Active vehicle height control method
An active vehicle height control method may include securing a road surface profile for unevenness of a road ahead of a vehicle and forming a target vehicle height profile by filtering the road surface profile. In addition, a controller is configured to form a disturbance profile using the road surface profile and the target vehicle height profile. The controller estimates vehicle behavior for the disturbance profile. Furthermore, the controller determines an inverse-phase control force that minimizes the estimated vehicle behavior, and drives an actuator using the inverse-phase control force to adjust a height of the vehicle.
1. A vehicle height control method comprising:
securing, by a sensor, a road surface profile for unevenness of a road ahead of a vehicle;
forming a target vehicle height profile by filtering the road surface profile;
forming, by a controller, a disturbance profile using the road surface profile and the target vehicle height profile;
estimating, by the controller, vehicle behavior for the disturbance profile;
determining, by the controller, an inverse-phase control force that minimizes the estimated vehicle behavior; and
driving, by the controller, an actuator using the inverse-phase control force to adjust a height of the vehicle.
2. The vehicle height control method of claim 1 ,
wherein, in the forming of the target vehicle height profile, the target vehicle height profile is formed by applying a forward-backward filter configured in a sequence of a primary low-pass filter and a primary delay, a flip, and a secondary delay and a second low-pass filter.
3. The vehicle height control method of claim 2 ,
wherein the forward-backward filter is implemented by adjusting a cut-off frequency, a filter order, and a delay value to follow an optimization vehicle height profile determined by using a vehicle model and the road surface profile.
4. The vehicle height control method of claim 1 ,
wherein, in the forming of the disturbance profile, the disturbance profile is formed by subtracting the target vehicle height profile from the road surface profile.
5. A vehicle height control device, comprising:
a vision sensor that generates a road surface profile of a road surface ahead of a vehicle;
a forward-backward filter that forms a target vehicle height profile by filtering the road surface profile output from the vision sensor;
an actuator that is mounted in the vehicle and configured to adjust a height of the vehicle; and
a controller that forms a disturbance profile using the road surface profile and the target vehicle height profile, estimates vehicle behavior for the disturbance profile, determines an inverse-phase control force that minimizes the estimated vehicle behavior, and drives the actuator by using the inverse-phase control force.
6. The vehicle height control device of claim 5 ,
wherein the forward-backward filter is configured in a sequence of a primary low-pass filter and a primary delay, a flip, and a secondary delay and a second low-pass filter.
7. The vehicle height control device of claim 6 ,
wherein the controller is configured to form the disturbance profile by subtracting the target vehicle height profile from the road surface profile.