Lean-in cornering platform for a moving vehicle
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 a movement of a seat coupled to a vehicle, the method comprising:
receiving a first input from at least a first sensor positioned to measure a movement of the vehicle;
receiving a second input from at least a second sensor positioned to measure the movement of the vehicle;
wherein the first input includes a measure of vehicle roll rate, and the second input includes a measure of total lateral acceleration of the vehicle;
determining a cornering lateral acceleration of the vehicle when the vehicle is cornering, the cornering lateral acceleration being determined based at least in part on the first input and the second input;
generating a first command signal based at least in part on the cornering lateral acceleration of the vehicle; and
with the first command signal, instructing at least a first actuator coupled to the seat to apply a force between the seat and a floor of the vehicle to cause the seat to lean into a turn.
2. The method of claim 1 , wherein the total lateral acceleration is also based on a distance between a roll axis of the seat and a roll axis of the vehicle.
3. A seat system for a vehicle, comprising:
a seat;
an actuator coupled to the seat and a floor of the vehicle; and
a controller configured to:
receive a first input related to a first measure of a movement of the vehicle;
receive a second input related to a second measure of the movement of the vehicle;
wherein the first input includes the vehicle roll rate, and the second input includes a total lateral acceleration of the vehicle;
determine a cornering lateral acceleration of the vehicle when the vehicle is cornering is based at least in part on the first input and the second input;
generate a command signal based at least in part on the cornering lateral acceleration to instruct at least a first actuator coupled to the seat to apply a force between the seat and the floor of the vehicle to cause the seat to lean into a turn.
4. The seat system of claim 3 , wherein the first input includes a vehicle roll rate, and the second input includes a total lateral acceleration of the vehicle, and wherein the cornering lateral acceleration is determined partly based on the first input, the second input, and on a distance between a roll axis of the seat and a roll axis of the vehicle.
5. The seat system of claim 3 , wherein the first input includes a vehicle yaw rate and the second input includes a vehicle speed, wherein the controller is configured to determine the cornering lateral acceleration based at least in part on the yaw rate and the vehicle speed.
6. The seat system of claim 3 , wherein the first input includes a steering wheel angle and the second input includes a vehicle speed, wherein the controller is configured to determine the cornering lateral acceleration based at least in part on the steering wheel angle and vehicle speed.
7. A vehicle comprising:
a seat;
at least one actuator coupled to the seat, wherein the at least one actuator is configured to rotate the seat about a roll axis;
a first sensor configured to measure a roll rate of the vehicle;
a second sensor configured to measure a total lateral acceleration of the vehicle; and
a controller configured to receive a first input from the first sensor and a second input from the second sensor and to calculate a cornering lateral acceleration of the vehicle based on the first input and the second input;
wherein the controller generates a command signal based on the cornering lateral acceleration and provides a force command to the at least one actuator, based on the lateral acceleration, to lean the seat into a turn during a turning event.
8. The seat system of claim 7 , wherein the command signal is limited based on a predetermined maximum command angle.