Active safety suspension system
In some embodiments, a rapid-response active suspension system controls suspension force and position for improving vehicle safety and drivability. The system may interface with various sensors that detect safety critical vehicle states and adjust the suspension of each wheel to improve safety. Pre-crash and collision sensors may notify the active suspension controller of a collision and the stance may be adjusted to improve occupant safety during an impact while maintaining active control of the wheels. Wheel forces may also be controlled to improve the effectiveness of vehicle safety systems such as ABS and ESP in order to improve traction. Also, bi-directional information may be communicated between the active suspension system and other vehicle safety systems such that each system may respond to information provided to the other.
1 . A method of operating an active suspension system of a vehicle that includes the active suspension system, wherein the active suspension system includes a plurality of actuators, the method comprising:
determining, with at least one controller, an existence of a vehicle state wherein additional normal force is needed at least at one actuator of a first pair of diagonally opposed actuators corresponding to a first pair of diagonally opposed wheels, the first pair of diagonally opposed wheels including a first wheel and a third wheel of the vehicle; and
commanding, with the at least one controller, a second pair of diagonally opposed actuators corresponding to a second pair of diagonally opposed wheels of the vehicle to decrease an actuator force on the second pair of diagonally opposed wheels, wherein the second pair of diagonally opposed wheels include a second wheel and a fourth wheel of the vehicle,
wherein the commanding further comprises holding an overall vertical force on the vehicle effectively constant by balancing an increase in a force applied to the first pair of diagonally opposed wheels with a decrease in a force applied to the second pair of diagonally opposed wheels.
2 . The method of claim 1 , wherein the decrease in actuator force on the second pair of diagonally opposed wheels includes offloading the second pair of wheels.
3 . The method of claim 1 , wherein during and/or after commanding a decrease in an actuator force on the second pair of actuators, commanding an increase in an actuator force on the first pair of actuators.
4 . The method of claim 1 , wherein the decrease in actuator force on the second pair of actuators decreases the normal force on the second pair of diagonally opposed wheels and increases the normal force on the first pair of diagonally opposed wheels.
5 . The method of claim 1 , wherein the first pair of diagonally opposed wheels correspond to first pair of opposite corners of vehicle and the second pair of diagonally opposed wheels correspond to a second pair of opposite corners of vehicle.
6 . The method of claim 1 , wherein the commanding further comprises shifting a portion of the normal force from the first pair of diagonally opposed wheels to the second pair of diagonally opposed wheels.
7 . The method of claim 1 , wherein the commanding further comprises maintaining a total vertical force on the vehicle.
8 . The method of claim 1 , wherein the determining the existence of the vehicle state is selected from a group consisting of: determining that the vehicle is turning, determining that one or more wheels is experiencing a tire blowout, and/or determining that one or more wheels is slipping.
9 . A method of operating an active suspension system of a vehicle that includes the active suspension system, wherein the active suspension system includes a plurality of actuators, the method comprising:
determining, with at least one controller, an existence of a vehicle state wherein additional normal force is needed at least at one actuator of a first pair of diagonally opposed actuators corresponding to a first pair of diagonally opposed wheels, the first pair of diagonally opposed wheels including a first wheel and a third wheel of the vehicle; and
commanding, with the at least one controller, the first pair of diagonally opposed actuators and/or a second pair of diagonally opposed actuators corresponding to a second pair of diagonally opposed wheels of the vehicle, to maintain a total normal force on the vehicle applied with the first pair of diagonally opposed actuators and the second pair of diagonally opposed actuators effectively constant,
wherein maintaining the total normal force effectively constant includes applying additional normal force on the first pair of diagonally opposed wheels while reducing the normal force on the second pair of diagonally opposed wheels.
10 . The method of claim 9 , wherein the maintaining a total normal force comprises creating a twist force on a chassis of the vehicle.
11 . The method of claim 10 , wherein the twist force creates a twist of warp on the chassis.
12 . The method of claim 9 , wherein the maintaining a total normal force comprises balancing an increase in the amount of force applied at the first pair of diagonally opposed wheels with a decrease in the force applied to the second pair of diagonally opposed wheels.
13 . The method of claim 9 , wherein the maintaining a total normal force comprises balancing an increase in the amount of force applied at the second pair of diagonally opposed wheels with a decrease in the force applied to the first pair of diagonally opposed wheels.