Trajectory-based chassis control

Patent metadata

Field	Value
Publication number	US-10654333-B2
Application number	US-201615736104-A
Country	US
Kind code	B2
Filing date	May 13, 2016
Priority date	Jun 16, 2015
Publication date	May 19, 2020
Grant date	May 19, 2020

Abstract

A method for regulating an active chassis of a motor vehicle as a function of road elevation profile data which lie within a prognosis for a trajectory of the motor vehicle. The prognosis of the trajectory is calculated by a mathematical model at least on the basis of steering angle data of a steering angle sensor of the motor vehicle. The prognosis of the trajectory is assigned to the road elevation profile data detected by at least one environmental sensor. Based on the prognosis, at least one actuator of the active chassis is controlled, and the prognosis of the trajectory is then used exclusively to control the active chassis when the trajectory lies in an area that was classified as navigable based on the environmental data that was detected by at least one environment sensor.

First claim

The invention claimed is:

1. A method for controlling an active chassis of a motor vehicle as a function of road elevation profile data which lie within a prognosis of a trajectory of a motor vehicle, comprising:
the prognosis of the trajectory is calculated by a dynamic mathematical model at least on the basis of steering angle data of a steering angle sensor of the motor vehicle, and the prognosis is assigned to street elevation profile data detected by at least one environment sensor, wherein based on the prognosis, at least one actuator of the active chassis is controlled, and wherein the prognosis of the trajectory is then used exclusively to control the active chassis when the trajectory lies in an area that was classified as navigable based on environmental data detected by at least one environment detector,
wherein the environmental data are used in order to recognize a driving lane on which the vehicle is currently traveling,
wherein a surface profile of the driving lane on which the vehicle is currently traveling is classified by currently detected environmental data,
wherein a classification of a surface profiles of the driving lane on which the vehicle is currently traveling and knowledge about the lane being traveled on is used to determine a respective trajectory by a validation index regarding suitability of the driving lane for controlling the active chassis, and
wherein a value of the validation index is zero or one, wherein zero designates a position of the prognosis of the trajectory outside from a navigable area, and one designates the position is on the navigable area.

2. The method according to claim 1 , wherein the surface profile is classified as belonging to at least the following list of categories: paved and unpaved.

3. The method according to claim 1 , wherein road elevation data information detected by the environment sensor is assigned to the trajectory prognosis.

4. The method according to claim 3 , wherein a camera sensor is selected as the environment sensor supplying image data.

5. A motor vehicle provided with a control device including at least one processor and at least one memory operatively connected to the at least one processor, the control device is configured to control an active chassis of a motor vehicle as a function of road profile elevation data which lie within a prognosis of a trajectory of the motor vehicle, wherein the control device is further configured to calculate the prognosis by a dynamic mathematical model at least on the basis of the steering angle data of the motor vehicle and to assign the prognosis of the trajectory to the road elevation profile data that was detected by an environment sensor, wherein the prognosis of the trajectory is then used exclusively to control the active chassis, when the trajectory lies in an area which is classified as navigable based on environmental data,
wherein the environmental data are used in order to recognize a driving lane on which the vehicle is currently traveling,
wherein a surface profile of the driving lane on which the vehicle is currently traveling is classified by currently detected environmental data,
wherein a classification of a surface profiles of the driving lane on which the vehicle is currently traveling and knowledge about the lane being traveled on is used to determine a respective trajectory by a validation index regarding suitability of the driving lane for controlling the active chassis, and
wherein a value of the validation index is zero or one, wherein zero designates a position of the prognosis of the trajectory outside from a navigable area, and one designates the position is on the navigable area.

Assignees

• Audi Ag

Inventors

• Schindler Andreas
• Kleickmann Bodo

Classifications

• B60G2400/824

  Travel path sensing; Track monitoring · CPC title

• B60G2400/41

  Steering angle · CPC title

• B60G17/018

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

• B60G2401/16

  GPS track data · CPC title

• B60G17/0165 Primary

  to an external condition, e.g. rough road surface, side wind · CPC title