WO2018217148A1 - Procédé et système de commande dans un véhicule pour l'ajustement d'une suspension - Google Patents

Procédé et système de commande dans un véhicule pour l'ajustement d'une suspension Download PDF

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Publication number
WO2018217148A1
WO2018217148A1 PCT/SE2018/050332 SE2018050332W WO2018217148A1 WO 2018217148 A1 WO2018217148 A1 WO 2018217148A1 SE 2018050332 W SE2018050332 W SE 2018050332W WO 2018217148 A1 WO2018217148 A1 WO 2018217148A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
height
suspension
control arrangement
irregularity
Prior art date
Application number
PCT/SE2018/050332
Other languages
English (en)
Inventor
Gustavo FERNANDES MARTOLI
Valdir TERZETTI FILHO
Original Assignee
Scania Cv Ab
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 Scania Cv Ab filed Critical Scania Cv Ab
Publication of WO2018217148A1 publication Critical patent/WO2018217148A1/fr

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Classifications

    • 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
    • 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
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/14—Buses
    • 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
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • 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
    • B60G2401/142—Visual Display Camera, e.g. LCD
    • 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
    • B60G2401/21—Laser
    • 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
    • B60G2500/32—Height or ground clearance of only one vehicle part or side
    • B60G2500/322—Height or ground clearance of only one vehicle part or side only front part
    • 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
    • B60G2500/32—Height or ground clearance of only one vehicle part or side
    • B60G2500/324—Height or ground clearance of only one vehicle part or side only rear part
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
    • 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
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B60G2800/0192—Inclination due to load distribution or road gradient longitudinal with regard to vehicle
    • 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
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems

