WO2016202419A3 - Trajektoriebasierte fahrwerksregelung - Google Patents

Trajektoriebasierte fahrwerksregelung Download PDF

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Publication number
WO2016202419A3
WO2016202419A3 PCT/EP2016/000796 EP2016000796W WO2016202419A3 WO 2016202419 A3 WO2016202419 A3 WO 2016202419A3 EP 2016000796 W EP2016000796 W EP 2016000796W WO 2016202419 A3 WO2016202419 A3 WO 2016202419A3
Authority
WO
WIPO (PCT)
Prior art keywords
trajectory
prognosis
basis
vehicle
active chassis
Prior art date
Application number
PCT/EP2016/000796
Other languages
English (en)
French (fr)
Other versions
WO2016202419A2 (de
Inventor
Andreas Schindler
Bodo Kleickmann
Original Assignee
Audi 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 Audi Ag filed Critical Audi Ag
Priority to CN201680035032.2A priority Critical patent/CN107709058B/zh
Priority to KR1020187001317A priority patent/KR20180018751A/ko
Priority to US15/736,104 priority patent/US10654333B2/en
Publication of WO2016202419A2 publication Critical patent/WO2016202419A2/de
Publication of WO2016202419A3 publication Critical patent/WO2016202419A3/de

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
    • B60G17/018—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 use of a specific signal treatment or control method
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • B60G2400/40—Steering conditions
    • B60G2400/41—Steering angle
    • 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
    • B60G2400/824—Travel path sensing; Track monitoring
    • 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
    • B60G2401/16—GPS track data
    • 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
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/704—Estimating or calculating vehicle parameters or state variables predicting unorthodox driving conditions for safe or optimal driving
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2552/20—Road profile

Abstract

Die vorliegende Erfindung betrifft ein Verfahren zum Regeln eines aktiven Fahrwerks eines Fahrzeugs in Abhängigkeit von Straßenhöhenprofildaten, die in einer Prognose einer Trajektorie des Fahrzeugs liegen, wobei die Prognose der Trajektorie mittels eines dynamischen mathematischen Modells mindestens auf Grundlage von Lenkwinkeldaten eines Lenkwinkelsensors des Fahrzeugs berechnet wird, und wobei der Prognose der Trajektorie jeweilige, durch mindestens einen Umfeldsensor erfasste Straßenhohenprofildaten zugeordnet werden, wobei anhand der Prognose mindestens ein Aktor des aktiven Fahrwerks geregelt wird, und wobei die Prognose der Trajektorie ausschließlich dann zum Regeln des aktiven Fahrwerks verwendet wird, wenn die Trajektorie in einem Bereich liegt, der anhand von durch den mindestens einen Umfeldsensor erfassten Umfelddaten als befahrbar klassifiziert wurde.
PCT/EP2016/000796 2015-06-16 2016-05-13 Trajektoriebasierte fahrwerksregelung WO2016202419A2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680035032.2A CN107709058B (zh) 2015-06-16 2016-05-13 基于轨迹的底盘控制
KR1020187001317A KR20180018751A (ko) 2015-06-16 2016-05-13 궤적 기반 섀시 조절
US15/736,104 US10654333B2 (en) 2015-06-16 2016-05-13 Trajectory-based chassis control

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015007592.6A DE102015007592A1 (de) 2015-06-16 2015-06-16 Trajektoriebasierte Fahrwerksregelung
DE102015007592.6 2015-06-16

Publications (2)

Publication Number Publication Date
WO2016202419A2 WO2016202419A2 (de) 2016-12-22
WO2016202419A3 true WO2016202419A3 (de) 2017-08-10

Family

ID=56026788

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/000796 WO2016202419A2 (de) 2015-06-16 2016-05-13 Trajektoriebasierte fahrwerksregelung

Country Status (5)

