GB2292915A

GB2292915A - Vehicle suspension regulation system

Info

Publication number: GB2292915A
Application number: GB9521465A
Authority: GB
Inventors: Juergen Breitenbacher; Rainer Kallenbach; Stefan Otterbein; Heinz Decker
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 1991-10-05
Filing date: 1992-10-02
Publication date: 1996-03-13
Anticipated expiration: 2012-10-02
Also published as: GB2292915B; GB9521465D0

Abstract

A system for active or semi-active suspension regulation in a vehicle comprises a regulating loop in which regulating parameters (RP) for regulation of the suspension properties are varied in dependence on the travel state, ascertained by sensors (111 to 114) of the vehicle. In particular, magnitudes are ascertained by measuring and evaluating devices (101 to 104), for use in recognition of the vehicle travel state, which represent the vertically dynamic movement state of the vehicle. Such magnitudes can be derived from, for example, sensed relative movements between the vehicle body and at least one wheel unit of the vehicle. <IMAGE>

Description

VEHICLE SUSPENSION REGULATION SYSTEM The present invention relates to a system for active or semiactive suspension regulation in a vehicle, particularly a passenger or goods vehicle or other land vehicle.

A powerful springing and/or damping arrangement is essential for the wheel suspension of a motor vehicle. In this case, on the one hand travel safety is to be taken into account and on the other hand it is desirable to provide the vehicle occupants or shock-sensitive vehicle loads with the highest possible travel comfort. High safety demands and high travel comfort are conflicting objectives in the structuring of wheel suspensions. in the case of the suspensions predominantly in use at oresent, a high travel comfort is achieved hy softest possible suspension settings, whereas relatively hard settings are desired with a view to high travel safety.

In order to resolve this conflict of design obJectives, passive suspensions are discarded in favour of adjustable or adaDtive suspensions or, in a stage further, active or semi-active susDensions.

A passive suspension is designed when installed to have either a hard tendency (sports) or a soft tendency (comfort) according to the intended use of the vehicle. Influencing of the suspension characteristics is not possible in this system during travel. In the case of adaptive suspensions, the characteristics of the suspension can be varied during travel through a change, usually taking place in steps, of the damping and/or spring values according to the travel situation. The behaviour in that case momentarily corresponds in each setting to that of a passive suspension. By contrast to such passive or adaptive suspensions, only active or semi-active suspensions allow a higher travel safety and a higher travel comfort to be presented at the same time.This occurs by producing approximately optimum forces, for example by active or semi-active dampers, at every instant, which forces are determined by a regulating law in consequence of measured or computed vehicle movement magnitudes. In the case of such active or semi-active suspensions, the characteristics of the springing and/or damping system can be influenced during travel in accordance with the travel state through adaptation of the parameters, for example with respect to amplifications, time constants, threshold values, etc; or of the structure of the regulating law. The resulting behaviour in each setting does not necessarily correspond to that of a passively suspended vehicle.It is, for example, possible with active or semi-active suspensions to damp different movement frequencies in different ways at the same time, in that, for instance, a "skyhook" damping, i.e. damping of the movements of the vehicle body, and/or frequency-dependent damping of the wheel movements is or are implemented in the regulating law.

For the design of such active or semi-active suspensions, it is, for example, known to connect spring systems in parallel with damping systems between the vehicle body and the suspension units or axles.

An active shock absorber comprises, for example, a cylinder divided by means of a piston into two working chambers. The shock absorber properties can be controlled through an active pressure medium feed or a pressure medium relief, which means that a desired force can be exerted between the suspension units and the vehicle body.

Alternatively, it is possible in semi-active systems to vary the damping properties by way of, for example, a by pass controllable in cross-section, such as a valve arranged in the piston and controllable in passage cross-section. In the case of semi-active damping systems, there is no active loading of the system by pressure medium.

Shock absorber settings of an adaptive wheel suspension are adapted in dependence on static characteristic magnitudes, which describe the character of the road surface, in the article by W.