Definitions

  • This document discloses a control arrangement and a method in a vehicle having an overhang. More particularly, a method and a control arrangement is provided, for increasing suspension height of the vehicle.
  • Speed bumps are a common name for a family of traffic calming devices that use vertical deflection to slow motor-vehicle traffic in order to improve safety conditions. Variations include the speed hump (or speed ramp), speed cushion, and speed table.
  • speed bumps are effective in keeping vehicle speeds down, their use is sometimes controversial, as they may damage vehicles if traversed at too great a speed. Poorly-de- signed speed bumps that stand too tall or with too-sharp an angle may be overly disruptive for drivers, and may be difficult to navigate for vehicles with low ground clearance and/ or large overhang, even at very low speeds.
  • Vehicles may have an overhang that may be damaged when passing a speed bump.
  • the driver of a vehicle with a suspension control and air springs may avoid a collision between the vehicle overhang and the speed bump by raising the air springs of the vehicle via the suspension control. This may also be made in bad road situations due to cavities, potholes, ruts, fatigue cracking, cross road height differences and other irregularities or structural failures of the road.
  • the driver may be fully occupied with handling the environmental traffic situation and/ or the situation among the passengers, e.g. in a bus, or may for other reason not notice the approaching speed bump in time to adjust the air springs of the vehicle.
  • the discussed disadvantages with speed bumps and vehicle overhang is intensified on vehicles with large overhang such as rear engine buses, where the powertrain is installed in the rear overhang.
  • public transportation vehicles often comprise unbelted passengers and/ or standing passengers, why a collision with a speed bump may cause severe accidents among passengers in the passenger department.
  • Document US2015145220 describes a vehicle provided with sensors at the front, said sen-5 sors detecting obstacles or debris in the roadway.
  • the air suspension system is controlled to increase the ride height of the vehicle based on the height of the detected obstacles until the vehicle has passed the obstacle.
  • this objective is achieved by a method in a vehicle having an overhang.
  • the method intends to increase suspension height of the vehicle.
  • the method comprises detecting a height irregularity on a road segment ahead of the vehicle, in a direction of movement.
  • the method also comprises increasing the suspension height of the vehicle at a set of height adjustable suspension springs of the vehicle, associ-5 ated with one of the vehicle overhangs.
  • this objective is achieved by a control arrangement in a vehicle having an overhang.
  • the control arrangement aims at increasing suspension height of the vehicle.
  • the control arrangement is configured to detect a height irregularity on a road segment ahead of the vehicle, in a direction of movement via a sensor.
  • the control arrangement is also configured to generate a command to increase the suspension height of the vehicle at a set of height adjustable suspension springs of the vehicle, associated with one of the vehicle overhangs.
  • the suspension height of the vehicle may be increased automatically, without interaction of the vehicle driver.
  • the suspension height of one set of adjustable springs, of either the rear part of the vehicle, or the front part of the vehicle By increasing the suspension height of one set of adjustable springs, of either the rear part of the vehicle, or the front part of the vehicle, the vertical distance between the vehicle underneath and the road is further increased, due to the tilting of the vehicle. Thereby, a collision between the height irregularity and the underneath of the vehicle is avoided.
  • This is an advantage, perhaps in particular for rear engine vehicles, where the sensitive and/ or expensive engine parts at the rear overhang. Further, the driver may thereby focus on the environmental traffic situation, passengers, etc.
  • Figure 1 illustrates an embodiment of a vehicle approaching a height irregularity on an ahead road segment.
  • Figure 2A illustrates a vehicle according to an embodiment passing a height irregularity at a first moment in time.
  • Figure 2B illustrates a vehicle according to an embodiment passing a height irregularity at a second moment in time.
  • Figure 3A illustrates a vehicle according to an embodiment, driving in reverse direction, approaching a height irregularity.
  • Figure 3B illustrates a vehicle according to an embodiment, driving in reverse direction, approaching a height irregularity.
  • Figure 3C illustrates an embodiment of a vehicle approaching a height irregularity on an ahead road segment.
  • Figure 4 is a flow chart illustrating an embodiment of a method
  • Figure 5 is an illustration depicting a system according to an embodiment.
  • Embodiments of the invention described herein are defined as a method and a control arrangement, which may be put into practice in the embodiments described below. These embodiments may, however, be exemplified and realised in many different forms and are not to be limited to the examples set forth herein; rather, these illustrative examples of embodiments are provided so that this disclosure will be thorough and complete.
