Methods and systems for optimizing vehicle ride using road preview

• US 9,902,229 B2
• Filed: 02/19/2016
• Issued: 02/27/2018
• Est. Priority Date: 02/19/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Mettrick, Christopher J., Patel, Shiv G., Javid, Fahim, Oberoi, Dhruv, Agrawal, Ankur
• Primary Examiner(s): Camby, Richard M
• Application Number:
  US15/048,502
• Publication Number:
  US 20170240018A1
• Time in Patent Office: 739 Days
• 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 2204/62 Adjustable continuously, e.g. during driving
• CPC Class Codes: B60G 2400/82 Ground surface
• CPC Class Codes: B60G 2400/821 Uneven, rough road sensing affecting vehicle body vibration
• CPC Class Codes: B60G 2401/21 Laser
• CPC Class Codes: B60G 2600/187 Digital Controller Details and Signal Treatment
• CPC Class Codes: B60G 2800/01 Attitude or posture control
• CPC Class Codes: B60G 2800/162 Reducing road induced vibrations
• CPC Class Codes: B60G 2800/87 System configuration based on vehicle type or model
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles

Abstract

Methods and systems are provided for controlling a suspension system of a vehicle. In one embodiment, the method includes: receiving, by a processor, sensor data indicative of conditions of a roadway in a path of the vehicle; determining, by a processor, a continuous road profile based on the sensor data; and selectively controlling, by a processor, at least one suspension element of the vehicle based on the continuous road profile.

Claims

1. A method for controlling a suspension system of a vehicle, comprising:

receiving, by a processor, sensor data from a laser beamer, the sensor data including points that define elevation changes of a roadway in an upcoming path of the vehicle;

determining, by a processor, a continuous road profile based on the sensor data points;

computing, by a processor, one or more predicted vehicle motion values for each sensor data point in the continuous road profile based on a state space model of the vehicle;

determining one or more indicators of vehicle motion based on the vehicle motion values; and

selectively controlling, by a processor, at least one suspension element of the vehicle based on the one or more indicators of vehicle motion.

2. The method of claim 1, wherein the one or more predicted vehicle motion values is associated with at least one of roll, pitch, heave, roll rates, pitch rates, heave rates, roll acceleration, heave acceleration, pitch acceleration, suspension travel, suspension velocity, suspension acceleration, and tire force.

3. The method of claim 1, wherein the determining the one or more indicators is based on at least one of a maximum and a minimum of the predicted vehicle motion values.

4. The method of claim 1, further comprising:

selectively setting initial conditions associated with the one or more predicted vehicle motion values; and

wherein the determining the one or more predicted vehicle motion values is based on the initial conditions.

5. The method of claim 4, wherein the selectively setting the initial conditions comprises setting the initial conditions to a default number when the road profile indicates a substantially flat roadway.

6. The method of claim 4, wherein the selectively setting the initial conditions comprises setting the initial conditions to at least one previous vehicle motion response when the road profile indicates one or more elevation changes.

7. The method of claim 1, wherein the determining the continuous road profile is based on at least one of a combining method, an averaging method, a filtering method, and a time correction method associated with the plurality of data points.

8. A system for controlling a suspension system of a vehicle, comprising:

at least one laser beamer sensor that generates sensor signals based on conditions of a roadway in upcoming path of the vehicle, the sensor signals including points that define elevation changes of the roadway in the upcoming path of the vehicle; and

a control module that receives the sensor signals, that determines a continuous road profile based on the points, that computes one or more predicted vehicle motion values for each sensor data point in the continuous road profile based on a state space model of the vehicle, that determines one or more indicators of vehicle motion based on the one or more predicted vehicle motion values; and

that selectively controls at least one suspension element of the vehicle based on the one or more indicators of vehicle motion.

9. The system of claim 8, wherein the one or more predicted vehicle motion values is associated with at least one of roll, pitch, heave, roll rates, pitch rates, heave rates, roll acceleration, heave acceleration, pitch acceleration, suspension travel, suspension velocity, and suspension acceleration.

10. The system of claim 8, wherein the control module determines the indicator based on at least one of a maximum and a minimum of the at least one predicted vehicle motion response.

11. The system of claim 8, wherein the control module selectively sets initial conditions associated with the one or more predicted vehicle motion values and determines the one or more predicted vehicle motion values based on the initial conditions.

12. The system of claim 11, wherein the control module selectively sets the initial conditions by setting the initial conditions to a default number when the continuous road profile indicates a substantially flat roadway.

13. The system of claim 11, wherein the control module selectively sets the initial conditions by setting the initial conditions to at least one previous vehicle motion response when the continuous road profile indicates one or more elevation changes.

14. The system of claim 8, wherein the determining the continuous road profile is based on at least one of a combining method, a filtering method, a time correction method, and an averaging method associated with the plurality of data points.