Obstacle avoidance system with active suspensions

Patent metadata

Field	Value
Publication number	US-10293653-B2
Application number	US-201514869304-A
Country	US
Kind code	B2
Filing date	Sep 29, 2015
Priority date	Sep 29, 2015
Publication date	May 21, 2019
Grant date	May 21, 2019

Abstract

The present disclosure generally relates to an obstacle avoidance system with active suspensions. The obstacle avoidance system uses one or more active suspensions to lift or jump one or more corresponding wheels over an obstacle in the vehicle's path to avoid contact with the obstacle when the vehicle cannot practically drive over, steer around, or stop before hitting the obstacle.

First claim

What is claimed is:

1. An obstacle avoidance system comprising:
a sensor configured to obtain data external to a vehicle;
an active suspension coupled to a wheel of the vehicle, the active suspension including an actuator and a spring and disposed between a body of the vehicle and a control arm connected to the wheel of the vehicle; and
a controller configured to:
identify, based on the obtained data, an obstacle in a path of the wheel;
determine whether the vehicle is able to steer the wheel around the obstacle;
determine whether the vehicle is able to stop before the wheel hits the obstacle; and
responsive to determining that the vehicle is unable to at least one of steer the wheel around the obstacle or stop before hitting the obstacle, independently control the active suspension to rapidly elevate the wheel by controlling the actuator to:
when the obstacle has a first size, retract to lift the control arm and compress the spring to cause the wheel to be lifted over the obstacle, and
when the obstacle has a second greater size, retract to lift the control arm and compress the spring, extend to lower the control arm and decompress the spring, and re-retract to re-lower the control arm and recompress the spring to cause the wheel to jump airborne over the obstacle.

2. The obstacle avoidance system of claim 1 , wherein the actuator applies a downward force to the control arm when extending to lower the control arm and decompress the spring.

3. The obstacle avoidance system of claim 1 , wherein the actuator applies an upward force to the control arm when retracting to lift the control arm and compress the spring.

4. The obstacle avoidance system of claim 1 , wherein the controller is configured to:
determine when the wheel can be driven over the obstacle; and
control the active suspension to elevate the wheel over the obstacle when the vehicle cannot at least one of practically drive over the obstacle, steer around the obstacle, or stop before hitting the obstacle.

5. The obstacle avoidance system of claim 1 , wherein the controller is to:
identify a location and a size of the obstacle based on the data obtained by the sensor; and
determine that the obstacle is in the path of the wheel of the vehicle.

6. The obstacle avoidance system of claim 1 , wherein the controller determines an actuation force and actuation time for the actuator that enables the actuator to lift the wheel over the obstacle.

7. The obstacle avoidance system of claim 1 , wherein the controller determines actuation forces and respective actuation times for the actuator that enable the actuator to cause the wheel to jump airborne over the obstacle.

8. The obstacle avoidance system of claim 1 , wherein the controller:
determines that the vehicle cannot steer around the obstacle in response to determining that a distance between the vehicle and the obstacle is less than a minimum steering distance based on a speed of the vehicle; and
determines that the vehicle cannot stop before hitting the obstacle in response to identifying that the distance between the vehicle and the obstacle is less than a minimum stopping distance based on the speed of the vehicle.

9. The obstacle avoidance system of claim 4 , wherein the controller determines that the vehicle cannot drive over the obstacle in response to:
determining an impact index of the obstacle based on the data obtained by the sensor; and
identifying that the impact index of the obstacle is greater than a predetermined threshold.

10. The obstacle avoidance system of claim 1 , further including an autonomous driving system to steer the wheel around the obstacle responsive to the controller determining that the vehicle is able to steer the wheel around the obstacle.

11. The obstacle avoidance system of claim 10 , wherein the autonomous driving system is to stop the vehicle responsive to the controller determining that the vehicle is able to stop before the wheel hits the obstacle.

12. An obstacle avoidance method comprising:
obtaining, by a sensor, data external to a vehicle;
identifying, by a controller using the data, an obstacle in a path of the vehicle;
determining, by the controller using the data, whether the vehicle can at least one of steer around the obstacle or stop before hitting the obstacle; and
in response to determining that the vehicle cannot at least one of steer around or stop before hitting the obstacle, independently controlling, by the controller, an active suspension disposed between a vehicle body and a control arm connected to a wheel of the vehicle to rapidly elevate the wheel over the obstacle by:
when the obstacle has a first size, retracting an actuator of the active suspension to lift the control arm toward the body and compress a spring of the active suspension to cause the wheel to lift over the obstacle, and
when the obstacle has a second greater size, retracting the actuator to lift the control arm and compress the spring, extend to lower the control arm and decompress the spring, and re-retract to re-lift the control arm and re-compress the spring to cause the wheel to jump airborne over the obstacle.

13. The obstacle avoidance method of claim 12 , wherein the actuator applies a downward force to the control arm when extending to lower the control arm and decompress the spring.

14. The obstacle avoidance method of claim 13 , wherein the actuator applies an upward force to the control arm when retracting to lift the control arm and compress the spring.

15. The obstacle avoidance method of claim 12 , which includes determining, by the controller, whether the vehicle can drive over the obstacle.

16. The obstacle avoidance method of claim 15 , which includes controlling, by the controller, the active suspension to elevate the wheel over the obstacle when the vehicle cannot drive over the obstacle, the vehicle cannot steer around the obstacle, and the vehicle cannot stop before hitting the obstacle.

17. The obstacle avoidance method of claim 12 , further including steering the vehicle, via an autonomous driving system, around the obstacle responsive to determining that the vehicle can steer around the obstacle.

18. The obstacle avoidance method of claim 12 , further including stopping the vehicle, via the autonomous driving system, responsive to determining that the vehicle can stop before hitting the vehicle.

Assignees

• Ford Global Tech Llc

Inventors

• Hrovat Davor David
• Tseng Hongtei Eric
• Lu Jianbo
• Xu Li

Classifications

• B60G17/0195

  characterised by the regulation being combined with other vehicle control systems {(conjoint control of vehicle sub-units including control of suspension systems B60W10/22)} · CPC title

• B60G17/018

  characterised by the use of a specific signal treatment or control method · CPC title

• B60G2400/823

  Obstacle sensing · CPC title

• B60G2800/914

  Height Control System · CPC title

• B60G2500/30

  Height or ground clearance · CPC title