JP-7854978-B2 - Integrated vehicle braking system

Inventors

• チェン，アレン，チャン－ハオ

Assignees

• クリアモーション，インコーポレイテッド

Dates

Publication Date

20260507

Application Date

20210709

Priority Date

20200710

Claims (20)

1. The first wheel and, The second wheel, A braking system configured to apply braking force to the first wheel and the second wheel, An active suspension system operably coupled to the first wheel and the second wheel, configured to apply an active force to the first wheel and the second wheel in at least one operating mode to adjust the normal component of the first wheel contact force between the first wheel and the road surface, and to adjust the normal component of the second wheel contact force between the second wheel and the road surface, A forward monitoring sensor configured to detect forward monitoring road information, At least one processor configured to control the braking system and the active suspension system, The forward monitoring road information is received from the forward monitoring sensor. A vehicle comprising at least one processor configured to coordinately control the braking system and the active suspension system to adjust the pitch of the vehicle, at least in part, based on the sensed forward-monitoring road information.
2. The vehicle according to claim 1, wherein the first wheel is the front wheel of the vehicle, the second wheel is the rear wheel of the vehicle, and the first and second wheels are positioned at opposite corners of the vehicle.
3. The vehicle according to claim 2, wherein the at least one processor is configured to control the active suspension system to increase the normal component of the first wheel and the normal component of the second wheel based on the forward-monitoring road information.
4. The vehicle according to claim 3, wherein the forward-monitoring road information includes road disturbances.
5. The vehicle according to claim 4, wherein the road disturbance is a change in road surface friction relative to the nominal road friction.
6. The vehicle according to claim 3, wherein the forward-facing road monitoring information includes a turning section.
7. The vehicle according to claim 1, wherein the first wheel is the first front wheel of the vehicle, and the second wheel is the second front wheel of the vehicle.
8. The vehicle according to claim 7, wherein the forward-monitoring road information includes road disturbances, and the at least one processor is configured to control the active suspension system to temporarily increase the normal component of the first wheel contact force and the normal component of the second wheel contact force based on the road disturbances.
9. The vehicle according to claim 7, wherein the at least one processor is configured to determine that a braking event is in progress, the at least one processor is configured to determine the pitch frequency of the vehicle based on the braking event, and the at least one processor is configured to control the active suspension system to adjust the pitch of the vehicle based on the determined pitch frequency.
10. The vehicle according to claim 1, wherein the first wheel is a first side wheel of the vehicle, the second wheel is a second side wheel of the vehicle positioned on the same side of the vehicle, and the at least one processor is configured to control the active suspension system to adjust the roll of the vehicle.
11. The vehicle according to claim 10, wherein the forward-monitoring road information includes road disturbances, and the at least one processor is configured to control the active suspension system to temporarily increase the normal component of the first wheel contact force and the normal component of the second wheel contact force based on the road disturbances.
12. The aforementioned at least one processor, It was determined that a braking event was in progress. Determine the expected response of the vehicle during the braking event, A vehicle according to any one of claims 1 to 8 or 10 or 11, configured to control the braking system and the active suspension system based on the expected response.
13. The vehicle according to claim 1, wherein the forward-monitoring road information includes road disturbances with disturbance size, the at least one processor is configured to determine whether the disturbance size exceeds an activation threshold, and the at least one processor is configured to disable the active suspension system if the disturbance size does not exceed an activation threshold during the duration of a braking event .
14. The vehicle according to any one of claims 1 to 11, wherein the forward-facing monitoring sensor is a LIDAR.
15. The vehicle according to any one of claims 1 to 11, wherein the forward-facing monitoring sensor is at least one camera.
16. A method for controlling a vehicle including a braking system and an active suspension system, To determine that a braking event is in progress, To determine the pitch frequency of the pitch vibration of the aforementioned vehicle, A method comprising adjusting the normal component of the wheel force in one or more wheels using the active suspension system to dampen the pitch vibration at the pitch frequency during the braking event.
17. The method according to claim 16, further comprising sensing forward-monitoring road information with a forward-monitoring sensor, wherein the determination of the pitch frequency is at least partially based on the forward-monitoring road information.
18. The method according to claim 16 or 17, further comprising obtaining reference road information, wherein determining the pitch frequency is at least partially based on the reference road information.
19. The method according to claim 18, wherein acquiring the reference road information includes receiving the reference road information from a second vehicle located in front of the vehicle.
20. To determine the braking force requirement, Determining whether the braking force request exceeds the threshold braking force, The method according to any one of claims 16 to 17, further comprising: disabling the active suspension system for the duration of the braking event if it is determined that the braking force request does not exceed the threshold braking force.

