Surface vehicle vertical trajectory planning
View Patent ↗An active suspension system for a vehicle including elements for developing and executing a trajectory plan responsive to the path on which the vehicle is traveling. The system may include a location system for locating the vehicle, and a system for retrieving a road profile corresponding to the vehicle location.
1. A vehicle suspension system for a surface vehicle having a payload compartment and a surface engaging device, comprising:
a sensor for acquiring vertical deflection data;
a controllable suspension element for applying a force between said payload compartment and said surface engaging device;
a profile storage device for storing a plurality of profiles of paths,
said profiles including vertical deflection data; and
a profile retrieving microprocessor coupled to said controllable suspension element and to said profile storage device for retrieving from said profile storage device one of said profiles; and
a microprocessor to compare said acquired vertical deflection data with stored profiles of vertical deflection data and to control said controllable suspension element based one of said stored profile that corresponds to a path along which said vehicle is traveling,
wherein said profile storage device is located remotely from said surface vehicle.
2. A vehicle suspension system for a surface vehicle having a payload compartment and a surface engaging device, comprising:
a sensor for acquiring vertical deflection data;
a controllable suspension element for applying a force between said payload compartment and said surface engaging device;
a profile storage device for storing a plurality of profiles of paths,
said profiles including vertical deflection data; and
a profile retrieving microprocessor coupled to said controllable suspension element and to said profile storage device for retrieving from said profile storage device one of said profiles; and
a microprocessor to compare said acquired vertical deflection data with stored profiles of vertical deflection data and to control said controllable suspension element based one of said stored profile that corresponds to a path along which said vehicle is traveling,
wherein said profile retrieving microprocessor is located remotely from said surface vehicle.
3. A vehicle suspension system for a surface vehicle having a payload compartment and a surface engaging device, comprising:
a sensor for acquiring vertical deflection data;
a controllable suspension element for applying a force between said payload compartment and said surface engaging device;
a profile storage device for storing a plurality of profiles of paths,
said profiles including vertical deflection data; and
a profile retrieving microprocessor coupled to said controllable suspension element and to said profile storage device for retrieving from said profile storage device one of said profiles; and
a microprocessor to compare said acquired vertical deflection data with stored profiles of vertical deflection data and to control said controllable suspension element based one of said stored profile that corresponds to a path along which said vehicle is traveling.
4. A vehicle suspension system in accordance with claim 3 and further comprising
a locator system, coupled to said microprocessor for determining the location of said surface vehicle.
5. A vehicle suspension for a surface vehicle having a payload compartment and a surface engaging device, comprising:
a sensor for acquiring vertical deflection data;
a controllable suspension element for applying a force between said payload compartment and said surface engaging device;
a profile storage device for storing a plurality of profiles of paths,
said profiles including vertical deflection data; and
a profile retrieving microprocessor coupled to said controllable suspension element and to said profile storage device for retrieving from said profile storage device one of said profiles;
said one profile that corresponding to a path on which said vehicle is traveling wherein said microprocessor is adapted to modify said profile and to store said modified profile in said profile storage device.
6. A vehicle suspension system for a surface vehicle having a payload compartment and a surface engaging device, comprising:
a sensor for acquiring vertical deflection data;
a controllable suspension element for applying a force between said payload compartment and said surface engaging device;
a profile storage device for storing a plurality of profiles of paths,
said profiles including vertical deflection data; and
a profile retrieving microprocessor coupled to said controllable suspension element and to said profile storage device for retrieving from said profile storage device one of said profiles;
a microprocessor to compare said acquired vertical deflection data with stored profiles of vertical deflection data and to control said controllable suspension element based one of said stored profile that corresponds to a path along which said vehicle is traveling; and
a trajectory plan developing microprocessor for developing a trajectory plan corresponding to said retrieved profile.
7. A vehicle suspension system for a surface vehicle having a payload compartment and a surface engaging device, comprising:
a sensor for acquiring vertical deflection data;
a controllable suspension element for applying a force between said payload compartment and said surface engaging device;
a profile storage device for storing a plurality of profiles of paths,
said profiles including vertical deflection data; and
a profile retrieving microprocessor coupled to said controllable suspension element and to said profile storage device for retrieving from said profile storage device one of said profiles;
a microprocessor to compare said acquired vertical deflection data with stored profiles of vertical deflection data and to control said controllable suspension element based one of said stored profile that corresponds to a path along which said vehicle is traveling; and
a trajectory plan developing microprocessor for developing a trajectory plan corresponding to said retrieved profile;
a control processor for issuing command signals to said controllable suspension element to execute said trajectory plan.
8. An active suspension system for a surface vehicle for operating on a path, comprising,
an active suspension;
a profile sensor for sensing a profile of said path;
a road profile storage device for storing a database of path profiles; and
a path profile microprocessor coupled to said storage device and to said profile sensor for comparing said sensed profile with said database of path profiles.
9. An active suspension system in accordance with claim 8 ,
wherein said road profile storage device is located remotely from said surface vehicle.
10. An active suspension system in accordance with claim 8 ,
wherein said road profile microprocessor is located remotely from said surface vehicle.
11. An active suspension system in accordance with claim 8 and further comprising,
a trajectory plan storage device for storing a database of trajectory plans, said trajectory plans corresponding to said road profiles;
a trajectory plan microprocessor coupled to said storage device and to said road profile microprocessor and responsive to said road profile microprocessor for retrieving one of said trajectory plans and for communicating instruction signals based on said one of said trajectories to said active suspension.
12. An active suspension system in accordance with claim 11 , wherein said trajectory plan storage device is located remotely from said surface vehicle.
13. An active suspension system in accordance with claim 11 , wherein said trajectory plan microprocessor is located remotely from said surface vehicle.
14. An active suspension system in accordance with claim 8 and further comprising,
a trajectory plan development microprocessor coupled to said active suspension for developing a vertical trajectory plan for said sensed profile.