Klinker 'Adaptives D & pfungs-System ADS zur fahrbahn- und fahrzustandsabhangi gen Steuerung von Oampfern einer Fahrzeugfederung" in VDI Report No. 778 (Dusseldorf, 1989). For this purpose, the signals of a vehicle body acceleration sensor and a wheel acceleration sensor are used. A separation of the signals indicative of detected road track unevennesses into different frequency ranges is Droposed in the article, for which purpose several filters connected in Darallel are used. The high effort on the one hand in respect of the sensor system and on the other hand in respect of the filters is disadvantageous in such a system. Moreover, an optimum adaptation of this regulating system to different travel states is not possible.

An article by D. Konik "Berechnung unbekannter ingangssignale aus Messignalen am Beispiel der Unebenheitsermittelung", in at Automatis ierungstechnik 39 (1991) 6 pages 205-210, is concerned with the computation of unknown input signals from the measurement signals of a system. In that case, the road surface profile is computed from signals representing the acceleration of the vehicle body and signals representing the relative travel between the venice body and the wheels, on the basis of the design of an inverse syst2rn.

A method for suspension regulation in vehicles, in which the suspension characteristics are varied in dependence on the longitudinal and transverse dynamic range of the vehicle, is described in WO 90/14240 (PCT/DE 90/00343). This is effected through corresponding variation of regulator parameters. Thus, the transfer function of the regulator is adapted to the longitudinal and transverse dynamic range of the vehicle so that softer suspension settings for greatest possible comfort are provided in non-critical travel states and harder settings for enhanced safety are provided in the case of critical travel states. A comorehensive optimisation of the regulator parameters to further movement states of the vehicle cannot, however, be achieved with the system.

In the article "Computer-controlled shocks smooth ride of GM luxury cars" in Automotive News of 3 September 1990 the hardest damping setting in a wheel suspension with adaDtively adjustable damping properties is set when high acceleration, hard braking or large steering deflections are sensed. These parameter values, which describe the driving style of the driver, thus lead to a hard or "sporting" suspension setting. Although adaptation of the suspension setting to the driving style of the driver is thereby possible to a restricted degree, a differentiated weighting of the influences of the driving style in conjunction with other influencing magnitudes on the travel state of the vehicle is not realised in this system.

Finally, a suspension regulation system in which the resetting of the shock absorber parameters is effected in dependence on vehicle soeed, acceleration and steering manoeuvres is described in "Automotive Engineer", Volume 12, No. 6,of December 1987, on page 40 in the righthand column in drawings 25 to 36. However, an optimum result in respect of suspension regulation cannot be achieved through mere resetting of damping parameters as provided by this system.

There thus remains a need for an active or semi-active suspension regulation system which can take different travel states into consideration.

According to the present invention there is provided a system for active or semi-active suspension regulation in a vehicle, comprising regulating means for regulating suspension setting by way of a regulating loop, determining means for determining the travel state of the vehicle, and influencing means for influencing regulating parameters of the loop in dependence on the sensed travel state, the determining means being arranged to ascertain a respective magnitude or respective magnitudes indicative of at least one of the vertically dynamic movement state of the vehicle and the driving style of the driver of the vehicle and to determine the travel state from the ascertained magnitude or magnitudes.

In a system embodying the invention. the regulating parameters of the regulating loop of an active or semi-active suspension regulation system are varied for regulation of the suspension properties in dependence on the travel state, ascertained by sensors, of the vehicle. In this case, the vertically dynamic movement state of the vehicle and/or the individual driving style of the driver, in particular, is or are taken into account. For this purpose, a magnitude or magnitudes is or are ascertained, which represents or represent the vertically dynamic movement state of the vehicle and/or the individual driving style of the driver. Through the variation of the regulating parameters, the respective transfer behaviour of the regulating loop can be adapted to the ascertained travel state or regulation of the suspension properties.

The or eacn magnitude represeanting the vertical dynamic range of the vehicle can be ascertained @rom the relative movements, ascertained by sensors, between the vehicle body ano at least one wheel unit. The or each magn@tude representing the driving styie of the dr@yer can be effective values and/or beak values of the estimaten and/or measured iongituoinal acceieration of the venice, transverse acceleration or the vehicle, transverse velocity of the venicle, steering angle velocity, throttle fla@ setting, cnange in throttle fla@ speed, engine rotational speed and/or speed of the change in engine rotational speed.

