Anti-roll moment distribution active suspension

Patent metadata

Field	Value
Publication number	US-10850586-B2
Application number	US-201816110025-A
Country	US
Kind code	B2
Filing date	Aug 23, 2018
Priority date	Aug 23, 2018
Publication date	Dec 1, 2020
Grant date	Dec 1, 2020

Abstract

A system for controlling a suspension of a vehicle includes a plurality of sensors, an anti-roll moment module configured to determine a front-to-total anti-roll moment distribution based on at least a first operating parameter of the vehicle, at least one suspension actuator, and a suspension control module configured to control the at least one suspension actuator based on the determined front-to-total anti-roll moment distribution. A method of producing an anti-roll moment distribution module for a vehicle includes determining understeer characteristics of the vehicle, determining a maximum lateral acceleration of the vehicle, adjusting the understeer characteristics based on the determined maximum lateral acceleration, determining reference understeer characteristics, determining a plurality of reference yaw rates and a plurality of feedforward contributions using a non-linear quasi-static model of the vehicle, storing the reference yaw rates in a first look-up table, and storing the feedforward contributions in a second look-up table.

First claim

What is claimed is:

1. A system for controlling a suspension of a vehicle, comprising:
a plurality of sensors, wherein each sensor of the plurality of sensors is configured to measure an operating parameter of the vehicle;
an anti-roll moment module configured to determine a front-to-total anti-roll moment distribution based on at least a first operating parameter of the vehicle measured by a first sensor of the plurality of sensors;
at least one suspension actuator; and
a suspension control module configured to control the at least one suspension actuator based on the determined front-to-total anti-roll moment distribution, wherein
the anti-roll moment module includes a feedforward module configured to determine a feedforward contribution based on at least the first operating parameter of the vehicle, and
the front-to-total anti-roll moment distribution is based on the determined feedforward contribution, wherein
the feedforward module includes a first look-up table,
the first look-up table includes a first plurality of entries,
each entry of the first plurality of entries includes a feedforward contribution value based on a non-linear quasi-static model of the vehicle, and
the feedforward module is further configured to (i) select a first entry of the first plurality of entries of the first look-up table based on the first operating parameter and (ii) determine the feedforward contribution based on the first entry of the first plurality of entries, wherein:
the anti-roll moment module includes a yaw rate module configured to determine a reference yaw rate based on at least the first operating parameter of the vehicle, and
the front-to-total anti-roll moment distribution is based on the determined reference yaw rate, wherein
the yaw rate module includes a second look-up table,
the second look-up table includes a second plurality of entries,
each entry of the second plurality of entries includes a reference yaw rate value based on the non-linear quasi-static model of the vehicle, and
the yaw rate module further is configured to (i) select a first entry of the second plurality of entries of the second look-up table and (ii) determine the reference yaw rate based on the first entry of the second plurality of entries,
the anti-roll moment module including:
an error module configured to determine a yaw rate error based on (i) the reference yaw rate and (ii) a second operating parameter of the vehicle measured by a second sensor of the plurality of sensors, and
a feedback module configured to determine a feedback contribution based on the yaw rate error,

the second operating parameter is a yaw rate of the vehicle, and
the feedback module is configured to determine the feedback contribution by applying a correction to the yaw rate error based on proportional, integral, and derivative terms.

2. The system of claim 1 , wherein the anti-roll moment module includes a front-to-total module configured to determine the front-to-total anti-roll moment distribution based on the feedforward contribution and the feedback contribution.

3. The system of claim 1 , wherein the anti-roll moment module includes:
an adjusting module configured to determine an adjusted feedforward contribution based on (i) the feedforward contribution and (ii) at least one of the yaw rate error or a slip angle of a rear axle of the vehicle, and
a front-to-total module configured to determine the front-to-total anti-roll moment distribution based on the adjusted feedforward contribution and the feedback contribution.

4. A method of controlling a suspension of a vehicle, comprising:
obtaining a plurality of operating parameters of the vehicle;
determining a front-to-total anti-roll moment distribution based on at least a first operating parameter of the plurality of operating parameters of the vehicle;
adjusting at least one controllable suspension actuator of the vehicle based on the determined front-to-total anti-roll moment distribution,
determining a feedforward contribution based on at least the first operating parameter of the vehicle, wherein the front-to-total anti-roll moment distribution is based on the determined feedforward contribution, wherein
determining the feedforward contribution includes selecting a first entry from a first look-up table,
the first look-up table includes a first plurality of entries, and
each entry of the first plurality of entries includes a feedforward contribution value that is based on a non-linear quasi-static model of the vehicle;
determining a reference yaw rate based on at least the first operating parameter of the vehicle, wherein the front-to-total anti-roll moment distribution is based on the determined reference yaw rate, wherein
determining the reference yaw rate includes selecting a first entry from a second look-up table,
the second look-up table includes a second plurality of entries, and
each entry of the second plurality of entries includes a reference yaw rate value that is based on the non-linear quasi-static model of the vehicle:
determining a yaw rate error based on (i) the reference yaw rate and (ii) a second operating parameter of the plurality of operating parameters of the vehicle, wherein the second operating parameter is a yaw rate of the vehicle; and
applying a correction to the yaw rate error based on proportional, integral, and derivative terms to determine a feedback contribution.

5. The method of claim 4 , wherein determining the front-to-total anti-roll moment distribution includes adding the feedforward contribution to the feedback contribution.

6. The method of claim 4 , further comprising determining an adjusted feedforward contribution based on (i) the feedforward contribution and (ii) at least one of the yaw rate error or a slip angle of a rear axle of the vehicle,
wherein determining the front-to-total anti-roll moment distribution includes adding the adjusted feedforward contribution to the feedback contribution.

Assignees

• Tenneco Automotive Operating Co Inc

Inventors

• Sorniotti Aldo
• Ricco Marco
• Dhaens Miguel
• Lauwerys Christophe
• VANDERSMISSEN Bert

Classifications

• B60G2400/0513

  Yaw angle · CPC title

• B60G2400/106

  longitudinal with regard to vehicle, e.g. braking · CPC title

• B60G17/0162 Primary

  mainly during a motion involving steering operation, e.g. cornering, overtaking (B60G17/0164 takes precedence) · CPC title

• B60G2800/016

  Yawing condition · CPC title

• B60G17/01908

  Acceleration or inclination sensors (characterised by the use of gyroscopes B60G21/08) · CPC title