GB2494415A - A vehicle suspension control including a vehicle mounted time of flight camera - Google Patents
A vehicle suspension control including a vehicle mounted time of flight camera Download PDFInfo
- Publication number
- GB2494415A GB2494415A GB1115400.2A GB201115400A GB2494415A GB 2494415 A GB2494415 A GB 2494415A GB 201115400 A GB201115400 A GB 201115400A GB 2494415 A GB2494415 A GB 2494415A
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- GB
- United Kingdom
- Prior art keywords
- text
- vehicle
- suspension
- deviation
- features
- 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- Withdrawn
Links
Classifications
-
- 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
- B60G17/0165—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 to an external condition, e.g. rough road surface, side wind
-
- 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
- B60G17/019—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 type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/07—Off-road vehicles
-
- 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
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
-
- 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
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
-
- 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
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/823—Obstacle sensing
-
- 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
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
-
- 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
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
- B60G2401/142—Visual Display Camera, e.g. LCD
-
- 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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/35—Road bumpiness, e.g. pavement or potholes
Abstract
An off-road vehicle 10 is provided on a smooth highway 11. A forward-facing time of flight camera 12 illuminates the scene ahead with infra-red light 13. The scene ahead in repeatedly imaged so that the vehicle systems are alerted to a piece of rough terrain 14 ahead of the vehicle. Such images are processed to determine topographical features 14, 15, 16, 17 in the scene, and the vehicle suspension is commanded to adopt in advance a configuration h1, h2 appropriate to the nature of the topographical features.
Description
Improvements in Vehicle Suspension Control This invention relates to a predictive system for control of vehicle suspension and particularly, but not exclusively, to such a system for a vehicle having off-road capability.
Aspects of the invention relate to a system, to a vehicle and to a method.
Adjustable suspension systems of vehicles are known. One typical system provides ride-height adjustment so that, for example, a higher ride height may be available for off-highway travel. Several ride height settings may be provided, including for example a low setting for high-speed highway travel. Adjustable height suspension is generally selected manually by the vehicle driver, though a default setting may be provided at each engine start.
Another kind of adjustable suspension is adopted to vary damping and/or shock absorption to give a ride quality that can be characterized as hard or soft. Again, ride quality is generally selected manually by the driver.
A vehicle driver may not know if a particular vehicle is fitted with an adjustable suspension system, and even with such knowledge the driver may not know which of several suspension settings is appropriate for the terrain across which the vehicle is to travel. Some adjustable suspension systems are relatively complex, and it would be desirable to aid the driver in obtaining the best selling(s) for a given terrain.
One solution is to provide adaptive suspension whereby the vehicle is itself capable of adjusting suspension parameters according to conditions of use. Such systems may be ielatively unsophisticated, and provide for example an increased ride height in response to repeated large displacements of the vehicle wheels relative to the vehicle body. Such systems cannot prepare the vehicle for a change in terrain, and thus an unaware driver may risk damage to a vehicle and/or injury to occupants in case of the sudden occurrence of an unapparent topographical feature.
A predictive system for suspension control is desirable whereby a vehicle suspension automatically adopts a configuration best suited to the terrain ahead of the vehicle.
According to one aspect of the invention there is provided a vehicle suspension control system comprising a vehicle mounted time of flight camera system having a forward facing camela, the system being aiianged to illuminate and repeatedly capture an image of the scene ahead of the vehicle, to identity topographical features in the scene, and to automatically adjust suspension parameters of the vehicle according to the nature of said features.
Thus, for example, a scene in which a rocky terrain is identified allows the vehicle to adopt raised suspension of appropriate stiffness in advance of the rocky terrain being reached.
Automatically implemented settings which vary from a standard setting may be accompanied by an appropriate warning to the vehicle driver, for example in the form of a warning chime or a displayed message. Reversion to standard settings, or to a more extreme setting may be similarly notified.
Known discrimination techniques are used to analyse the scene from repeated images according to pre-determined criteria. For example the size of projections above a ground plane may be filtered according to pre-determined size ranges, each size range being associated with a respective suspension height setting. In this simple example, the larger the projection, the larger the selected suspension height.
Information about the frequency and spacing of projections may permit further suspension adaptation according to the estimated roughness of the terrain ahead of the vehicle.