Country Link
US (1) US10654333B2 (de)
KR (1) KR20180018751A (de)
CN (1) CN107709058B (de)
DE (1) DE102015007592A1 (de)
WO (1) WO2016202419A2 (de)

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CN110226186B (zh) * 2016-12-26 2023-08-04 宝马股份公司 表示地图元素的方法和装置以及定位的方法和装置
DE102017203276B4 (de) 2017-03-01 2022-10-06 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Ermittlung einer Trajektorie in Off-road-Szenarien
CN109353179B (zh) * 2018-10-19 2022-04-01 中国第一汽车股份有限公司 一种基于高精地图云信息的主动悬架系统及控制方法
CN113646194A (zh) * 2019-03-27 2021-11-12 日立安斯泰莫株式会社 悬架控制装置
DE102019205484A1 (de) * 2019-04-16 2020-10-22 Robert Bosch Gmbh Verfahren und Vorrichtung zum Erstellen eines Höhenprofils für einen von einem Fahrzeug zu befahrenden Bereich
JP7314902B2 (ja) * 2020-10-29 2023-07-26 トヨタ自動車株式会社 車両の制御方法及び制御装置
US11932308B1 (en) * 2021-10-15 2024-03-19 Zoox, Inc. Four wheel steering angle constraints

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DE102013016974A1 (de) * 2013-10-14 2014-03-20 Daimler Ag Verfahren zur Erfassung eines einem Fahrzeug vorausliegenden Straßenhöhenprofils
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DE102008028222A1 (de) * 2008-06-13 2009-12-17 Volkswagen Ag Verfahren und Vorrichtung zur Abstands- und Höhenbestimmung eines Fahrzeughindernisses und zur automatischen Verhinderung einer Beschädigung eines Fahrzeugs
DE102009033219A1 (de) * 2009-01-23 2010-07-29 Daimler Ag Verfahren zur Ermittlung eines Fahrzeug vorausliegenden Straßenprofils einer Fahrspur
DE102011109569A1 (de) * 2011-08-05 2013-02-07 Conti Temic Microelectronic Gmbh Verfahren zur Fahrspurerkennung mittels einer Kamera
EP2574958A1 (de) * 2011-09-28 2013-04-03 Honda Research Institute Europe GmbH Straßenterrain-Erkennungsverfahren und System für Fahrerhilfssysteme
DE102012101085A1 (de) * 2012-02-10 2013-08-14 Conti Temic Microelectronic Gmbh Bestimmung einer Beschaffenheit einer Fahrbahnoberfläche mittels einer 3D-Kamera
DE102012009882A1 (de) * 2012-05-18 2013-11-21 Audi Ag Verfahren zur Steuerung eines aktiven Fahrwerks
DE102012015492A1 (de) * 2012-08-04 2014-02-06 Audi Ag Verfahren und Vorrichtung zum Betreiben eines Fahrwerks
EP2713309A2 (de) * 2012-09-24 2014-04-02 Ricoh Company, Ltd. Verfahren und Vorrichtung zur Erkennung des fahrbaren Bereichs einer Straße
DE102012112164A1 (de) * 2012-12-12 2014-06-12 Continental Teves Ag & Co. Ohg Videobasierte erkennung von hindernissen auf einer fahrbahn
US20140195112A1 (en) * 2013-01-08 2014-07-10 Ford Global Technologies, Llc Adaptive Active Suspension System With Road Preview
DE102013016974A1 (de) * 2013-10-14 2014-03-20 Daimler Ag Verfahren zur Erfassung eines einem Fahrzeug vorausliegenden Straßenhöhenprofils

Also Published As

Publication number Publication date
KR20180018751A (ko) 2018-02-21
US10654333B2 (en) 2020-05-19
US20180354334A1 (en) 2018-12-13
DE102015007592A1 (de) 2016-12-22
WO2016202419A2 (de) 2016-12-22
CN107709058A (zh) 2018-02-16
CN107709058B (zh) 2020-09-01

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