrass Automobile motion system
DE102015002603B4 (en) 2015-02-28 2017-08-17 Audi Ag Method for compensating a tilt
EP3303025B1 (en) * 2015-06-03 2021-04-21 Clearmotion, Inc. Methods and systems for controlling vehicle body motion and occupant experience
US10315481B2 (en) * 2015-11-05 2019-06-11 Ford Global Technologies, Llc Systems and methods for vehicle dynamics assignment
DE102016225179A1 (en) 2016-12-15 2018-07-05 Zf Friedrichshafen Ag Adjustable roll stabilizer for a chassis of a motor vehicle
DE102017205709A1 (en) * 2017-04-04 2018-10-04 Bayerische Motoren Werke Aktiengesellschaft Method for controlling the body movement of a vehicle

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