Vehicle seat active suspension control based on vehicle position
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 of operating a suspension system of a vehicle, wherein the suspension system includes a controllable suspension element arranged to apply a force to a portion of the vehicle, and wherein the vehicle comprises at least one processor that outputs commands to the controllable suspension element, the method comprising:
determining a location of a vehicle;
determining a level of confidence of the determined location of the vehicle by the at least one processor;
determining a control signal by the at least one processor based at least in part on the determined location of the vehicle and the determined level of confidence of the determined location of the vehicle;
receiving the control signal at the controllable suspension element; and
adjusting a behavior of the controllable suspension element in response to the control signal.
2. The method of claim 1 , wherein the at least one processor determines the control signal using a feed-forward architecture.
3. The method of claim 2 wherein the at least one processor determines the control signal using a feedback architecture.
4. The method of claim 3 , wherein the at least one processor determines the control signal by:
determining, using the feed-forward architecture, a first potential control signal;
determining, using the feedback architecture, a second potential control signal; and
determining the control signal by calculating a weighted sum of the first potential control signal and the second potential control signal, wherein a relative weight assigned to the first potential control signal relative to the second potential control signal is determined based on the determined level of confidence.
5. The method of claim 4 wherein the relative weight is proportional to the level of confidence.
6. The method of claim 1 , wherein determining the 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.
7. The method of claim 1 , wherein determining the level of confidence 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
comparing the recorded sequence of sensor data to a known sequence of reference data, wherein the known sequence of reference data is associated with a given location, and wherein the level of confidence is determined based at least in part on the comparison.
8. The method of claim 7 , wherein comparing the sequence of sensor data to a known sequence of reference data comprises:
cross-correlating the recorded sequence of sensor data to the known sequence of reference data.
9. The method of claim 1 , further comprising obtaining information about a road, wherein determining the level of confidence is based on a correlation between the obtained road information and stored road information.
10. A method of operating an actuator of a vehicle, the method comprising:
determining a location of a vehicle;
determining a level of confidence of the determined location of the vehicle by at least one processor;
determining a desired force by the at least one processor based at least in part on the determined location of the vehicle and the determined level of confidence of the determined location of the vehicle;
receiving a control signal associated with the desired force at the actuator; and
applying the desired force to a portion of the vehicle with the actuator in response to the control signal.
11. The method of claim 10 wherein the at least one processor determines the desired force using a feed-forward architecture.
12. The method of claim 11 wherein the at least one processor determines the desired force using a feedback architecture.
13. The method of claim 12 , wherein the at least one processor determines the desired force by:
determining, using the feed-forward architecture, a first force;
determining, using the feedback architecture, a second force; and
determining the desired force by calculating a weighted sum of the first force and the second force, wherein a relative weight assigned to the first force relative to the second force is determined based on the level of confidence.
14. The method of claim 10 , wherein determining the 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.
15. The method of claim 10 , wherein calculating determining the level of confidence 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
comparing the recorded sequence of sensor data to a known sequence of reference data, wherein the known sequence of reference data is associated with a given location, and wherein the level of confidence is determined based at least in part on the comparison.
16. The method of claim 15 , wherein comparing the sequence of sensor data to a known sequence of reference data comprises:
cross-correlating the recorded sequence of sensor data to the known sequence of reference data.
17. The method of claim 10 , wherein the actuator is an active suspension system actuator.
18. The method of claim 10 , further comprising obtaining information about a road, wherein determining the level of confidence is based on a correlation between the obtained road information and stored road information.
19. A vehicle comprising:
a suspension system comprising a controllable suspension element arranged to apply a force to a portion of the vehicle; and
a controller in communication with the controllable suspension element, wherein the controller includes at least one processor, and wherein the controller is configured to:
determine a location of a vehicle;
determine a level of confidence of the determined location of the vehicle by the at least one processor; and
determine a control signal by the at least one processor and based at least in part on the determined location of the vehicle and the determined level of confidence of the determined location of the vehicle;
wherein the controllable suspension element is configured to receive the control signal and adjust a behavior in response to the control signal.
20. The vehicle of claim 19 , wherein the controllable suspension element is an actuator.
21. The vehicle of claim 19 , wherein the controller is further configured to obtain information about a road and to determine the level of confidence based on a correlation between the obtained road information and stored road information.