  • Figure 1 illustrates a vehicle 100 driving in a driving direction 105, approaching a height irregularity 110 of a road 120.
  • the vehicle 100 has an overhang such as a front overhang 140a and a rear overhang 140b.
  • the overhangs 140a, 140b are the lengths of the vehicle 100 which extend beyond the front wheelbase 150 at the front and/ or the rear wheelbase 160. Practicality, style, and performance of the vehicle 100 are affected by the size and weight of the respective overhangs 140a, 140b.
  • One or both of the respective overhangs 140a, 140b may in some embodiments exceed a threshold limit, such as e.g. 15% of the total length of the vehicle 100; 20% of the vehicle length; 25% of the vehicle length, etc.
  • the vehicle 100 may comprise e.g. a bus, a truck, a car, a trailer, a taxiing aircraft, or other similar manned or unmanned means of conveyance running e.g. on wheels, rails or similar media.
  • the vehicle 100 may be driver controlled or driverless (i.e. autonomously controlled) in different embodiments. However, for enhanced clarity, the vehicle 100 is subsequently described as having a driver.
  • the height irregularity 1 10 of the road 120 may comprise e.g. a speed bump, a sidewalk curb or other object protruding from the road surface; and/ or a cross road where the cross roads has different inclinations.
  • the height irregularity 1 10 may also comprise a cavity in the road surface, such as a hole.
  • Large overhangs 140a, 140b contribute to enlarge vehicle dimensions, and the associated advantages of size, which is an advantage e.g. for buses and/ or trailers.
  • large rear overhang 140b may accommodate larger engines, besides more passengers/ load.
  • measuring rear overhang 140b is helpful in predicting the size of the trunk.
  • large front overhangs 140a may accommodate larger engines.
  • a large overhang 140a, 140b, perhaps in particular a large rear overhang 140b may present a problem in large vehicles 100 such as buses and trucks.
  • Long rear overhang 15 140b requires the driver of the vehicle 100 to continuously pay attention to height irregularities 1 10 in the driving direction 105 and slow down speed of the vehicle 100 when passing a height irregularity 1 10.
  • the driver is typically focused on the environmental traffic situation and other road users.
  • the driver In case the vehicle 100 is a bus, the driver also has to keep an eye on on-board passengers as well as waiting passengers at bus stops.
  • the vehicle 100 further comprises a sensor 130.
  • the vehicle 100 may comprise a plurality of sensors 130.
  • the sensor/s 130 may be installed underneath the vehicle 100; and 25 may be configured to measure the distance from the vehicle chassis to the road 120, in order to detect abrupt/ uneven ground level changes 1 10.
  • the vehicle 100 may also; or alternatively comprise a forwardly directed sensor 130 (i.e. forward in the driving direction 105) in some embodiments.
  • a forwardly directed sensor 130 i.e. forward in the driving direction 105
  • the forwardly directed sensor 130 may be situated e.g. at the front of the vehicle 100, behind the windscreen of the vehicle 100.
  • Mounting the forwardly directed sensor 130 behind the windshield have some advantages compared to externally mounted camera systems. These advantages include the possibility 35 to use windshield wipers for cleaning and using the light from headlights to illuminate objects in the camera's field of view. It is also protected from dirt, snow, rain and to some extent also from damage, vandalism and/ or theft. Such sensor 130 may also be used for a variety of other tasks.
  • the sensor 130 may be directed towards the front of the vehicle 100, in the driving direction 105.
  • the sensor 130 may comprise e.g. a camera, a stereo camera, an infrared camera, a 5 video camera, a radar, a lidar, an ultrasound device, a time-of-flight camera, or similar device, in different embodiments.
  • the vehicle 100 comprises a control arrangement 170 in the vehicle 100.
  • the control arrangement 170 may receive sensor signals from the sensor 130 and based there upon 10 detect height irregularity 1 10 on a road segment 120 ahead of the vehicle 100, in the direction of movement 105.
  • the control arrangement 170 may be configured for image recognition/ computer vision and object recognition, and may thereby detect the height irregularity 1 10 ahead of the vehicle 15 100, in the driving direction 105.
  • Computer vision is a technical field comprising methods for acquiring, processing, analysing, and understanding images and, in general, high-dimensional data from the real world in order to produce numerical or symbolic information.
  • a theme in the development of this field has
  • Computer vision may also be described as the enterprise of automating and integrating a wide range of processes and representations for vision perception.
  • the image data of the one or more sensors 130 may take many forms, such as e.g. images, 30 video sequences, views from multiple cameras, or multi-dimensional data from a scanner.
  • control arrangement 170 may detect the height irregularity 1 10 and possibly also estimate the distance between the vehicle 100 and the height irregularity 1 10.