A vehicle speed sensor may allow further adaptation, for example to select the smoothest available ride setting appropriate to the roughness of the terrain at that speed.
Suspension settings are provided in any suitable manner, for example in a look-up table or the like of an electronic control unit containing a processor.
According to embodiments of the invention, optimal predictive setting of the suspension is obtained automatically, thus relieving the vehicle driver from a somewhat complex control task, and ensuring that an inexperienced driver can make best use of the vehicle capabilities.
Embodiments of the invention are suitable for both on-road and off-road driving. Thus on a smooth highway, the system will determine that the surface has low incidence of discontinuities and accordingly a relatively low suspension height may be accompanied by a relatively high rate of damping. A discontinuity in the road surface, for example a trench or hump may, according to the size and shape of the discontinuity, cause the suspension to momentarily adopt a higher ride height and softer suspension setting as the vehicle crosses the discontinuity.
Off-road, the system can discriminate between small and large deviations from a notional ground plane, and thus distinguish between a rocky track and a boulder field. Size discrimination may be of the order of 5 mm so that quite small variations in the size of a discontinuity can be mapped, and a prediction effected.
The foregoing description refers to projections above a ground plane. Imaging of the scene ahead of the vehicle may also allow the depth of topographical depressions to be determined, is that appropriate suspension parameters can be predicted before the depressions are reached. The higher the mounting of the forward facing camera the better will be the imaging of such depressions. Accordingly the camera is advantageously downward facing to some extent, and mounted at or around the height of the vehicle bonnet.
The ground plane can be interpolated by any suitable technique to provide a reference for topographical deviations and vehicle suspension height. For example, the RANSAC technique embodies a method of fitting a line or a plane to an array of data points that contain many outliers.
Where the depth of a depression cannot be determined or interpolated, the predictive system may automatically command a suitable suspension setting, such as maximum ride height.
A speed of travel off-road is typically low, less than 15 kph, and at such speeds the suspension system has time to react just before reaching a discontinuity. For an off-road application the area illuminated by the camera can thus be closer to the front of the vehicle than for highway driving, for example in the range 1-10 metres.
Repeating images from a time of flight camera system can give information about the gradient ahead of a vehicle. In conjunction with information about the current attitude of the vehicle, for example from an inclinometer or like device, the system can provide suspension adjustment information suitable for ensuring appropriate suspension setting during gradient changes. Thus for example when significantly changing gradient at low speed, for example when cresting a hill, the system can prepare a vehicle for a new gradient in advance, so that for example suspension height can be changed to give a suitable approach and departure angle for the vehicle According to another aspect of the invention there is provided a method of adjusting suspension parameters of a vehicle comprising the steps of: illuminating the scene ahead of the vehicle, and repeatedly capturing an image thereof; identifying topographical features in the repeating image; determining the deviation of said features from a ground plane; and automatically adjusting suspension parameters of the vehicle in advance of said features in accordance with said deviation.
embodiments of the invention may also be combined with other techniques of adapting a vehicle to variable terrain, including systems of estimating terrain type by mechanical measurement of, for example wheel shp, suspension travel vibration etc., and systems relying on camera based forward recognition of terrain type.
Within the scope of this application it is envisaged that the various aspects, embodiments, examples, features and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings may be taken independently or in any combination thereof. For example features described in connection with one embodiment are applicable to all embodiments, except where there is incompatibility of features.
Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figs. 1-3 illustrate a vehicle having adjustable height suspension in relation to passage across an area of rough terrain.
With reference to Fig. 1 a vehicle 10 having off-road capability, in particular ride height adjustment, is illustrated on a smooth highway 11. Ride height is hi. A forward facing time of flight camera 12 illuminates the scene ahead with infra red light 13. The scene is repeatedly imaged so that the vehicle systems are alerted to a piece of rough terrain 14 ahead of the vehicle.
Fig. 2 shows how such an alert results in predictive raising of suspension height from hi to h2, so that by the time the vehicle reaches rough terrain it is adapted appropriately.