Description

Related applications [0001] This application claims the benefit of priority under Section 119(e) of U.S. Patent Application No. 63/050,706, filed on 10 July 2020, the disclosures of which are incorporated herein by reference in their entirety. field [0002] The disclosed embodiments relate to an integrated vehicle braking system, an active suspension system, and related methods of use. background [0003] Conventional vehicle braking systems are designed to reduce the speed of a vehicle or to bring the vehicle to a stop. Most braking systems work by applying a delayed torque to one or more of the vehicle's wheels, and thus causing a longitudinal slip (e.g., along the direction of travel of the vehicle) in the tire at the point of contact with the ground (e.g., the tire's contact patch). This slip generates a longitudinal force related to the normal load and the coefficient of friction between the tire and the ground. [0012] This is a block diagram of one embodiment of a vehicle including a vehicle control system and a vehicle output unit for the vehicle control system.[0013] This is a schematic diagram of the vehicle shown in Figure 1.[0014]Graphs of wheel slip ratio versus longitudinal force with respect to various wheel normal forces, according to several exemplary embodiments.[0015] This is a schematic diagram of one embodiment of a vehicle and road in a first state.[0016] This is a schematic diagram of the vehicle and road in Figure 4A in the second state.[0017] This is a schematic diagram of the vehicle and road in Figure 4A in the third state.[0018] A graph of torsional force versus stopping distance applied to a vehicle with an active suspension, according to several exemplary embodiments.[0019]Graphs of torsional force versus steering wheel torque applied to a vehicle with an active suspension, according to some exemplary embodiments.[0020]This is a flowchart of one embodiment of a method for controlling a vehicle.[0021] This is a schematic diagram of one embodiment of a vehicle and road in a first state.[0022] This is a schematic diagram of the vehicle and road in Figure 8A in the second state.[0023] This is a schematic diagram of the vehicle and road in Figure 8A in the third state.[0024] This is a schematic diagram of the vehicle and road in Figure 8A in the fourth state.[0025]This is a flowchart of another embodiment of the method for controlling the vehicle.[0026]This is a flowchart of yet another embodiment of a method for controlling a vehicle.[0027] This is a schematic diagram of one embodiment of the vehicle in a first state.[0028] This is a schematic diagram of the vehicle in Figure 11A in the second state.[0029] This is a schematic diagram of the vehicle in the third state shown in Figure 11A.[0030] This is a schematic diagram of the vehicle in Figure 11A in the fourth state.[0031]This is a flowchart of yet another embodiment of a method for controlling a vehicle. Detailed description of the invention [0032] In conventional automotive systems, key subsystems of the vehicle, such as brake controllers or traction control systems, are designed separately and then combined when integrated into the vehicle. Such subsystems may not interact with each other substantially and may not be controlled based on the combined dynamics affecting each individual subsystem. Furthermore, these subsystems may not be controlled based on the combined effect of each subsystem on the overall dynamics of the vehicle. In conventional automotive systems, the brake controller may be solely responsible for controlling the vehicle during braking events. [0033] In view of the above, the inventors have come to recognize the advantages of a combined vehicle control system that incorporates overall vehicle dynamics due to the presence of strong interactions between automotive subsystems. In particular, the inventors have come to recognize the advantages of a combined vehicle control system that integrates a brake system and an active suspension system to improve average traction and/or vehicle handling during braking events. Furthermore, a combined vehicle control system may be employed to improve traction and handling in situations of low road friction (e.g., caused by road disturbance or road surface conditions). [0034] In some embodiments, a vehicle control system is provided for a vehicle having a braking system and an active suspension system. The braking system may be configured to apply braking force to one or more wheels of the vehicle (e.g., four wheels). The active suspension system may be operably coupled to one or more wheels and may be configured to apply an active force to one or more wheels in at least one operating mode to adjust the normal component of the wheel contact force between one or more wheels and the road surface. The vehicle control system may be configured to control the braking system and the active suspension system in combination to improve the functionality of a single subsystem or both subsy