Method for determining an actual level of a vehicle

• US 10,239,379 B2
• Filed: 09/02/2016
• Issued: 03/26/2019
• Est. Priority Date: 09/03/2015
• Status: Active Grant

• Current Assignee: Audi AG (Volkswagen AG)
• Original Assignee: Audi AG (Volkswagen AG)
• Inventors: Allgayer, Andreas, Spannaus, Paul, Franz, Julia, Knuth, Philipp
• Primary Examiner(s): Wiltey, Nicholas K
• Application Number:
  US15/255,959
• Publication Number:
  US 20170066298A1
• Time in Patent Office: 935 Days
• Field of Search: None
• CPC Class Codes: B60G 17/0155 pneumatic unit
• CPC Class Codes: B60G 17/0165 to an external condition, e.g. rough road surface, side wind
• CPC Class Codes: B60G 17/0182 involving parameter estimation, e.g. observer, Kalman filter
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60R 16/0232 for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
• CPC Class Codes: B60W 2050/0054 Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
• CPC Class Codes: B60W 2422/20 on or inside a spring
• CPC Class Codes: B60W 40/12 related to parameters of the vehicle itself , e.g. tyre models

Abstract

A method for determining an actual level of a vehicle, includes determining an actual level of the vehicle as a function of a distance between at least one wheel of the vehicle and a superstructure of the vehicle, wherein the distance is determined by means of a signal detected by at least one chassis sensor, wherein the signal includes at least signal portions that correspond to an own movement of the vehicle and signal portions that correspond to an excitation by a road on which the vehicle actually drives; filtering the signal portions corresponding to the own movement of the vehicle out of the signal detected by the at least one chassis sensor by means of a filter function; calculating the actual level of the vehicle from a difference between the filtered signal without the signal portions that correspond to the own movement of the vehicle and the signal detected by the at least one chassis sensor.

Claims

1. A method for determining an actual level of a vehicle to regulate a distance between a superstructure and a wheel carrier, said method comprising:

determining an actual level of the vehicle as a function of a distance between the wheel carrier of the vehicle and the superstructure of the vehicle,

wherein the distance between the wheel carrier and the superstructure is determined by means of a signal detected by at least one chassis sensor, wherein said at least one chassis sensor is a spring travel sensor coupled to a spring damper mass system of an active body suspension, said signal including a first signal portion that corresponds to an own movement of the vehicle, a second signal portion that corresponds to extended unevennesses on a road on which the vehicle actually drives, and a third signal portion that corresponds to an excitation by the road on which the vehicle actually drives;

filtering the first and second signal portions out of the signal detected by the at least one chassis sensor by means of a filter function;

calculating the actual level of the vehicle from a difference between the filtered signal without the first and second signal portions and the signal detected by the at least one chassis sensor;

providing the actual level of the vehicle to the active vehicle body suspension system; and

actively regulating the distance between the superstructure and the wheel carrier by the active vehicle body suspension system.

2. The method of claim 1, wherein the at least one filter function is selected in dependence on a frequency range of a movement of at least one component of the vehicle.

3. The method of claim 1, wherein from the first and second signal portions that have been filtered out of the signal detected by the at least one chassis sensor frequency portions are selected so that a respectively filtered signal is calculated using a frequency based filter which uses defined frequency portions for calculating a corresponding filtered signal and discards other frequency portions defined signals.

4. The method of claim 1, further comprising smoothing the difference formed between the filtered signal and the signal detected by the at least one chassis sensor by a smoothening function to take a system inertia of a chassis system of the chassis into account.

5. The method of claim 1, further comprising adjusting the at least one filter function by an adjustment factor so that the difference between the filtered signal and the signal detected by the at least one chassis sensor optimally approximates an ideal signal, said adjustment factor provided to correct a potential overestimation or underestimation of the signal amplitude and depending on respective filter coefficients of the at least one filter function.

6. The method of claim 1, wherein the at least one filter function is selected from the group consisting of Butterworth filter, Chebyshev filter, adaptive filter, Wiener filter, Kalman filter, bandpass filter, low pass filter, high-pass filter with low cutoff frequency and high-pass filter.

7. A vehicle, comprising:

a control device configured to determine an actual level of the vehicle via a distance between at least one wheel carrier of the vehicle and a superstructure of the vehicle and to determine the distance by means of a signal detected by at least one chassis sensor, said at least one chassis sensor being a spring travel sensor coupled to a spring damper mass system of an active body suspension,

said signal including a first signal portion which corresponds to an own movement of the vehicle, a second signal portion that corresponds to extended unevennesses on a road on which the vehicle actually drives, and a third signal portion that corresponds to an excitation by a road on which the vehicle actually drives,

said control device being further configured to filter the first and second signal portions out of the signal detected by the at least one chassis sensor by means of at least one filter function and to determine the actual level of the vehicle from a difference between the filtered signal without the first and second signal portions and the signal detected by the at least one chassis sensor and to provide the actual level of the vehicle to a control function of at least one component of the vehicle to regulate the distance between the superstructure and the at least one wheel carrier.

8. The vehicle of claim 7, wherein the control device is further configured to

provide the actual level of the vehicle to a level regulation device for adjusting to a predetermined set point value, in order to correspondingly select at least one lift or lowering speed of the level regulation to be adjusted.

9. A control device for installation in a vehicle, said control device being configured to determine an actual level of the vehicle via a distance between at least one wheel carrier of the vehicle and a superstructure of the vehicle and to determine the distance by means of a signal detected by at least one chassis sensor being a spring travel sensor coupled to a spring damper mass system of an active body suspension, said signal including a first signal portion which corresponds to an own movement of the vehicle, a second signal portion that corresponds to extended unevennesses on a road on which the vehicle actually drives, and a third signal portion that corresponds to an excitation by a road on which the vehicle actually drives,

said control device being further configured

to filter the first and second signal portions out of the signal detected by the at least one chassis sensor by means of at least one filter function and to determine the actual level of the vehicle from a difference between the filtered signal without the first and second signal portions and the signal detected by the at least one chassis sensor and

to provide the actual level of the vehicle to a control function of at least one component of the vehicle, and

to regulate the distance between the superstructure and the at least one wheel carrier.

10. The control device of claim 9, wherein the component of the vehicle performs a function selected from the group consisting of air suspension of the chassis, roll stabilization and spring mount adjustment.