Methods for creating clearance beneath vehicle wheels
A control system ( 300 ) for controlling an active suspension system ( 104 ) of a vehicle ( 100 ), the control system comprising one or more controller ( 301 ), wherein the control system is configured to: determine ( 804 ) that an entry condition is satisfied; in dependence on satisfaction of the entry condition, transmit ( 806 ) a request to the active suspension system to create clearance beneath a first wheel (FL, RR) of the vehicle but not create clearance beneath a plurality of other wheels (FR, RL) of the vehicle.
1 . A control system for controlling an active suspension system of a vehicle, the control system comprising one or more controller, wherein the control system is configured to:
determine that an entry condition is satisfied;
in dependence on satisfaction of the entry condition, transmit a request to the active suspension system to create clearance beneath a first wheel of the vehicle but not create clearance beneath a plurality of other wheels of the vehicle, wherein the first wheel is at a first lateral side of the vehicle and at a first longitudinal end of the vehicle, and the plurality of other wheels comprise at least a second wheel at a second lateral side of the vehicle and at the first longitudinal end of the vehicle, and a third wheel at the first lateral side of the vehicle and at a second longitudinal end of the vehicle; and
transmit a second request to the active suspension system to create clearance beneath the second wheel but not create clearance beneath at least the first wheel and a fourth wheel, wherein the fourth wheel is at the second lateral side of the vehicle and at the second longitudinal end of the vehicle, diagonally opposite the first wheel.
2 . The control system of claim 1 , wherein the request is configured to control a suspension actuator of the first wheel to lift the first wheel, and optionally wherein the request is configured to control suspension actuators of the plurality of other wheels to increase clearance beneath the first wheel.
3 . The control system of claim 1 , wherein the request is configured to create clearance beneath the first wheel but not beneath the second wheel, the third wheel, and a fourth wheel of the vehicle, wherein the fourth wheel is at the second lateral side and at the second longitudinal end, diagonally opposite the first wheel.
4 . The control system of claim 3 , wherein the second request is configured to create clearance beneath wheels of a diagonal pair of wheels comprising the second wheel and the third wheel or wherein the second request is configured to create clearance beneath the second wheel but not create clearance beneath the first wheel, the third wheel and the fourth wheel, and wherein the control system is configured to:
transmit a third request to the active suspension system to create clearance beneath the third wheel but not create clearance beneath the first, second and fourth wheels; and
transmit a fourth request to the active suspension system to create clearance beneath the fourth wheel but not create clearance beneath the first, second and third wheels.
5 . The control system of claim 1 , wherein the request comprises a force request configured to overcome restoring force associated with the first wheel, to substantially remove a contact patch beneath the first wheel.
6 . The control system of claim 1 , configured to control the active suspension system to cause a spring rate associated with the first wheel to have a reduced value when the active suspension system creates the clearance.
7 . The control system of claim 1 , wherein satisfaction of the entry condition comprises receiving a user-initiated request to create the clearance beneath the first wheel and optionally wherein the user-initiated request is configured to identify the first wheel as a user-selected wheel and/or wherein the control system is configured to control selection of the first wheel in response to the user-initiated request.
8 . The control system of claim 1 , wherein satisfaction of the entry condition requires determining that the vehicle is not moving.
9 . A vehicle comprising the control system of claim 1 .
10 . The control system of claim 1 , wherein satisfaction of the entry condition requires one or more of:
determining that vehicle doors are closed;
determining that one or more occupants are inside the vehicle; or
determining that the vehicle is secured against movement.
11 . The control system of claim 1 , configured to maintain the request to maintain the clearance beneath the first wheel for not more than a set duration or until a second condition is satisfied.
12 . The control system of claim 11 , wherein the second condition is:
a transition condition configured to create clearance beneath a different wheel of the vehicle; or
an exit condition dependent on at least a user-initiated termination request.
13 . The control system of claim 12 , wherein satisfaction of the transition condition is dependent on a user-initiated request.
14 . The control system of claim 12 , wherein satisfaction of the transition condition requires determining that the vehicle is not moving.
15 . The control system of claim 1 , configured to transmit a request to a torque source to rotate the first wheel by a rotation of less than one full rotation, while the request for clearance beneath the first wheel is maintained.
16 . The control system of claim 15 , configured to transmit a time-varying request to the active suspension system for causing oscillation of the first wheel while the first wheel is rotated.
17 . A method of controlling an active suspension system of a vehicle, the method comprising:
determining that an entry condition is satisfied; and
in dependence on satisfaction of the entry condition, transmitting a request to the active suspension system to create clearance beneath a first wheel of the vehicle but not create clearance beneath a plurality of other wheels of the vehicle, wherein the first wheel is at a first lateral-side of the vehicle and at a first longitudinal end of the vehicle, and the plurality of other wheels comprise at least a second wheel at a second lateral side of the vehicle and at the first longitudinal end of the vehicle, and a third wheel at the first lateral side of the vehicle and at a second longitudinal end of the vehicle; and
transmitting a second request to the active suspension system to create clearance beneath the second wheel but not create clearance beneath at least the first wheel and a fourth wheel, wherein the fourth wheel is at the second lateral side of the vehicle and at the second longitudinal end of the vehicle, diagonally opposite the first wheel.
18 . A non-transitory computer readable medium having stored thereon software that, when executed, is arranged to perform a method according to claim 12 .