In the case of, for example, venicies with automatic transmission the or eac:i magnitude representing the individual driving style oi the driver can be à statistical characterstic magnitude wnich descr@bes the gear setting, such as the frequency and the speed of gear changes.

Moreover, the driving style or the oliver can be descr@bed through, for example, the actuation of throttle fla@ switcnes and/or brake light switcnes.

In an advantageous embodiment of the system, magnitudes approximately describing the properties of the road surface statistically are ascertaines is magnitudes represdention the vertical@y dynamic movement state of the venicle. Alternativly or additiona@@y. effect@ve vaiues and/or beak vaiues of the spring stroke travel, the spring stroke velocity and/or the spring stroke acceleration can be utilised in ascertaining the vertically dynamic movement state of the vehicle.

It is particularly advantageous to ascertain the vertically dynamic movement state of the vehicle from the effective values and/or peak values of the estimated wheel load variations or at least one wheel.

For a comorehensive suspension regulation, it may be advantageous to draw uDon the longitudial ana/or transverse dynamic range of the vehicle for variation of the reguiating loop parameters in augmentation to the detection of the vertically dynamic movement state of the vehicle and/or the individual driving style of the driver.

In the system embodying the invention, the signals of sensors usual for suspension regulation and/or the signals from other electrical or electronic oar systems or the vehicle can be used in such a manner that a comorenensive analysts or the travel state of the vehicle tan be maae through special @rocessing or these signals. The regulation parameters of the system are adapted to the respective travel state in dependence thereon. moved possibilities in the adaotation of the regulating looo to greatly varying travel behaviour of the vehicle is thus possible.

Through the reconstruction of a road surface profile from sensor signals indicative of string stroKe travel and/or spring stroke velocity on the basis of a simple venicle model , a sensor arrangement greatly simplified by tomoarison with other known solutions s possible, whilst the @e@uidred computing effort may remain acceptably small.

An embodiment of the present invention will now be more particularly described by way of example with reference to the accompanying drawings, in which: Fig. 1 is a schematic block diagram of a vehicle suspension regulating system embodying the invention; and Fig. 2 is a model diagram illustrating forces present in a wheel suspension unit of a vehicle.

Referring now to the drawings, there is shown in Fig. 1 a suspension regulating system comprising measuring and evaluating devices, which are denoted by 101 to 104. The first device 101 serves for measurement and evaluation of the vertically dynamic movement state of the vehicle. The second device 102 serves for measurement and evaluation of the driving style of the driver of the vehicle, whilst the third device 103 serves for measurement and evaluation of the longitudinal dynamic range of the vehicle. The fourth device 104 serves for measurement and evaluation of the transverse dynamic range of the vehicle. The system further includes a logical selecting system 105, a tabular storage device 106, a regulator 107, and detecting devices 111 to 115. The first device 111 serves for detection of the spring stroke travel, the spring stroke velocity and/or the spring stroke acceleration. The second device 112 serves for detection of the longitudinal acceleration of the vehicle, the transverse acceleration of the vehicle, the yaw velocity of the vehicle, the steering angle velocity, the throttle flap setting, the speed of change of throttle flap, the engine rotational speed and/or the speed of change of engine rotational speed. The third device 113 serves for detection of the longitudinal velocity of the vehicle, the fourth device 114 for detection of the yaw velocity, the transverse acceleration of the vehicle, the steering angle and/or the velocity of the steering angle, and the fifth device 115 for detection of the body acceleration and/or the body velocity of the vehicle. The regulator 107 is connected at outputs thereof to actuators 120.

The detection and the taking into consideration of different components of the travel state of the vehicle through the measuring and evaluating devices 101 to 104 and the detecting devices 111 to 115 associated therewith will now be described in more detail. For this purpose, the consideration of the vertically dynamic movement state of the vehicle by the first device 101 will be explained first.

