Multiple model active suspension control
AssigneeZoox, Inc.
InventorsAlexandre Nunes, Johannes Edren
Life of this patent
Estimating the term…
Abstract
An active suspension control system for a vehicle includes a mathematical model based on a modal expansion of the vehicle. Model parameters of the vehicle can be extracted from the modal expansion using sensor data generated on the vehicle, e.g., on demand and/or in real time. The model parameters and the modal expansion can be used to determine a vehicle state, predict future vehicle states, and control aspects of an active suspension system based on the predicted future vehicle states. The model parameters may also be used to update the mathematical model, e.g., to account for component wear over time, and/or to detect anomalies or defects in the active suspension system.
Claims20
A vehicle comprising:
- an active suspension system;
- sensors;
- one or more processors;
- and
- non-transitory computer readable media storing one or more instructions implemented by the one or more processors to perform actions comprising:
- receiving a first mathematical model of the vehicle, the first mathematical model being based at least in part on a modal expansion of the vehicle;
- receiving a second mathematical model of the vehicle, the second mathematical model being based at least in part on a kinematic model of the vehicle;
- receiving, from a sensor on the vehicle, sensor data about the vehicle;
- determining, based at least in part on the sensor data, an estimation of a current state of the vehicle;
- determining, based at least in part on the estimation and the first mathematical model, a first predicted future state of the vehicle;
- determining, based at least in part on the estimation and the second mathematical model, a second predicted future state of the vehicle;
- determining a command for controlling the active suspension system based on the first predicted future state and the second predicted future state;
- and
- controlling the active suspension system based at least in part on the command.
A method comprising:
- receiving a first mathematical model of a vehicle, the first mathematical model being based at least in part on a modal expansion of the vehicle;
- receiving a second mathematical model of the vehicle;
- determining, based at least in part on the first mathematical model and a current state of the vehicle, a first predicted future state of the vehicle;
- determining, based at least in part on the second mathematical model and the current state of the vehicle, a second predicted future state of the vehicle,
- determining a command for controlling an active suspension system based on the first predicted future state and the second predicted future state;
- and
- controlling the active suspension system based at least in part on the command.
A vehicle comprising:
- an active suspension system;
- one or more processors;
- and
- non-transitory computer readable media storing one or more instructions implemented by the one or more processors to perform actions comprising:
- receiving a first mathematical model of the vehicle, the first mathematical model being based at least in part on a modal expansion of the vehicle;
- receiving a second mathematical model of the vehicle;
- determining, based at least in part on the first mathematical model and a current state of the vehicle, a first predicted future state of the vehicle;
- determining, based at least in part on the second mathematical model and the current state of the vehicle, a second predicted future state of the vehicle,
- determining a command for controlling an active suspension system of the vehicle based on the first predicted future state and the second predicted future state;
- and
- controlling the active suspension system of the vehicle based at least in part on the command.
Dependencies are inferred from the claim text.