  • the control arrangement 170 may generate a 35 command to increase the suspension height of the vehicle 100 at a set of height adjustable suspension springs, e.g. air springs of the vehicle 100, such as the rear set of air springs at the rear wheels 160.
  • a set of height adjustable suspension springs e.g. air springs of the vehicle 100, such as the rear set of air springs at the rear wheels 160.
  • the control arrangement 170, the sensor/s 130 and the set of air springs of the vehicle 100 may interactively communicate between themselves via e.g. a wired or wireless communi- cation bus.
  • the communication bus may comprise e.g. a Controller Area Network (CAN) bus, a Media Oriented Systems Transport (MOST) bus, Ethernet, or similar.
  • CAN Controller Area Network
  • MOST Media Oriented Systems Transport
  • Ethernet or similar.
  • the communication may alternatively be made over a wireless connection comprising, or at least be inspired by any of the previously discussed wireless communication technologies.
  • the control arrangement 170 may estimate a vertical distance 180 between the detected height irregularity 1 10 and the road surface of the surrounding road segment 120.
  • the air springs may be elevated at a height which is enough for not collide with the height irregularity 1 10, but not more.
  • disturbance and inconvenience for the passengers is reduced or even eliminated; or at least minimised.
  • This may be important in particular for busses, which often may have standing passengers and/ or seated passengers who are unbelted; the floor may be crowded with luggage, baby strollers, wheelchairs, why a collision with the height irregularity 1 10 may cause a severe accident among the passengers.
  • Figure 2A discloses a vehicle 100 as e.g. the vehicle 100 previously illustrated in Figure 1 , at a first moment in time, while driving in a driving direction 105, approaching a height irregularity 1 10 on a road segment 120 ahead of the vehicle 100.
  • the control arrangement 170 detects the height irregularity 1 10 via the sensor 130, and generate a command to increase the suspension height of the vehicle 100 at a rear set of air springs of the vehicle 100.
  • Figure 2B discloses the vehicle 100 of Figure 2A, at a second moment in time, later than the first moment in time.
  • the rear set of height adjustable suspension springs 220 has at the second moment in time increased the suspension height of the vehicle 100. Thereby a collision between the vehicle underneath and the height irregularity 1 10 on the road segment 120 is avoided.
  • the height adjustable suspension springs 220 may comprise air springs in some embodiments, or hydraulic springs in other embodiments.
  • the vehicle height at the rear overhang 140b is increased due to the inclination of the vehicle 100, in comparison with increasing both the front set of air springs and the rear set of height adjustable suspension springs 220 simultaneously.
  • Figure 3A discloses a vehicle 100 as e.g. the vehicle 100 previously illustrated in Figure 1 , Figure 2A and/ or Figure 2B, while reversing in a driving direction 105, approaching a height irregularity 1 10 on a road segment 120 behind of the vehicle 100.
  • the vehicle 100 in this embodiment comprises a first sensor 130a at the front of the vehicle 100, and a second sensor 130b at the rear part of the vehicle 100.
  • the control arrangement 170 detects the height irregularity 1 10 behind the vehicle 100 via the rear sensor 130b, and generate a command to increase the suspension height of the vehicle 100 at a rear set of height adjustable suspension springs 220 of the vehicle 100.
  • Figure 3B discloses a vehicle 100 as e.g. the vehicle 100 previously illustrated in Figure 1 , Figure 2A, Figure 2B and/ or Figure 3A, while reversing in a driving direction 105, approach- ing a height irregularity 1 10 on a road segment 120 behind of the vehicle 100.
  • the control arrangement 170 detects the height irregularity 1 10 behind the vehicle 100 via the rear sensor 130b, and generate a command to increase the suspension height of the vehicle 100 at a rear set of height adjustable suspension springs 220 of the vehicle 100. Further, in some embodiments, the control arrangement 170 may estimate a vertical height difference 180 in some embodiments.
  • Figure 3C illustrates a vehicle 100 as e.g. the vehicle 100 previously illustrated in Figure 1 , Figure 2A, Figure 2B, Figure 3A and/ or Figure 3B.
  • the control arrangement 170 detects the height irregularity 1 10 via the sensor 130, and generate a command to increase the suspension height of the vehicle 100 at a front set of air springs of the vehicle 100.
  • FIG. 4 illustrates an example of a method 400 according to an embodiment.
  • the flow chart in Figure 4 shows the method 400 in a control unit 170 in a vehicle 100 having an overhang 140a, 140b.
  • the method 400 aims at increasing suspension height of the vehicle 100, at a set of height adjustable suspension springs 210, 220 of the vehicle 100, associated with one of the vehicle overhangs 140a, 140b.
  • the height adjustable suspension springs 210, 220 may comprise air springs or hydraulic springs in different embodiments.