Starting out from a signal indicative of spring stroke travel or spring stroke velocity from a sensor arranged between a wheel and the body of the vehicle, there can be ascertained, at least approximately through suitable analog or digital signal prenaration (differentiation, integration, filtering), the effective values and/or peak values of the spring stroke travel S, the spring stroke velocity V and the spring stroke acceleration A. For the formation of the effective value of the afore-mentioned magnitudes, the amplitude values of the signals can be formed either in analog or digitally (rectification). Through subsequent low-pass filtering, there is obtained an estimated value for the effective value.If the signals taken into consideration are squared either additionally or in place of the amplitude formation, then low-pass filtered and the root subseouently ascertained there is obtained estimated RMS (root mean square) effective values. The logical selecting system 105 now compares the amounts of the individual effective values Seff, Veff and Aeff and/or peak values Smax, Vmax and Amax with each other or with preset thresholds and then decides, by reference to these, the setting of a suspension regulating algorithm in an electronic control device.

In the same manner, the signals of sensors mounted at other wheels for ascertaining the relative movements between wheel and vehicle body in terms of stroke travel, velocity and/or acceleration can also be evaluated.

For peak value formation, the maximum signal amplitude of the considered magnitudes is evaluated over a fixed time span. In that case, the considered time span is always to track the real time course in the sense of a sliding time window.

In the logical selecting system 105, the effective values or peak values, which are detected in the first device 101, of the spring stroke travel and spring stroke velocity are compared with preset thresholds and regulation parameters RP are fed to the regulator 107 in dependence on the comparison results. For example, the regulation parameters can be taken from stored tables in the device 106 in dependence on the comparison results.

A further possibility for the consideration of the vertically dynamic movement state of the vehicle consists in drawing upon effective values and/or peak values of the estimated wheel load variations of one or more wheels for variation of the regulator parameters. The wheel load variation of wheel load fluctuationP signifies the deviation of the wheel load (normal force between tyre and road track) from its static value. Whilst this and possibly also the tyre spring stroke, which is connected directly with the wheel load fluctuation, is amenable to measurement only with great difficulty, the spring stroke travel can, for example, be detected by measurement value pick-ups which are relatively simple and thus economic to produce.The physical background to obtaining the wheel load fluctuation P is now explained by reference to the two-body model shown in Fig. 2.

The items 201, 202, 203, 20a, 205 and 206 in Fig. 2 represent elements of a two-body model for a wheel unit, in which a wheel 202 is in contact with a road surface 204. In this case, the tyre stiffness is described, by way of a model, as a spring 205 with sDring constant Cr. A combination of a spring 206 and a shock absorber 203, which can be regulated in respect of its damping property, here represents a springing and damping system, which is to be controlled or regulated, of a wheel unit. In this example, the shock absorber 203 is assumed to be regulable, whilst the properties of the spring 206 are described by constant value C. The displacement of the vehicle body 201 and the displacement of the wheel 202 are denoted by Xa and Xr, respectively, thus the displacement from the equilibrium position at standstill of the vehicle (in the unloaded state).The road surface irregularities or unevennesses are described by Xe. The mass of the vehicle body is denoted by Ma and that of the wheel by Mr. A measurement value pickup 207 detects the spring stroke movements of the wheel unit. It can be determined from this two-body model that the desired magnitude P of the string stroke movement is obtainable by the following ecuation: D = -@@@-Mr/Ma@*C (l-r?Ma)*d*s - Mrvs~ t Xar, (lB wherein s is the Laplace variable.Xar is the "de-averaged" spring travel, which is obtained from the measurement magnitude Xa-Xr through subtraction of its running mean value

into

In this case Tm is a setting parameter and t is the actual instant.

Through this "de-averaging" of the spring travel Xa-Xr, the influence of a loading of the vehicle, which means a change in the static spring travel, as well as the influence of asymmetric (in respect of the compression and tension range) spring and/or shock absorber characteristics (change in the mean dynamic spring travel) on the computation of the wheel load fluctuations are eliminated.

The difference Xrel=Xa-Xr can also be used as a simplified refinement in substitution for the de-averaged spring travel in the equation (2) or (3).

