Vehicle seat active suspension control based on vehicle position
View Patent ↗A system and method that establishes a confidence in a vehicle position determined by a vehicle position determination system and uses the established confidence to change a behavior of an active suspension system of a plant in the vehicle.
1. A method for controlling an active suspension system of a seat in a vehicle, the method comprising:
determining an approximate location of the vehicle;
calculating a level of confidence associated with the determined approximate location; and
controlling the active suspension system of the seat based at least in part on the determined approximate location and the calculated level of confidence.
2. The method of claim 1 wherein controlling the active suspension system comprises:
determining, by a controller, a command signal; and
transmitting the control signal from the controller to an actuator of the active suspension system.
3. The method of claim 2 wherein determining, by the controller, the command signal comprises determining, using a feed-forward control algorithm, a first command based on the approximate location of the vehicle.
4. The method of claim 3 wherein determining, by the controller, the command signal further comprises:
sensing a first parameter, wherein the first parameter is one of motion of a first component of the vehicle relative to a second component of the vehicle and position of the first component of the vehicle relative to the second component of the vehicle; and
determining, using a feedback control algorithm, a second command based on the sensed first parameter.
5. The method of claim 4 , wherein determining, by the controller, the command signal further comprises calculating a weighted sum of the first command and the second command, wherein a weight assigned to the first command is based on the level of confidence.
6. The method of claim 5 wherein the weight assigned to the first command is proportional to the level of confidence.
7. The method of claim 5 wherein the first component of the vehicle is the seat of the vehicle.
8. The method of claim 2 wherein determining the approximate location of the vehicle comprises:
determining an initial vehicle location estimate using a global positioning system (GPS),
recording a sequence of sensor data from one or more sensors attached to the vehicle, and
refining the initial vehicle location estimate by performing pattern matching to correlate the recorded sequence of sensor data to a known sequence contained in reference data.
9. The method of claim 8 wherein the reference data comprises a plurality of sequences consisting of n numbers, and wherein the pattern matching is performed by
(a) multiplying a sequence of the plurality of sequences by a corresponding sequence of n numbers obtained from the recorded sequence of sensor data,
(b) summing the results of the n multiplications,
(c) repeating steps (a)-(b) using a different sequence of the plurality of sequences, and
(d) identifying the specific sequence of the plurality of sequences for which the sum of the n multiplications has a peak value.
10. The method of claim 2 , wherein determining the command signal comprises:
determining, using a feed-forward control algorithm, a first command based on the approximate position of the vehicle;
sensing at least one of motion of a component of the vehicle and position of the component of the vehicle;
determining, using a feedback control algorithm, a second command based on the sensed at least one of motion of the component and position of the component; and
calculating a weighted sum of the first command and the second command, wherein a weight assigned to the first command is based on the level of confidence.
11. A system for suspending seat relative to a floor of a vehicle, the system comprising:
an active suspension that includes at least one actuator positioned to apply a force to the seat;
a sensor configured to sense a first parameter, wherein the first parameter is one of motion of the seat relative to the floor and position of the seat relative to the floor;
a non-transitory memory that stores road trajectory information;
a vehicle position determination system configured to determine an approximate location of the vehicle; and
a controller in communication with the sensor, the memory, the at least one actuator of the active suspension, and the vehicle position determination system, wherein the controller is configured to:
predict, based at least in part on the approximate location of the vehicle and a portion of the road trajectory information stored in the memory, an upcoming road trajectory;
calculate a first level of confidence associated with the predicted upcoming road trajectory;
determine, based at least in part on the first level of confidence, a command signal for the at least one actuator of the active suspension.
12. The system of claim 11 wherein the controller is configured to:
determine, using a first feed-forward algorithm, a first command based at least in part on the approximate location of the vehicle;
determine, using a feedback algorithm, a second command based at least in part on the first parameter; and,
determine the command signal by calculating a weighted sum of the first command and the second command, wherein a weight assigned to the first command is based on the first level of confidence.
13. The system of claim 11 , wherein the vehicle position determination system is further configured to determine a second level of confidence associated with the approximate location of the vehicle; and wherein the controller is configured to determine, based in part on the second level of confidence, the command signal.