Systems and methods for abrupt road change assist and active suspension control

• US 10,160,447 B2
• Filed: 10/20/2015
• Issued: 12/25/2018
• Est. Priority Date: 10/20/2015
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lavoie, Erick Michael, Bahena, Miguel A.
• Primary Examiner(s): Brushaber, Frederick M
• Application Number:
  US14/887,934
• Publication Number:
  US 20170106855A1
• Time in Patent Office: 1,162 Days
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2050/0002 Automatic control, details of type of controller or control system architecture
• CPC Class Codes: B60W 2400/00 Indexing codes relating to detected, measured or calculated conditions or factors
• CPC Class Codes: B60W 2510/18 Braking system
• CPC Class Codes: B60W 2510/22 Suspension systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/35 Road bumpiness, e.g. potholes
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/025 related to comfort of drivers or passengers
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: B60W 50/0097 Predicting future conditions

Abstract

Systems and methods for limiting a current operating speed of a vehicle are disclosed. A position of the vehicle relative to an abrupt road change in front of the vehicle and a current operating speed are determined. Information regarding a profile of the abrupt road change is detected. Based on the determined position and current operating speed, a brake torque output is adjusted to reduce the current operating speed. Based on the profile, suspension parameters associated with the vehicle are dynamically adjusted.

Claims

1. A vehicle assist system, comprising:

a sensor configured to detect a profile and a distance of an irregular road surface ahead of a vehicle in a direction of travel; and

a control unit configured to;

store detected information from the sensor about the profile and the distance of the irregular road surface, and

adjust an operating speed of the vehicle based on;

the detected distance, and

the stored profile information of the irregular road surface.

2. The system of claim 1, wherein the irregular road surface is one of a slick, wet road, ice and gravel.

3. The system of claim 1, wherein the sensor is further configured to:

detect information about the profile using one of ultrasonic sensing, radar sensing, vision sensing, Lidar sensing, and vehicle to vehicle sensing.

4. The system of claim 3, wherein the detected distance of the irregular road surface is a distance relative to the vehicle.

5. The system of claim 1, wherein the control unit is further configured to:

determine that the distance is below a threshold, wherein the threshold is a time-based threshold for activation; and

adjust a brake torque of at least one wheel cylinder based on a current operating speed of the vehicle and the distance of the vehicle relative to the irregular road surface.

6. The system of claim 1, wherein the control unit is further configured to:

adjust a suspension height of one or more wheels of the vehicle and an expected vertical acceleration of a body of the vehicle based on the stored profile information of the irregular road surface.

7. The system of claim 1, wherein prior to a portion of the vehicle reaching the irregular road surface, a suspension height of one or more wheels of the vehicle and an expected vertical acceleration of the vehicle are adjusted.

8. A vehicle system, comprising:

a sensor configured to detect a profile and distance of an irregular road surface ahead of a vehicle in a direction of travel; and

a controller configured to;

receive and store data from the sensor indicative of the detected profile of the irregular road surface and the distance of the vehicle relative to the irregular road surface; and

based on the stored profile of the irregular road surface and the stored distance, adjust at least one of a suspension height, an expected acceleration, and an operating speed of the vehicle.

9. The vehicle system of claim 8, wherein the sensor is further configured to:

collect the data about the profile and distance of the irregular road surface using one of ultrasonic sensing, radar sensing, vision sensing, Lidar sensing, and vehicle to vehicle sensing.

10. The vehicle system of claim 9, wherein the controller is further configured to:

output a speed limiting command when the calculated distance of the vehicle relative to the irregular road surface is below a threshold.

11. The vehicle system of claim 10, wherein the threshold is a time-based threshold for actuation.

12. The vehicle system of claim 10, wherein the speed limiting command reduces a current operating speed of the vehicle at a preset rate, wherein the preset rate is independent of the calculated distance of the vehicle relative to the irregular road surface.

13. The vehicle system of claim 8, wherein the controller is further configured to:

output a voltage signal in relation to a current vehicle operating speed;

output a speed limiting command to reduce a current operating speed of the vehicle at a preset rate; and

based on the preset rate, calculate suspension dive information of the vehicle when the vehicle is decelerated.

14. A vehicle, comprising:

at least one wheel;

at least one sensor; and

a controller configured to;

receive signals from the at least one sensor indicative of a sensed profile of an irregular road surface and a distance of the vehicle relative to the irregular road surface;

based on the received signals, determine that the distance is below a time-based threshold for activation; and

adjust a suspension height of at least one wheel based on at least one of the sensed profile of the irregular road surface, the distance of the vehicle relative to the irregular road surface, and a current operating speed of the vehicle.

15. A method for controlling a vehicle, comprising:

detecting, via a sensor, and storing information about, a profile of an irregular road surface and a distance of irregular road surface in front of the vehicle;

based on the detected distance and a current operating speed, reducing an operating speed of the vehicle; and

based on the profile, adjusting suspension parameters associated with the vehicle.

16. A vehicle assist system, comprising:

a sensor configured to determine a distance of a vehicle relative to an irregular road surface in a direction of travel; and

a control unit configured to;

detect and store information about a profile of the irregular road surface,

adjust an operating speed of the vehicle based on;

the determined distance, and

the stored profile information of the irregular road surface, and

adjust a suspension height of one or more wheels of the vehicle and an expected vertical acceleration of a body of the vehicle based on the stored profile information of the irregular road surface.