The magnitude P thus at least approximately reproduces the dynamic wheel load variation or wheel load fluctuation in the vertical direction of a tyre moved on a road surface. The ascertaining of the dynamic wheel load fluctuation P can, as described above, be carried out in the first device 101 from the sensed spring stroke travel.

Such a signal, possibly also obtained in other manner, of the dynamic wheel load fluctuation can now be drawn upon as vertically dynamic characteristic magnitude when an effective value Peff and/or a peak value Pmax obtained in the afore-described manner is ascertained starting out therefrom. These effective values or peak values of the dynamic wheel load fluctuation are compared with preset thresholds in the logical selecting system 105 and with the aid of tables from the device 106 utilised for determination of the regulating parameters RP of the regulator 107.

A further advantageous refinement, with respect to the aspect of influencing the regulating parameters in dependence on the vertically dynamic movement state of the vehicle, starts out from magnitudes which approximately describe the properties of the road surface statistically. This is explained more closely in the following.

The vertically dynamic movement state of a wheel unit of an actual vehicle is approximated by the two-body model illustrated in Fig. 2. With the co-ordinates and vehicle parameters indicated in the Fig. 2, there is obtained the equation in the Laplace region

as a theoretical relationship between the course of the road surface Xe(t) and the spacing measured between the wheel unit and the vehicle body by a suitable sensor such as sensor 207, wherein s is the LaDlace variable, Mar the sum of the participating vehicle body mass Ma and the wheel mass Mr and Xar is the ascertained spring travel or the relative spring stroke travel Xa-Xr.For practical realisation of the suspension regulating system, the equation ( & is not conveniently usable, since the required twofold integration of the spring stroke travel signal cannot be stably realised in a control device. A suitable aDproximation of the eauation (4) is, however,

wherein the magnitudes e, w and delta are filter parameters which are, for example, matched to the spring stroke movement signals to be evaluated and which ensure a stable integration.

The equation (5) describes a time-continuous stable filter of fourth order. For implementation in a digital control device, this filter can be made discrete by known methods. In this case, the first device 101 has the transfer behaviour described in the equation (5), wherein the detection of the spring stroke travel or the de-averaged spring stroke travel is carried out by the first device 111.

Beyond the example described above, it is possible, through the application of order reduction methods, to reduce the filter arrangement of fourth order (n=4), in that, for examole, a statement

is so adapted in the sense of smallest error squares that the equation (4) or the equation (5) is approximated optimally in a considered frequency band. As a result, the computing effort required in the control device can be further reduced.

To the extent that spring stroke travel velocity signals Xar' are available in place of the spring stroke travel signals Xar in the vehicle, the afore-described procedure can be used in like sense. In this case, the equation

takes the place of the equation (4), and the equation

takes the place of (6).

The described procedure can be applied to one or more wheels of the vehicle in question. In a preferred embodiment, only the sDring stroke travel signals of the two front wheels are taken into consideration, since the road surface profiles associated with the rear wheels aooroximately correspond to the front wheels but with a time difference T, which results from the axle soacina L and the travel velocity V according to T = L/V. In this embodiment, a signal which represents the travel velocity of the vehicle is additionally fed to the first device 101 The adaptation of the regulating loop parameters RP of the regulator 107 by magnitudes describing the driving style of the driver is described in the following as further or alternative form of the system.For this purpose the second measuring and evaluating device 102, for measurement and evaluation of the driving style of the driver, is shown in Fig. l, which device receives appropriately prepared sensor signals from the second detecting device i12. she magnitudes utilised for adaptation of the parameters can be ascertained as described in the following.

Starting from a longitudinal acceleration signai AL, which is obtained from, for example, a longitudinai acceleration sensor or -rom suitable preparation of a travel veiocity signal VL (for example, tachometer, anti-lock braking system, etc), stat@stical values sucn as (RMS) effective values and/or oeak values of the longitudinal acceleration are ascertaines. This takes place in the second device 102, wherein the device 12 in this case detects the longitudinal acceleration of the venicle.The effective value ALeff and the peak value Lmax are, or example, compares with each other, or either or both with preset thresholds, in the logic selecting system 105. 3y rererence to results of these combarisons as well as optionally througn other magnitudes, which are described further below, the regulating parameters RP are adapted to the driving style of the driver, for example with use of the taples stored in the device 106.

