Lean-in cornering platform for a moving vehicle
View Patent ↗Systems and methods for improving ride quality of an active payload support system. In one example, a seat system for a vehicle includes a seat, a support structure including an actuator configured to rotate the seat about an axis of a pivot, a first sensor positioned to detect movement of the vehicle, and a controller configured to receive a first input from the first sensor, determine a cornering lateral acceleration of the vehicle in a direction perpendicular to an axis parallel to a direction of travel of the vehicle around a turn, the cornering lateral acceleration determined based at least on the first input, generate a command signal based at least on the cornering lateral acceleration to instruct an actuator to rotate the seat about the axis of the pivot in a direction of the turn, and provide a force command to the actuator to move the seat.
1. A method of controlling the movement of a seat coupled to a vehicle, the method comprising:
receiving a first input from at least a first sensor positioned to measure movement of the vehicle, wherein the first input includes a vehicle roll rate;
receiving a second input from at least a second sensor positioned to measure movement of the vehicle, wherein the second input includes a total lateral acceleration of the vehicle in a direction substantially perpendicular to an axis extending parallel to a direction of travel of the vehicle around a turn;
determining a distance between a first axis of a pivot about which the seat is configured to rotate, and a second axis about which the vehicle may rotate;
determining a cornering lateral acceleration of the vehicle in the direction substantially perpendicular to the axis extending parallel to the direction of travel of the vehicle around the turn, the cornering lateral acceleration being determined based at least in part on the total lateral acceleration, the vehicle roll rate, and the distance between the first axis and the second axis;
generating a command signal based at least in part on the cornering lateral acceleration of the vehicle to instruct an actuator coupled to the seat to rotate the seat about the first axis of the pivot in substantially a direction of the turn; and
providing a force command to the actuator to move the seat based on the command signal.
2. The method of claim 1 , further comprising adjusting a gain of the command signal responsive to receiving a responsiveness command.
3. The method of claim 2 , wherein the responsiveness command includes a user input.
4. A seat system for a vehicle, comprising:
a seat;
a support structure coupled to the seat and including an actuator configured to rotate the seat about a first axis of a pivot;
a first sensor positioned to detect movement of the vehicle; and
a controller configured to:
receive a first input from the first sensor, wherein the first input includes a vehicle roll rate;
receive a second input from a second sensor positioned to measure movement of the vehicle, wherein the second input includes a total lateral acceleration of the vehicle in a direction substantially perpendicular to an axis extending parallel to a direction of travel of the vehicle around a turn;
determine a distance between the first axis of the pivot and a second axis about which the vehicle may rotate;
determine a cornering lateral acceleration of the vehicle in a direction substantially perpendicular to the axis extending parallel to the direction of travel of the vehicle around the turn, the cornering lateral acceleration being determined based at least in part on the total lateral acceleration, the vehicle roll rate, and the distance between the first axis and the second axis;
generate a command signal based at least in part on the cornering lateral acceleration of the vehicle to instruct the actuator to rotate the seat about the first axis of the pivot in substantially a direction of the turn; and
provide a force command to the actuator to move the seat based on the command signal.
5. The seat system of claim 4 , wherein the controller is further configured to adjust a gain of the command signal responsive to receiving a responsiveness command.
6. The seat system of claim 5 , wherein the responsiveness command includes a user input.
7. A seat for a vehicle, comprising:
a seat; and
a controller configured to:
receive a first input of detected movement of the vehicle, wherein the first input includes the vehicle roll rate;
receive a second input of detected movement of the vehicle, wherein the second input includes a total lateral acceleration of the vehicle in a direction substantially perpendicular to an axis extending parallel to a direction of travel of the vehicle around a turn;
determine a distance between a first axis of a pivot about which the seat is configured to rotate, and a second axis about which the vehicle may rotate;
determine a cornering lateral acceleration of the vehicle in the direction substantially perpendicular to the axis extending parallel to the direction of travel of the vehicle around the turn, the cornering lateral acceleration being determined based at least in part on the total lateral acceleration, the vehicle roll rate, and the distance between the first axis of the pivot and the second axis;
generate a command signal based at least in part on the cornering lateral acceleration of the vehicle to instruct an actuator coupled to the seat to rotate the seat about the first axis of the pivot in substantially a direction of the turn; and
provide a force command to the actuator to move the seat based on the command signal.
8. The seat of claim 7 , wherein the controller is further configured to adjust a gain of the command signal responsive to receiving a responsiveness command.
9. The method of claim 1 , further comprising adjusting a gain multiplier to adjust a gain of the command signal.
10. The method of claim 9 , wherein adjusting the gain multiplier includes adjusting the gain multiplier based at least in part on a speed of the vehicle.
11. The method of claim 1 , wherein generating the command signal to instruct the actuator coupled to the seat to rotate the seat about the first axis of the pivot in substantially the direction of the turn includes generating the command signal to instruct the actuator to lean-in the seat in substantially the direction of the turn.
12. The method of claim 1 , further comprising controlling the actuator coupled to the seat to reposition the seat at a level position after the vehicle has returned to a straight course of travel.
13. The method of claim 1 , wherein receiving the second input from at least the second sensor positioned to measure movement of the vehicle includes receiving the second input from a lateral accelerometer positioned at substantially the same location as the first axis of the pivot.
14. The seat system of claim 4 , wherein the controller is further configured to adjust a gain multiplier to adjust a gain of the command signal.
15. The seat system of claim 14 , further comprising a speed sensor configured to measure a speed of the vehicle, wherein the controller is further configured to adjust the gain multiplier based at least in part on the speed of the vehicle.
16. The seat system of claim 4 , wherein in generating the command signal to instruct the actuator to rotate the seat about the first axis of the pivot in substantially the direction of the turn the controller is configured to generate the command signal to instruct the actuator to lean-in the seat in substantially the direction of the turn.
17. The seat system of claim 4 , wherein the controller is further configured to instruct the actuator to reposition the seat at a level position after the vehicle has returned to a straight course of travel.
18. The seat system of claim 4 , wherein the first sensor is a roll rate gyroscope.
19. The seat system of claim 4 , further comprising the second sensor, wherein the second sensor is a lateral accelerometer.
20. The seat system of claim 19 , wherein the lateral accelerometer is positioned at substantially the same location as the first axis of the pivot.
21. The seat of claim 8 , wherein the responsiveness command includes a user input.
22. The seat of claim 7 , wherein the controller is further configured to adjust a gain multiplier to adjust a gain of the command signal.
23. The seat of claim 22 , further comprising a speed sensor configured to measure a speed of the vehicle, wherein the controller is further configured to adjust the gain multiplier based at least in part on the speed of the vehicle.
24. The seat of claim 7 , wherein in generating the command signal to instruct the actuator coupled to the seat to rotate the seat about the first axis of the pivot in substantially the direction of the turn the controller is configured to generate the command signal to instruct the actuator to lean-in the seat in substantially the direction of the turn.
25. The seat of claim 7 , wherein the controller is further configured to instruct the actuator to reposition the seat at a level position after the vehicle has returned to a straight course of travel.
26. The seat of claim 7 , wherein the controller is configured to receive the second input from a lateral accelerometer positioned at substantially the same location as the first axis of the pivot.