  • the method 400 may comprise a number of steps 401-406. Further, the described steps 401 -406 may be per- formed in a somewhat different chronological order than the numbering suggests. Some of the described method steps may be performed only in some particular embodiments, such as e.g. steps 402-404 and/ or step 406.
  • the method 400 may comprise the subsequent steps: Step 401 comprises detecting a height irregularity 1 10 on a road segment 120 ahead of the vehicle 100, in a direction of movement 105.
  • the direction of movement 105 may be the regular direction of movement during traffic, or the reverse direction in different embodiments.
  • Step 402 comprises estimating a vertical distance 180 between the detected 401 height irregularity 1 10 and the road surface of the surrounding road segment 120.
  • the height irregularity 1 10 may be a protrusion, protruding from the surrounding road segment 120 in some embodiments; or a cavity/ hole in the surrounding road segment 120.
  • the height irregularity 1 10 may also comprise a cross roads with different height levels; side walk curbs, road bumps, crossing railway lines, etc.
  • Step 403 which only may be performed in some embodiments, comprises estimating vehicle speed.
  • the vehicle speed may be determined by a speedometer or similar instrument on board the vehicle 100.
  • monitored positioning data from a satellite navigation system such as the Navigation Signal Timing and Ranging (Navstar) Global Positioning System (GPS), Differential GPS (DGPS), Galileo, GLONASS, or similar device may be used for estimating the vehicle speed.
  • GPS Navigation Signal Timing and Ranging
  • DGPS Differential GPS
  • Galileo GLONASS
  • similar device may be used for estimating the vehicle speed.
  • Step 404 which only may be performed in some embodiments wherein step 403 has been performed, comprises comparing the estimated 403 vehicle speed with a speed threshold limit.
  • the speed threshold limit may be set to approximately e.g. 30 km/ h, 40 km/ h, 50 km/ h, etc. (arbitrary, non-limiting examples).
  • the speed threshold limit may be predetermined or configurable.
  • Step 405 comprises increasing the suspension height of the vehicle 100 at a set of height adjustable suspension springs 210, 220 of the vehicle 100, associated with one of the vehicle overhangs 140a, 140b.
  • the set of height adjustable suspension springs 210, 220 of the vehicle 100 may comprise any of the front height adjustable suspension springs 210 of the vehicle 100, or the rear height adjustable suspension springs 220 of the vehicle 100, in different embodiments.
  • the suspension height of the vehicle 100 may be increased, based on the estimated 402 vertical distance 180 between the detected 401 height irregularity 1 10 and the road surface of the surrounding road segment 120.
  • the suspension height of the vehicle 100 may be increased when the estimated 403 vehicle speed is lower than the speed threshold limit.
  • the vehicle speed may be adjusted to 10 the speed threshold limit in some embodiments, wherein the estimated 403 vehicle speed exceeds the speed threshold limit, in some embodiments.
  • the vehicle 100 may be halted by a forced brake command when the vehicle speed exceeds the speed threshold limit.
  • Step 406 comprises decreasing the suspension height of the vehicle 100 at a set of height adjustable suspension springs 210, 25 220 of the vehicle 100, when no height irregularity 1 10 is detected 401 on the road segment 120 ahead of the vehicle 100, in the direction of movement 105. Thereby, the vehicle 100 returns to the normal suspension height during transportation.
  • the vehicle's versatility may be en- 30 hanced. Furthermore, aerodynamics may be improved, leading to reduced fuel consumption.
  • a low floor allows people with large or bulky luggage, passengers with disabilities, etc., to enter or exit the vehicle 100 easily.
  • FIG. 35 Figure 5 illustrates a system 500 in a vehicle 100 having an overhang 140a, 140b, for increasing suspension height of the vehicle 100.
  • the system 500 comprises a control arrangement 170 for performing at least some of the previously described steps 401 -406 according to the method 400 described above and illustrated in Figure 4.
  • the control arrangement 170 aims at increasing suspension height of the vehicle 100.
  • the control arrangement 170 is configured to detect a height irregularity 1 10 on a road seg- ment 120 ahead of the vehicle 100, in a direction of movement 105 via a sensor 130. Further, the control arrangement 170 is configured to generate a command to increase the suspension height of the vehicle 100 at a set of height adjustable suspension springs 210, 220 of the vehicle 100, associated with one of the vehicle overhangs 140a, 140b. Further, according to some embodiments, the control arrangement 170 may be configured to estimate a vertical distance 180 between the detected height irregularity 1 10 and the road surface of the surrounding road segment 120.
  • control arrangement 170 may also be configured to generate the command to increase the suspension height of the vehicle 100 at the set of height adjustable suspension springs 210, 220 of the vehicle 100, associated with one of the vehicle overhangs 140a, 140b, based on the estimated vertical distance 180.