For the effective value formation, the amplitude values of the mentioned signals can be formed either in analog or digitally (rectification). An estimated value for the effective value can be obtained through subsequent low-pass filtering. The signals taken into consideration can be squared either additionally or in place of the amplitude formation, then low-pass filtered and the root subsequently ascertained, whereby estimated RMS (root mean square) effective values are obtained. For peak value formation, as already described, the maximum signal amplitude of the considered magnitude is ascertained over a fixed time span. In that case, the considered time span is always to track the real time course in the sense of a sliding time window.

A further possibility for taking the driving style of the driver into consideration is described in the following. Starting from a signal AQUER, which is proportional to the transverse acceleration of the vehicle and which can be ascertained either through direct measurement by means of a suitably positioned transverse acceleration sensor or through computation from other magnitudes, such as the vehicle velocity VL and the steering angle DELTA, statistical characteristic values such as (RMS) effective values and/or peak values of the transverse acceleration are ascertained. The effective value AQUEReff and the peak value AQUERmax are compared with each other, or either or both with preset thresholds, in the logical selecting system 105 and the regulating parameters RP are adapted to the driving style of the driver in dependence on the comparison result as well as optionally also in dependence on further magnituoes.

A further possibility of adapting the regulating parameters RP to the driving style consists in starting from a signal PSIP proportional to the yaw velocity of the vehicle. This signal, detected by the second detecting device 112, can be ascertained either through direct measurement, for example by a suitable yaw velocity sensor, or through computation from other magnitudes, such as the vehicle velocity 'JL and the steering angle DELTA. Starting from the signal PSIP, statistical characteristic values such as (RMS) effective values and/or peak values of the yaw velocity are ascertained. This is carried out in the second measuring and evaluating device 102.The logical selecting system 105 compares the effective value PSIPeff and the peak value PSIPmax with each other, or either or both with preset thresholds, and decides by reference to these, as well as optionally also further magnitudes, on the setting to be undertaken of the regulating algorithm in an electronic control device. The regulating parameters RP of the regulator 107 are varied correspondingly for this ourpose.

Starting from a signal DELTAS which is proDortional to the steering angle velocity and which can be measured directly through a suitable mounted steering angle transmitter and/or through a steering angle velocity transmitter or also with the use of a suitably positioned linear travel transmitter or velocity transmitter or which can be ascertained through comoutation from other magnitudes, statistical characteristic values such as (RMS) effective values and/or peak values of the steering angle velocity can be ascertained.

This is effected, analogously to the afore-described procedures, by means of the second device 102 or with the use of the data detected by the device 112. he effective value DEL,APeft and the peak value DELTAPmax are compared with each other, or either or both with preset thresholds. The regulating parameters RP are determined in dependence on the comparison result as well as optionally also on further magnitudes.

Similarly, starting from a throttle flap signal ALPHA and/or a throttle flaD change speed signal ALPHAP, which can be obtained through a suitably mounted angle transmitter or an angle velocity transmitter or with the use of a suitably positioned linear travel transmitter or velocity transmitter, statistical characteristic values such as (RMS) effective values and/or peak values of the described throttle flao signals can be ascertained. For this ourpose, signals from other electronic systems of the vehicle can be used subject to being fed to the device 102 by way of a suitable data connection.In substitution, an appropriate signal can be derived from the acceleration pedal setting if the vehicle concerned does not have throttle fiat. The effective value ALPHAef, or ALPHAPeff and/or the peak values ALPHAmax or ALPHAPeff are compared with each other, or either or both with preset thresholds, in the logical selecting sysem 105. The regulating oarameters RP are determined correspondingly by reference to the comparison result and optionally also by reference to further magnitudes.