A time of flight camera accurately predicts the position of the vehicle with respect to points of interest ahead of the vehicle, and by comparing successive images the distance travelled by the vehicle can be determined. For example one or more points of interest 15 may be selected for calculating the distance to be travelled to the intent that the vehicle suspension has achieved a pre-determined configuration by the time that the vehicle has reached the point of interest. As illustrated height h2 is reached as the vehicle reaches commencement of the rocky terrain.
Subsequently, additional points of interest 16,17 are located and monitored to provide for continual determination of terrain type and distance travelled.
Upon detection of smooth highway at location 18 (Fig. 3) the suspension is commanded to resume a highway setting when the rear wheels are clear of the rocky terrain. In an embodiment the distance to be travelled to the highway may be added to the vehicle wheelbase so that, in this example, suspension height is not reduced until all four wheels of the vehicle are on the highway. This preferred embodiment may be used for all circumstances where a reduction of suspension height is indicated, so as to obviate a suspension setting that is at anytime too low for the terrain beneath the vehicle wheels.
The invention is typically implemented in an electronic control system of a vehicle having a look-up table or like relational database system for relating points of interest to preferred suspension settings. Such settings are commanded by outputs of the electronic control system in sufficient time for the vehicle to adopt a desired selling before reaching rough ground. Commands may be speed related, so that a fast moving vehicle may have enhanced priority or speed of adjustment of suspension settings. The electronic control system may also limit the maximum speed of the vehicle according to the selected suspension settings, so as for example to progressively restrict maximum vehicle speed as the suspension is raised.
The vehicle driver may be permitted to configure the invention, for example to determine a desired suspension setting for a terrain type, or to determine maximum vehicle speed over a terrain type. The configurable settings may lie within limits pre-determined by the vehicle manufacturer.
The electronic control system may be configured to alert the vehicle driver to a change of suspension setting, for example by chime or dashboard display.
It will be appreciated that several suspension settings may be provided appropriate to terrain of increasing roughness, for example five settings may provide a reasonable range of settings for terrain types from smooth highway to very rough off-road.
The ground plane for determining the extent of any deviation may be determined by conventional techniques. In relatively smooth ground, where deviations are infrequent, the smooth ground provides a ground plane reference. On rough ground, suspension travel may be measured so as to allow an average deviation from a ground plane to be determined. A combination of these techniques may be used.
The invention may be used to determine an average surface roughness where deviations appear to be continual and of the same order of magnitude. At any suspension setting, the vehicle may additionally identify significant isolated deviations, and prepare the suspension accordingly if the track of such deviations is toward the vehicle. A significant isolated deviation may be a large pot hole on a rough track, or a rock step.
The invention may be used in conjunction with measuring techniques for vehicle speed and distance so as to determine when a transient large deviation has passed the vehicle. In this way the suspension may be commanded to resume a previous setting automatically.
Claims (1)
- <claim-text>Claims 1. A vehicle suspension control system comprising a vehicle-mounted time of flight camera system having a forward facing camera, the system being configured to illuminate and repeatedly capture an image of the scene ahead of the vehicle, wherein the system is further configured to identify topographical features in the scene, and to automatically adjust suspension parameters of the vehicle in advance according to the nature of said features.</claim-text> <claim-text>2. A system according to claim 1, and configured to vary ride height of the vehicle according to the maximum deviation of said features from a ground plane.</claim-text> <claim-text>3. A system according to claim 1 or claim 2, and configured to vary suspension stiffness according to the maximum deviation of said features from a ground plane.