  • the control arrangement 170 may furthermore be configured to estimate vehicle speed, in some embodiments.
  • the control arrangement 170 may also be configured to compare the estimated vehicle speed with a speed threshold limit.
  • the control arrangement 170 may be configured to generate the command to increase the suspension height of the vehicle 100 when the estimated vehicle speed is lower than the speed threshold limit.
  • control arrangement 170 may also be configured to generate a command to decrease the suspension height of the vehicle 100 at the set of height adjustable suspension springs 210, 220 of the vehicle 100 (frontal set of springs, or rear set of springs respectively), when no height irregularity 1 10 is detected on the road segment 120 ahead of the vehicle 100.
  • the system 500 comprises a sensor 130 for detecting a height irregularity 1 10 on a road segment 120 ahead of the vehicle 100, in a direction of movement 105.
  • the sensor 130 may comprise a camera, a stereo camera, an infrared camera, a video camera or similar device. Further the sensor 130 may also, or alternatively comprise a radar or a lidar unit, etc.
  • the senor 130 may be configured for emitting radio waves and receiving reflexions of the emitted radio waves, reflected by the height irregularity 1 10.
  • the sensor 130 may comprise any on-board rangefinder sensor, such as e.g. a laser rangefinder, an ultrasonic sensor emitting an ultrasonic wave and detecting and analysing the reflections, or other similar devices.
  • the system 500 also comprises a set of height adjustable suspension springs 210, 220.
  • the height adjustable suspension springs 210, 220 may comprise air springs in some embodiments, or alternatively hydraulic springs in different embodiments.
  • the control arrangement 170 comprises a receiver 510, configured for receiving sensor data from the sensor/s 130.
  • control arrangement 170 comprises a processing circuit 520 configured for performing at least some of the previously described method steps 401 -406, such as e.g. detecting 401 the height irregularity 1 10 on the road segment 120 ahead of the vehicle 100, in the direction of movement 105; and increasing 405 the suspension height of the vehicle 100 at the set of height adjustable suspension springs 210, 220 of the vehicle 100.
  • processing circuit 520 may comprise one or more instances of a processor, i.e. a Central Processing Unit (CPU), a processing unit, an Application Specific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may interpret and execute instructions.
  • the herein utilised expression "processing circuit” may thus represent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, some or all of the ones enumerated above.
  • the control arrangement 170 may comprise a memory 525 in some embodiments.
  • the optional memory 525 may comprise a physical device utilised to store data or programs, i.e., sequences of instructions, on a temporary or permanent basis.
  • the memory 525 may comprise integrated circuits comprising silicon- based transistors.
  • the memory 525 may comprise e.g. a memory card, a flash memory, a USB memory, a hard disc, or another similar volatile or non-volatile storage unit for storing data such as e.g. ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc. in different embodiments.
  • the control arrangement 170 may comprise a signal transmitter 530.
  • the signal transmitter 530 may be configured for transmitting a signal to be received by the set of height adjustable suspension springs 210, 220 of the vehicle 100.
  • a computer program product comprising instructions for performing the steps 401 -406 in the control arrangement 170 may perform the method 400 comprising at least some of the steps 401 -406 for increasing suspension height of the vehicle 100, when the computer program is loaded into the one or more processing circuits 520 of the control arrangement 170.
  • the described method steps 401 -406 thus may be performed by a computer algorithm, a machine executable code, a non-transitory computer-readable medium, or a software instructions programmed into a suitable programmable logic such as the processing circuits 520 in the control arrangement 170.
  • some embodiments may comprise a vehicle 100, comprising the system 500 for increasing suspension height of the vehicle 100.
  • the computer program product mentioned above may be provided for instance in the form of a data carrier carrying computer program code for performing at least some of the steps 401 -406 according to some embodiments when being loaded into the one or more processing circuits 520 of the control arrangement 170.
  • the data carrier may be, e.g., a hard disk, a CD ROM disc, a memory stick, an optical storage device, a magnetic storage device or any other appropriate medium such as a disk or tape that may hold machine readable data in a non-transitory manner.
  • the computer program product may furthermore be provided as computer program code on a server and downloaded to the control arrangement 170 remotely, e.g., over an Internet or an intranet connection.
  • a computer program may be stored/ distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms such as via Internet or other wired or wireless communication system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

