Active seat suspension with high frequency input cancellation
Embodiments related to the operation of an active seat suspension using prefiltered road data are described. In one embodiment, the prefiltered road data may be filtered to exclude road and/or driving inputs with low frequencies, or long length scales, such as hills or curves. Such an embodiment may at least partially reduce operation of an active seat suspension in response to these low frequency long length scale of inputs where displacements of the vehicle may be greater than a range of motion of the active seat suspension while still permitting the active seat suspension to respond to higher frequency inputs.
1 . An active seat suspension comprising:
one or more sensors configured to sense accelerations applied to a vehicle in one or more directions;
one or more actuators that control operation of the active seat suspension in one or more directions; and
a controller of the active seat suspension operatively coupled to the one or more sensors and the one or more actuators, wherein the controller is configured to control the one or more actuators to operate the active seat suspension based at least partly on the sensed accelerations and prefiltered road data located along a path of travel of the vehicle;
wherein the prefiltered road data comprises prefiltered acceleration data and/or prefiltered road height variations, wherein the prefiltered road data is lowpass filtered to at least partially exclude road inputs with frequencies in a distance domain less than 0.3 cycles/meter.
2 . The active seat suspension of claim 1 , wherein the controller is configured to control the one or more actuators to operate the active seat suspension based at least partly on a vehicle suspension transfer function.
3 . The active seat suspension of claim 2 , wherein the controller is configured to generate reference seat data by applying the vehicle suspension transfer function to the prefiltered road data, determine a corrected acceleration signal by subtracting the reference seat data from the sensed accelerations, and control operation of the active seat suspension based at least partly on the corrected acceleration signal.
4 . The active seat suspension of claim 1 , further comprising a vehicle localization system operatively coupled to the controller, wherein the vehicle localization system determines a localized position and the path of travel of the vehicle.
5 . The active seat suspension of claim 4 , further comprising memory including a map with the prefiltered road data, and wherein the controller is configured to select the prefiltered road data using the localized position and the path of travel of the vehicle relative to the map.
6 . The active seat suspension of claim 1 , wherein the controller is configured to transform the prefiltered road data between a distance domain and a time domain.
7 . The active seat suspension of claim 1 , wherein the controller is configured to determine a corrected acceleration signal by subtracting the prefiltered road data from the sensed accelerations.
8 . The active seat suspension of claim 7 , wherein the controller is configured to control operation of the active seat suspension based at least partly on the corrected acceleration signal.
9 . The active seat suspension of claim 1 , wherein the one or more sensors are configured to sense an acceleration applied to the vehicle in a vertical direction relative to a reference frame of the vehicle, and wherein the controller is configured to control operation of the active seat suspension in the vertical direction.
10 . The active seat suspension of claim 1 , wherein the one or more sensors are configured to sense an acceleration applied to the vehicle in a lateral direction relative to a reference frame of the vehicle, and wherein the controller is configured to control operation of the active seat suspension in a roll direction.
11 . An active seat suspension comprising:
one or more sensors configured to sense accelerations applied to a vehicle in one or more directions;
one or more actuators that control operation of the active seat suspension in one or more directions; and
a controller of the active seat suspension operatively coupled to the one or more sensors and the one or more actuators,
wherein the controller is configured to determine a corrected acceleration signal by subtracting prefiltered road data located along a path of travel of the vehicle from the sensed accelerations,
wherein the controller is configured to control the one or more actuators to operate the active seat suspension based at least partly on the corrected acceleration signal.
12 . The active seat suspension of claim 11 , further comprising memory including a map with the prefiltered road data.
13 . The active seat suspension of claim 12 , further comprising a vehicle localization system operatively coupled to the controller, wherein the vehicle localization system determines a localized position and the path of travel of the vehicle.
14 . The active seat suspension of claim 13 , wherein the controller is configured to select the prefiltered road data using the localized position and the path of travel of the vehicle relative to the map.
15 . The active seat suspension of claim 11 , wherein the prefiltered road data comprises prefiltered acceleration data and/or prefiltered road height variations.
16 . An active seat suspension comprising:
one or more sensors configured to sense accelerations applied to a vehicle in one or more directions;
one or more actuators that control operation of the active seat suspension in one or more directions; and
a controller of the active seat suspension operatively coupled to the one or more sensors and the one or more actuators, wherein the controller is configured to control the one or more actuators to operate the active seat suspension based at least partly on the sensed accelerations and road data comprising prerecorded road inputs located along a path of travel of the vehicle;
wherein the road data is prefiltered to reduce and/or remove prerecorded road inputs with frequencies greater than a threshold frequency and/or road inputs which occur over a length greater than a threshold length, wherein the road data is lowpass filtered to at least partially exclude prerecorded road inputs with frequencies in a distance domain less than 0.3 cycles/meter.
17 . The active seat suspension of claim 16 , further comprising memory including a map with the road data.
18 . The active seat suspension of claim 17 , further comprising a vehicle localization system operatively coupled to the controller, wherein the vehicle localization system determines a localized position and the path of travel of the vehicle.
19 . The active seat suspension of claim 18 , wherein the controller is configured to select the road data using the localized position and the path of travel of the vehicle relative to the map.
20 . The active seat suspension of claim 16 , wherein the controller is configured to transform the road data between a distance domain and a time domain.