Method for compensating for an inclination

Patent metadata

Field	Value
Publication number	US-9963007-B2
Application number	US-201615554126-A
Country	US
Kind code	B2
Filing date	Jan 14, 2016
Priority date	Feb 28, 2015
Publication date	May 8, 2018
Grant date	May 8, 2018

Abstract

A method for compensating for an inclination of a vehicle in at least one spatial direction. The vehicle has a vehicle body and an active chassis with a plurality of wheels, which are in contact with the roadway. Each wheel is joined to the vehicle body by way of an actuator, which can be adjusted in terms of its length, at a suspension point associated with the wheel. An inclination of the vehicle body in the at least one spatial direction is determined. For at least two wheels, respectively, a vertical distance to the suspension point of the vehicle body that is associated with the particular wheel is detected. Via the at least two determined distances, an inclination of the chassis in the at least one spatial direction is calculated by transformation of the vertical distance of the at least two wheels to the vehicle body.

First claim

The invention claimed is:

1. A method for compensating for an inclination of a vehicle in at least one spatial direction, comprising:
wherein the vehicle has a vehicle body and an active chassis with a plurality of wheels, which are in contact with the roadway;
wherein each wheel is joined to the vehicle body by an actuator, which can be adjusted in terms of its length, at a suspension point associated with the wheel;
wherein an inclination of the vehicle body in the at least one spatial direction is determined, wherein, for at least two wheels, a respective vertical distance to the suspension point of the vehicle body associated with the particular wheel is detected;
wherein, via the at least two determined distances, an inclination of the chassis in the at least one spatial direction is calculated by transformation of the vertical distance of the at least two wheels to the vehicle body by using a transformation matrix

T
=

[

l
v

l
v

-

l
h

-

l
h

t
v

-

t
v

t
h

-

t
h

]

wherein the inclination of the roadway in the at least one spatial direction is determined from a difference of the inclination of the vehicle body in the at least one spatial direction and the inclination of the chassis in the at least one spatial direction;
wherein a value for at least one angle ϕ s , θ s , respectively, by which the roadway is inclined in the at least one spatial direction, is determined,
wherein a limit value ϕ s,lim , θ s,lim , respectively, for the value of the at least one angle ϕ s , θ s is predetermined;
wherein translation ratios i VA , i HA for a distance of the at least one actuator in relation to the vehicle body and for a distance of the at least one wheel in relation to the vehicle body are taken into account;
wherein a target value for a change in the length of the at least one actuator is determined by:

z
act

→

=

diag
⁡

(

i
VA

,

i
VA

,

i
HA

,

i
HA

)

T
T

⁡

[

ϕ

s
,

l
⁢
im

θ

s
,
lim

]

.

2. The method according to claim 1 , wherein the inclination of the chassis in the at least one spatial direction is determined by transformation of the vertical distances of the at least two wheels from a center of gravity of the vehicle body by using the transformation matrix

T
=

[

l
v

l
v

-

l
h

-

l
h

t
v

Assignees

• Audi Ag

Inventors

• Unger Andreas
• Göhrle Christoph

Classifications

• B60G2400/10

  Acceleration; Deceleration · CPC title

• B60G2400/252

  vertical · CPC title

• B60G2800/702

  Improving accuracy of a sensor signal · CPC title

• B60G2600/02

  Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption · CPC title

• B60W2552/15

  Road slope, i.e. the inclination of a road segment in the longitudinal direction · CPC title