L'invention concerne un procédé (400) et un système de commande (170) dans un véhicule (100), permettant d'augmenter la hauteur d'une suspension du véhicule (100). Le procédé (400) consiste à : détecter (401) une anomalie de hauteur (110) sur un segment de route (120) devant le véhicule (100), dans une direction de déplacement (105); et augmenter (405) la hauteur d'une suspension du véhicule (100) au niveau d'un ensemble de ressorts de suspension réglables en hauteur (210, 220) du véhicule (100).
PCT/SE2018/050332 2017-05-24 2018-03-28 Procédé et système de commande dans un véhicule pour l'ajustement d'une suspension WO2018217148A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1750647-8 2017-05-24
SE1750647A SE541199C2 (en) 2017-05-24 2017-05-24 Method and control arrangement in a vehicle for suspension adjustment

Publications (1)

Publication Number Publication Date
WO2018217148A1 true WO2018217148A1 (fr) 2018-11-29

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU101142B1 (en) * 2019-03-04 2020-09-04 Alpha Ec Ind 2018 S A R L Bus suspension system with independent actuator
CN114312200A (zh) * 2022-01-11 2022-04-12 岚图汽车科技有限公司 一种车辆主动悬架的控制方法及装置
GB2618563A (en) * 2022-05-10 2023-11-15 Jaguar Land Rover Ltd Control system for a vehicle and method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100042292A1 (en) * 2006-08-22 2010-02-18 Daimler Ag Device and Method for Influencing the Spring Force Characteristic of an Active Chassis of a Motor Vehicle
DE102009040170A1 (de) * 2008-10-17 2010-04-22 Continental Teves Ag & Co. Ohg Intelligentes Sensor-Fahrwerkssystem
GB2494528A (en) * 2011-09-06 2013-03-13 Land Rover Uk Ltd A vehicle suspension control including a vehicle mounted time of flight camera
WO2013081533A1 (fr) * 2011-11-28 2013-06-06 Scania Cv Ab Système de sécurité pour véhicule
US8989963B1 (en) * 2013-11-27 2015-03-24 Atieva, Inc. Method of operating a reactive air suspension system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100042292A1 (en) * 2006-08-22 2010-02-18 Daimler Ag Device and Method for Influencing the Spring Force Characteristic of an Active Chassis of a Motor Vehicle
DE102009040170A1 (de) * 2008-10-17 2010-04-22 Continental Teves Ag & Co. Ohg Intelligentes Sensor-Fahrwerkssystem
GB2494528A (en) * 2011-09-06 2013-03-13 Land Rover Uk Ltd A vehicle suspension control including a vehicle mounted time of flight camera
WO2013081533A1 (fr) * 2011-11-28 2013-06-06 Scania Cv Ab Système de sécurité pour véhicule
US8989963B1 (en) * 2013-11-27 2015-03-24 Atieva, Inc. Method of operating a reactive air suspension system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU101142B1 (en) * 2019-03-04 2020-09-04 Alpha Ec Ind 2018 S A R L Bus suspension system with independent actuator
EP3705318A1 (fr) * 2019-03-04 2020-09-09 Alpha EC Industries 2018 S.à r.l. Système de suspension de bus à actionneur indépendant
CN114312200A (zh) * 2022-01-11 2022-04-12 岚图汽车科技有限公司 一种车辆主动悬架的控制方法及装置
CN114312200B (zh) * 2022-01-11 2023-05-30 岚图汽车科技有限公司 一种车辆主动悬架的控制方法及装置
GB2618563A (en) * 2022-05-10 2023-11-15 Jaguar Land Rover Ltd Control system for a vehicle and method
GB2618563B (en) * 2022-05-10 2024-10-23 Jaguar Land Rover Control system for a vehicle and method

Also Published As

Publication number Publication date
SE1750647A1 (en) 2018-11-25
SE541199C2 (en) 2019-04-30

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