</claim-text> <claim-text>4. A system according to any preceding claim, and configured to continually assess a plurality of said topographical features to determine an average surface roughness, and to adjust suspension parameters according to said average.</claim-text> <claim-text>5. A system according to claim 4, wherein a plurality of bands of average surface roughness are defined, between a minimum and a maximum, each of said bands corresponding to one of a plurality of pre-determined suspension settings.</claim-text> <claim-text>6. A system according to claim 4 or claim 5, and further configured to identify an isolated and increased deviation from said average surface roughness, to determine whether said increased deviation is in the path of the vehicle, and to temporarily adjust said suspension parameters in advance of the vehicle meeting said increased deviation.</claim-text> <claim-text>7. A system according to any preceding claim, and further including an alert for the vehicle driver for each adjustment of suspension parameters.</claim-text> <claim-text>8. A system according to any preceding claim, and further configured to restrict maximum vehicle speeds according to the adjustment of said suspension parameters.</claim-text> <claim-text>9. A system according to claim 8, wherein said maximum speeds are configurable by the vehicle driver.</claim-text> <claim-text>10. A method of adjusting suspension parameters of a vehicle comprising: providing a forward facing time of flight camera on a vehicle; illuminating the scene ahead of the vehicle, and repeatedly capturing an image thereof; identifying topographical features in the repeating image; determining the deviation of said features from a ground plane; and automatically adjusting suspension parameters of the vehicle in advance of said features in accordance with said deviation.</claim-text> <claim-text>11. A method according to claim 10, wherein said deviations are determined as band of average surface roughness, and said suspension parameters are adjusted according to said band.</claim-text> <claim-text>12. A method according to claim 10 or claim 11, wherein a deviation is isolated if exceeding a pre-determined size, said method including the steps of determining whether the vehicle will meet the isolated deviation, and adjusting said suspension parameters accordingly.</claim-text> <claim-text>13. A method according to any of claims 10-12, and including the step of raising the suspension of the vehicle in accordance with increasing size of deviation, and lowering suspension of the vehicle in accordance with reducing size of deviation.</claim-text> <claim-text>14. A method according to any of claims 10-13, and including the steps of adjusting suspension damping of the vehicle in accordance with an increasing size of deviation.</claim-text> <claim-text>15. A method according to any of claims 10-14, and including the step of permitting configuration of the suspension settings by the vehicle driver.</claim-text> <claim-text>16. A system, a vehicle or a method constructed and/or arranged substantially as described herein with reference to the accompanying drawings.</claim-text>
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1115400.2A GB2494415A (en) | 2011-09-06 | 2011-09-06 | A vehicle suspension control including a vehicle mounted time of flight camera |
| PCT/EP2012/067236 WO2013034561A1 (en) | 2011-09-06 | 2012-09-04 | Suspension control device |
| US14/343,289 US9662955B2 (en) | 2011-09-06 | 2012-09-04 | Suspension control device |
| EP12753514.4A EP2758260B1 (en) | 2011-09-06 | 2012-09-04 | Suspension control device |
| GB1215780.6A GB2494528B (en) | 2011-09-06 | 2012-09-04 | Improvements in vehicle suspension control |
| JP2014527698A JP2014531357A (en) | 2011-09-06 | 2012-09-04 | Suspension control device |
| JP2015133541A JP6266565B2 (en) | 2011-09-06 | 2015-07-02 | Suspension control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1115400.2A GB2494415A (en) | 2011-09-06 | 2011-09-06 | A vehicle suspension control including a vehicle mounted time of flight camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB201115400D0 GB201115400D0 (en) | 2011-10-19 |
| GB2494415A true GB2494415A (en) | 2013-03-13 |
Family
ID=44882297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1115400.2A Withdrawn GB2494415A (en) | 2011-09-06 | 2011-09-06 | A vehicle suspension control including a vehicle mounted time of flight camera |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2494415A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103600636A (en) * | 2013-10-28 | 2014-02-26 | 芜湖市顺昌汽车配件有限公司 | Running control system for motor vehicle and control method of system |
