WO2012028228A3 - Vorrichtung und verfahren zur steuerung eines aktiven fahrwerks eines fahrzeugs - Google Patents

Vorrichtung und verfahren zur steuerung eines aktiven fahrwerks eines fahrzeugs Download PDF

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Publication number
WO2012028228A3
WO2012028228A3 PCT/EP2011/003650 EP2011003650W WO2012028228A3 WO 2012028228 A3 WO2012028228 A3 WO 2012028228A3 EP 2011003650 W EP2011003650 W EP 2011003650W WO 2012028228 A3 WO2012028228 A3 WO 2012028228A3
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
active chassis
roadway
areas
controlling
Prior art date
Application number
PCT/EP2011/003650
Other languages
English (en)
French (fr)
Other versions
WO2012028228A2 (de
Inventor
Jörg Moisel
Tilo Schwarz
Original Assignee
Daimler 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 Daimler Ag filed Critical Daimler Ag
Publication of WO2012028228A2 publication Critical patent/WO2012028228A2/de
Publication of WO2012028228A3 publication Critical patent/WO2012028228A3/de

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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
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/18—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights being additional front lights
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • G01B11/303—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces using photoelectric detection means
    • 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
    • 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
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/11—Feedforward signal
    • 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
    • B60G2800/16—Running
    • B60G2800/162—Reducing road induced vibrations
    • 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
    • B60G2800/916—Body Vibration Control
    • 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, light or radio wave 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
    • 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
    • B60W40/072—Curvature of the road
    • 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
    • B60W40/076—Slope angle of the road

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

Die Erfindung betrifft eine Vorrichtung zur Steuerung eines aktiven Fahrwerks eines Fahrzeugs (1), umfassend zumindest eine Bilderfassungseinheit (2, 3) zur Erfassung von Fahrbahnunebenheiten (U1, U2) und eine Steuereinheit (4), mittels welcher in Abhängigkeit der Fahrbahnunebenheiten (U1, U2) das aktive Fahrwerk steuerbar ist, um Beschleunigungen eines Fahrzeugaufbaus, welche aus den Fahrbahnunebenheiten (U1, U2) resultieren, entgegenzuwirken. Erfindungsgemäß ist die Bilderfassungseinheit (2, 3) eine Kamera und zumindest eine Beleuchtungseinheit (7, 8) ist zur gezielten Beleuchtung von vor dem Fahrzeug befindlichen Bereichen (FO1, FO2) einer Fahrbahnoberfläche (FO) vorgesehen, wobei die Bereiche (FO1, FO2) im weiteren Fahrverlauf des Fahrzeugs (1) von zumindest einem Rad des Fahrzeugs (1) überfahrene Bereiche sind und im Erfassungsbereich der Kamera liegen, wobei in Abhängigkeit von in den gezielt beleuchteten Bereichen (FO1, FO2) der Fahrbahnoberfläche (FO) erfassten und aus den Bildern der Kamera ermittelten Fahrbahnunebenheiten (U1, U2) das aktive Fahrwerk steuerbar ist. Die Erfindung betrifft weiterhin ein Verfahren zur Steuerung eines aktiven Fahrwerks eines Fahrzeugs (1).
PCT/EP2011/003650 2010-09-03 2011-07-20 Vorrichtung und verfahren zur steuerung eines aktiven fahrwerks eines fahrzeugs WO2012028228A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010044263A DE102010044263A1 (de) 2010-09-03 2010-09-03 Vorrichtung und Verfahren zur Steuerung eines aktiven Fahrwerks eines Fahrzeugs
DE102010044263.1 2010-09-03

Publications (2)

Publication Number Publication Date
WO2012028228A2 WO2012028228A2 (de) 2012-03-08
WO2012028228A3 true WO2012028228A3 (de) 2013-03-14

Family

ID=44629139

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/003650 WO2012028228A2 (de) 2010-09-03 2011-07-20 Vorrichtung und verfahren zur steuerung eines aktiven fahrwerks eines fahrzeugs

Country Status (2)

Country Link
DE (1) DE102010044263A1 (de)
WO (1) WO2012028228A2 (de)