Statistical characteristic values such as (RMS) effective values and/or peak values of the engine rotational speed signals can also be ascertained starting from an engine speed signal N or an engine steed change signal DIP, which is obtained directly through suitably ocateo crank angle transmitters or rotational speed transmitters ur S communicated from other electronic systems of the vehicle by way of a suitable data connection. The corresponding effective value Neff or NPeff and/or the peak value Nmax or NPeff are compared with each other, or either or both with preset thresholds, in the logical selecting system 105.

The regulating parameters RP are adapted with the use of the comparison result as well as optionally also with use of further magnitudes.

A further possibility of obtaining appropriate magnitudes for taking the driving style of the driver into consideration consists in detecting the gear setting of the vehicle transmission. This gear setting can be applied by a suitable data connection to the suspension regulation system from other electronic systems of the vehicle, such as an electronic transmission control. If the gear setting or the frequency and speed of the changes of the gear settings is thus detected, there is obtained statistical characteristic magnitudes which can be associated with regulating parameters in the logical selecting system 105, optionally by way of the tables in the device 106.

Statistical characteristic magnitudes describing the actuation of throttle flao switches, accelerator pedal switches or brake light switches are preferably utilised in vehicles with automatic transmissions. Moreover, signals from switches used for ascertaining or recognising full load (throttle flaD switches), as well as from brake light switches of the kind usually present in vehicles,can also be employed for statistical evaluation. Statistical characteristic magnitudes, which characterise the driving style of the respective driver and can be utilised for parameter- adaptation of the suspension regulation system, can be obtained from these signals by known methods.

The afore-mentioned methods for taking the driving style of the driver into consideration can be used individually or in any desired combination for adaptation of the parameters.

In extension of the afore-described methods for determining statistical magnitudes, the following methods are also possible - counting methods for ascertaining frequency within preset signal classes, - frequency analysis, for example FFT, - correlation methods and other pattern recognition methods for extraction of feature "clusters" which point to certain driver typical travel manoeuvres, and - parameter identification methods which, for example, ascertain a greatly simplified dynamic model (for example in the form of a difference equation or a transfer function) of the respective driver from the temporal courses of the signals made to form the basis.

tt is common to all mentioned evaluation methods that they must detect behaviour varying over time in order to be able to take into consideration changes of the driver or variations in travel behaviour.

Dreferably, time weightings or synchronously moved data detection windows are used for this ouroose.

@@n addition to consideration of the vertically dynamic movement state of the vehicle and/or the driving style of the driver, the longitudinal and/or transverse dynamic range of the vehicle can be referred to for recognition of the travel state. This is indicated in the Fig. 1 by the third and fourth measuring and evaluating devices 103 and 104 ano associated third ana fourth detecting devices 11 and a tn this case, the longitudinal dynamic range of the venice is determined in the device 103.For this purpose, the detecting device 113 comprises, for example, sensors which ascertain the longitudinal velocity of the vehicle and/or the longitudinal acceleration of the vehicle. Through differentiation, an approximate vaiue for the longitudinal tyre forces F@ can be optained from this. As descr@bed 'n WO 90/14240, there can be used the equation F1=Mges@Vl@ 9), wherein Mges denotes the mass of the venicle and V1 denotes the longitudinal acceleration of the vehicle. A signal representing ,he longitudinal tyre force - is fed to the logical selecting system 105 from the device 103.The regulation parameters corresponding to the longitudinal tyre forces can be selectee in the logical selecting system 105, for example with the use or tables from the device '06.

Signals from the fourth detecting device 114, which, for example, represent the steering angle, the yaw velocity and the transverse acceleration of the venicle, are fed to the fourth measur@ng and evaluating device 104. Depending on the application, not all input magnitudes are required. An approximate value for the lateral tyre force Fs is formed in the fourth measuring and evaluating device 104.

This is fed to the logical selecting system 105, in which the regulating parameters are selected correspondingly, for example with the use of the tables stored in the device 106.

Claims

1. A system for active or semi-active suspension regulation in a vehicle, comprising regulating means for regulating suspension setting by way of a regulating path, determining means for determining the travel state of the vehicle, and varying means for varying the transfer behaviour of the path by modifying regulating parameters of the path in dependence on the determined travel state, the determining means being arranged to ascertain a magnitude or magnitudes indicative of the vertically dynamic movement state of the vehicle from -values providing an approximate statistical description of properties of the vehicle travel path and to determine the travel state from the ascertained magnitude or magnitudes.

