Dynamically tunable combination reactive-proactive controller
AssigneeClearMotion, Inc.
InventorsWilliam Graves, Marco Giovanardi, Yu Jiang
Life of this patent
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Abstract
Combination reactive-proactive controllers and their use are described herein. In a first mode of operation, such controllers may rely simultaneously both a priori information about a road surface ahead of the vehicle obtained from a data base and real time information collected by one or more on-board sensors. Alternatively, in a second mode, such controllers may rely only on real time information collected by one or more on-board sensors. Systems controlled by such controllers may include, but are not limited to, active suspension actuators.
Claims41
A method of controlling a system, in a vehicle, with a combination reactive-proactive controller, when the vehicle is traveling along a road surface, the method comprising:
- in a first mode of operation:
- receiving a priori information from a database, about an aspect of a first portion of the road surface, at a microprocessor before arriving at the first portion of the road surface;
- operating the combination reactive-proactive controller in a reactive-proactive mode to formulate a first command based on the a priori information;
- and
- when the vehicle is at the first portion of the road surface, operating the system based on the first command;
- and
- in a second mode of operation:
- receiving information about an aspect of a second portion of the road surface from at least one on-board sensor, at a microprocessor, when the vehicle is at the first portion of the road surface;
- operating the combination reactive-proactive controller in a reactive-only mode to formulate a second command based on the information from the at least one sensor;
- and
- when the vehicle is at the second portion of the road surface, operating the system based on the second command.
A method of controlling a system, in a vehicle, with a first combination reactive-proactive controller and a second combination reactive-proactive controller, when the vehicle is traveling along a road surface, the method comprising:
- in a first mode of operation:
- receiving a priori information from a database, about an aspect of a first portion of the road surface, at a microprocessor before arriving at the first portion of the road surface;
- operating the first combination reactive-proactive controller in a reactive-proactive mode to formulate a first command, based on the a priori information, to control the system in a first frequency range;
- and
- operating the second combination reactive-proactive controller in a reactive-proactive mode to formulate a second command, based on the a priori information, to control the system in a second frequency range;
- when the vehicle is at the first portion of the road surface, operating the system based on the first command and the second command;
- and
- in a second mode of operation:
- receiving information about an aspect of a second portion of the road surface from at least one on-board sensor, at a microprocessor when the vehicle is at the second portion of the road surface;
- operating the first combination reactive-proactive controller in a reactive-only mode to formulate a third command based on the information from the at least one sensor, to control the system in a third frequency range;
- operating the second combination reactive-proactive controller in a reactive-only mode to formulate a fourth command based on the information from the at least one sensor, to control the system in a fourth frequency range;
- and
- when the vehicle is at the second portion of the road surface, operating the system based on the third and fourth command.
A method of controlling a system, in a vehicle, with a combination reactive-proactive controller, when the vehicle is traveling along a road surface, the method comprising:
- in a first mode of operation:
- controlling the system by operating the combination reactive-proactive controller in a reactive-proactive mode;
- and
- in a second mode of operation:
- controlling the system by operating the combination reactive-proactive controller in a reactive-only mode.
Dependencies are inferred from the claim text.