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US9533539B2 (en) 2011-10-20 2017-01-03 GM Global Technology Operations LLC Vehicle suspension system and method of using the same
DE102012015492B4 (de) 2012-08-04 2016-05-12 Audi Ag Verfahren und Vorrichtung zum Betreiben eines Fahrwerks
DE102012216088A1 (de) * 2012-09-11 2014-03-13 Robert Bosch Gmbh Verfahren sowie Auswerte- und Steuereinheit zum Anpassen einer Scheinwerferstrahlgrenze eines Scheinwerferkegels
DE102012024086B4 (de) * 2012-12-07 2016-05-19 Audi Ag Verfahren zum Betreiben eines Kraftfahrzeugs
DE102014204519A1 (de) 2013-04-08 2014-10-09 Ford Global Technologies, Llc Vorrichtung und Verfahren zur proaktiven Steuerung eines Schwingungsdämpfungssystems eines Fahrzeugs
DE102014001691A1 (de) * 2014-02-07 2015-08-13 Audi Ag Verfahren zum Betrieb eines aktiven Fahrwerksystems eines Kraftfahrzeugs und Kraftfahrzeug
DE102015205369B4 (de) 2014-04-04 2019-08-22 Ford Global Technologies, Llc Verfahren zum Betrieb eines Federungssystems
DE102014208318B4 (de) 2014-05-05 2019-09-12 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Regelung der Dämpfer eines Kraftfahrzeugs
US10300760B1 (en) 2015-03-18 2019-05-28 Apple Inc. Fully-actuated suspension system
DE102015107738B4 (de) * 2015-05-18 2023-12-07 Inventus Engineering Gmbh Zwei- oder Dreiradkomponente, Zwei- oder Dreirad und Verfahren
US10160447B2 (en) 2015-10-20 2018-12-25 Ford Global Technologies, Llc Systems and methods for abrupt road change assist and active suspension control
US10814690B1 (en) 2017-04-18 2020-10-27 Apple Inc. Active suspension system with energy storage device
WO2018208510A1 (en) 2017-05-08 2018-11-15 Segame Technologies Llc Active suspension system
DE102017112073A1 (de) * 2017-06-01 2018-12-06 Man Truck & Bus Ag Verfahren und Vorrichtung zur vorausschauenden Beurteilung einer Fahrbahn
US10899340B1 (en) 2017-06-21 2021-01-26 Apple Inc. Vehicle with automated subsystems
US10737544B2 (en) 2017-07-24 2020-08-11 Ford Global Technologies, Llc Systems and methods to control a suspension of a vehicle
US11173766B1 (en) 2017-09-07 2021-11-16 Apple Inc. Suspension system with locking structure
US10906370B1 (en) 2017-09-15 2021-02-02 Apple Inc. Active suspension system
US11124035B1 (en) 2017-09-25 2021-09-21 Apple Inc. Multi-stage active suspension actuator
US10960723B1 (en) 2017-09-26 2021-03-30 Apple Inc. Wheel-mounted suspension actuators
DE102018200328A1 (de) 2018-01-11 2019-07-11 Robert Bosch Gmbh Verfahren zum Erfassen von Fahrbahnunebenheiten in einem Fahrzeug
DE102018202356A1 (de) 2018-02-15 2019-08-22 Robert Bosch Gmbh Verfahren und Vorrichtung zum Prüfen einer Freigabe einer Anfahrt für ein Fahrzeug
US11285773B1 (en) 2018-09-12 2022-03-29 Apple Inc. Control system
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US11345209B1 (en) 2019-06-03 2022-05-31 Apple Inc. Suspension systems
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US4781465A (en) * 1983-12-23 1988-11-01 Honda Giken Kogyo Kabushiki Kaisha Device for detecting road surface condition
JPS60142209A (ja) * 1983-12-28 1985-07-27 Honda Motor Co Ltd 車両用前方路面状態検知装置
US4985847A (en) * 1987-01-14 1991-01-15 Hitachi, Ltd. Visual sensor system
DE19704466A1 (de) * 1997-02-06 1998-08-13 Bosch Gmbh Robert Einrichtung zur Regelung der Leuchtweite von Scheinwerfern von Fahrzeugen
DE19730414A1 (de) * 1997-07-16 1999-01-21 Opel Adam Ag Verfahren und Vorrichtung zur vorausschauenden Fahrbahnbeurteilung
US20030001509A1 (en) * 2001-06-29 2003-01-02 Joel Leleve Method and apparatus for detecting the state of humidity on a road on which a vehicle is travelling
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Also Published As

Publication number Publication date
DE102010044263A1 (de) 2012-03-08
WO2012028228A2 (de) 2012-03-08

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