2 A system as claimed in claim 1, the determining means being arranged to ascertain a magnitude indicative of the vertically dynamic movement state of the vehicle from sensed relative movement between the body of the vehicle and at least one wheel unit of the vehicle.

3. A system as claimed in claim 1 or claim 2, the determining means being arranged to ascertain a magnitude indicative of the vertically dynamic movement state of the vehicle from at least one of effective values and peak values of at least one of travel, velocity and acceleration of the stroke of a spring or damDer in the suspension.

4. A system as claimed in any one of the oreceding claims, the determining means being arranged to ascertain a magnitude indicative of the vertically dynamic movement state of the vehicle from at least one of effective values and peak values of estimated wheel load variation of at least one wheel of the vehicle.

5. A system as claimed in any one of the preceding claims, the determining means being further arranged to ascertain a respective additional magnitude or respective additional magnitudes indicative of at least one of the longitudinal dynamic state of the vehicle and the transverse dynamic state of the vehicle and to additionally determine the travel state in dependence on the ascertained additional magnitude of magnitudes.

6 . A land vehicle comprising a system as claimed in any one of the preceding claims.

7. A system for active or semi-active suspension regulation in a vehicle, comprising regulating means for regulating suspension setting by way of a regulating loop, determining means for determining the travel state of the vehicle, and insluencing means for influencing regulating parameters of the loop in dependence on the sensed travel state, the determining means being arranged to ascertain a respective magnitude or respective magnitudes indicative of at least onerof the vertically dynamic movement state of the vehicle and the driving style of the driver of the vehicle and to determine the travel state from the ascertained magnitude or magnitudes.

8. A system as claimed in claim 7, the determining means being arranged to ascertain a magnitude indicative of the vertically dynamic movement state of the vehicle from sensed relative movement between the body of the vehicle and at least one wheel unit of the vehicle.

9. A system as claimed in claim 7 or claim 8, the determining means being arranged to ascertain a magnitude indicative of the vertically dynamic movement state of the vehicle ;rom values providing an aoproximate statistical description of properties of the vehicle travel path.

10. A system as claimed in any one of claims 7 to 9, the determining means being arranged to ascertain a magnitude indicative of the vertically dynamic movement state of the vehicle from at least one of effective values and peak values of at least one cf travel, velocity and acceleration of the stroke of a spring or damper in the suspension.

II. A system as claimed in any one of claims 7 to 10, the determining means being arranged to ascertain a magnitude indicative of the vertically dynamic movement state of the vehicle from at least one of effective values and peak values of estimated wheel load variation oi at least one wheel of the vehicle.

12 A system as claimed in any one of claims 7 tc 11, the determining means being arranged to ascertain a magnitude indicative of the driving style of the driver from at least one of the effective values and peak values of at least one of longitudinal acceleration of the vehicle, transverse acceleration of the vehicle, transverse velocity of the vehicle, rate of change in steering angle, engine throttle setting, rate or change in engine throttle setting, engine speed and rate of change in engine speed.

. A system as claimed in claim 12, comprising means to determine said values for the magnitude indicative of driving style by at least one of a measurement orocedure and an estimation procedure.

14* @ A system as claimed in any one of claims 7 to 13, the determining means being arranged to ascertain a magnitude indicative of the driving style of the driver from values providing a statistical description of at least one of transmission operation, engine throttle operation and vehicle brake operation.

15. A system as claimed in any one of claims 7 to 14, the determining means being further arranged to ascertain a respective additional magnitude or respective additional magnitudes indicative of at least one of the longitudinal dynamic state of the vehicle and the transverse dynamic state of the vehicle and to additionally determine the travel state in dependence on the ascertained additional magnitude of magnitudes.

6. . A system substantlallv as hereinoefore described with reference to the accompanying drawings.

17. A land vehicle comprising a system as claimed in any one of the preceding claims.