| GB2510672A (en) * | 2013-12-02 | 2014-08-13 | Daimler Ag | Maintaining ride comfort by adapting vehicle speed according to road roughness |
| GB2511827A (en) * | 2013-03-14 | 2014-09-17 | Jaguar Land Rover Ltd | Control unit for a vehicle suspension |
| GB2518053A (en) * | 2014-08-06 | 2015-03-11 | Daimler Ag | Suspension system for a vehicle, in particular a commercial vehicle, as well as method for operating such a suspension system |
| CN104554256A (en) * | 2013-10-16 | 2015-04-29 | 福特全球技术公司 | Method and device for assisting automobile parking onto road edge stone |
| CN104590271A (en) * | 2014-12-02 | 2015-05-06 | 浙江吉利汽车研究院有限公司 | Road surface detecting method and system |
| CN104669972A (en) * | 2013-11-27 | 2015-06-03 | 源捷公司 | Reactive air suspension system and method of application |
| GB2523097A (en) * | 2014-02-12 | 2015-08-19 | Jaguar Land Rover Ltd | System for use in a vehicle |
| GB2525839A (en) * | 2014-02-18 | 2015-11-11 | Jaguar Land Rover Ltd | Method of and system for collecting data relating to road irregularities |
| GB2527905A (en) * | 2014-05-02 | 2016-01-06 | Ford Global Tech Llc | Road roughness preview with drive history |
| WO2017103251A1 (en) * | 2015-12-18 | 2017-06-22 | Jaguar Land Rover Limited | Control unit for an active suspension system |
| CN106891684A (en) * | 2015-12-17 | 2017-06-27 | 北京奇虎科技有限公司 | Damping processing method, device and automobile based on vehicle |
| GB2549363A (en) * | 2016-02-03 | 2017-10-18 | Ford Global Tech Llc | Roadway-crossing-anomaly detection system and method |
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| CN109309785A (en) * | 2017-07-28 | 2019-02-05 | 松下电器（美国）知识产权公司 | Imaging control device and filming control method |
| GB2574113A (en) * | 2015-12-18 | 2019-11-27 | Jaguar Land Rover Ltd | Control unit for an active suspension system |
| CN113415116A (en) * | 2021-07-30 | 2021-09-21 | 岚图汽车科技有限公司 | Automatic switching method and system for operation modes of air suspension system |
| CN113561725A (en) * | 2021-08-27 | 2021-10-29 | 岚图汽车科技有限公司 | Method, device and equipment for adjusting height of vehicle body and readable storage medium |
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2511827A (en) * | 2013-03-14 | 2014-09-17 | Jaguar Land Rover Ltd | Control unit for a vehicle suspension |
| US9908379B2 (en) | 2013-03-14 | 2018-03-06 | Jaguar Land Rover Limited | Control system for a vehicle suspension |
| GB2511827B (en) * | 2013-03-14 | 2015-08-12 | Jaguar Land Rover Ltd | Control unit for a vehicle suspension |
| CN104554256A (en) * | 2013-10-16 | 2015-04-29 | 福特全球技术公司 | Method and device for assisting automobile parking onto road edge stone |
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| CN104669972A (en) * | 2013-11-27 | 2015-06-03 | 源捷公司 | Reactive air suspension system and method of application |
| CN104669972B (en) * | 2013-11-27 | 2017-09-15 | 源捷公司 | Reactive AIRMATIC Dual Control and application method |
| GB2510672A (en) * | 2013-12-02 | 2014-08-13 | Daimler Ag | Maintaining ride comfort by adapting vehicle speed according to road roughness |
| GB2523097B (en) * | 2014-02-12 | 2016-09-28 | Jaguar Land Rover Ltd | Vehicle terrain profiling system with image enhancement |
| GB2523097A (en) * | 2014-02-12 | 2015-08-19 | Jaguar Land Rover Ltd | System for use in a vehicle |
| GB2525839B (en) * | 2014-02-18 | 2017-09-27 | Jaguar Land Rover Ltd | Method of and system for collecting data relating to road irregularities |
| GB2525839A (en) * | 2014-02-18 | 2015-11-11 | Jaguar Land Rover Ltd | Method of and system for collecting data relating to road irregularities |
| RU2692290C2 (en) * | 2014-05-02 | 2019-06-24 | Форд Глобал Технолоджис, ЛЛК | Vehicle control system based on previous trips |
| GB2527905A (en) * | 2014-05-02 | 2016-01-06 | Ford Global Tech Llc | Road roughness preview with drive history |
| US10160281B2 (en) | 2014-05-02 | 2018-12-25 | Ford Global Technologies, Llc | Road roughness preview with drive history |
| GB2518053A (en) * | 2014-08-06 | 2015-03-11 | Daimler Ag | Suspension system for a vehicle, in particular a commercial vehicle, as well as method for operating such a suspension system |
| CN104590271A (en) * | 2014-12-02 | 2015-05-06 | 浙江吉利汽车研究院有限公司 | Road surface detecting method and system |
| CN106891684A (en) * | 2015-12-17 | 2017-06-27 | 北京奇虎科技有限公司 | Damping processing method, device and automobile based on vehicle |
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|---|---|
| GB201115400D0 (en) | 2011-10-19 |
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