Slip control via active suspension for optimization of braking and accelerating of a vehicle
AssigneeClearMotion, Inc.
InventorsAditya Chandrashekhar Chetty, Allen Chung-Hao Chen
Life of this patent
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Abstract
System and method for improving braking efficiency by increasing the magnitude of a frictional force between a tire of a vehicle wheel and a road surface. Braking efficiency may be improved by controlling the normal force applied on the wheel, with an active suspension actuator, based on the wheel's slip ratio.
Claims18
A method for controlling an active suspension system of a vehicle, wherein the active suspension system includes a first actuator associated with a first wheel of the vehicle, the method comprising:
- (a) determining a slip ratio of the first wheel of the vehicle;
- (b) based at least in part on the determined slip ratio, determining a command;
- and
- (c) outputting the command to the first actuator of the active suspension system to increase the vertical force applied on the first wheel by the first actuator.
A method for controlling an actuator of an active suspension system of a vehicle, the method comprising:
- estimating a slip ratio of a wheel of the vehicle at a given time;
- comparing the estimated slip ratio with a threshold slip ratio;
- and
- upon determining that the estimated slip ratio exceeds the threshold slip ratio:
- applying, with an actuator of the active suspension system, a force to the wheel of the vehicle to increase a total normal force applied to the wheel.
A method for controlling an active suspension system of a vehicle having a wheel, the method comprising:
- measuring an aspect of motion of a first portion of the vehicle;
- measuring one or more vehicle parameters, wherein the one or more vehicle parameters includes at least one of a fluidic pressure of a brake cylinder of the vehicle or a rate of change thereof, a position of the acceleration pedal or a rate of change thereof, a position of a brake pedal or a rate of change thereof, and/or a position of a steering wheel or a rate of change thereof;
- determining, based at least in part on a set of one or more vehicle parameters, a value of a gain;
- determining a command based at least in part on a product of the aspect of motion times the gain;
- outputting the command to an actuator of the active suspension system;
- and
- in response to the actuator receiving the command:
- applying, with the actuator of the active suspension system, an output force to a first portion of the vehicle.
Dependencies are inferred from the claim text.