08-02-2018 дата публикации
Номер: US20180037082A1
A method for compensating for an inclination of a vehicle in at least one spatial direction. The vehicle has a vehicle body and an active chassis with a plurality of wheels, which are in contact with the roadway. Each wheel is joined to the vehicle body by way of an actuator, which can be adjusted in terms of its length, at a suspension point associated with the wheel. An inclination of the vehicle body in the at least one spatial direction is determined. For at least two wheels, respectively, a vertical distance to the suspension point of the vehicle body that is associated with the particular wheel is detected. Via the at least two determined distances, an inclination of the chassis in the at least one spatial direction is calculated by transformation of the vertical distance of the at least two wheels to the vehicle body. 111-. (canceled)14. The method according to claim 13 , wherein the translation ratios I claim 13 , iare calculated by way of a distance of an actuator from the center of gravity of the vehicle body in each case claim 13 , and of a wheel from the center of gravity of the vehicle body in each case.15. The method according to claim 12 , wherein claim 12 , in the presence of an upward slope travel claim 12 , a negative angle of pitch θis determined claim 12 , and claim 12 , in the presence of downward slope travel claim 12 , a positive angle of pitch θis determined.17. The method according to claim 16 , wherein a value of θin the case of upward slope travel is chosen to be greater than a value of θin the case of downward slope travel.18. The method according to claim 12 , wherein claim 12 , for the determination of the inclination of the vehicle body claim 12 , a first claim 12 , coordinate system that is fixed relative to the vehicle body is used claim 12 , and claim 12 , for the determination of the inclination of the chassis claim 12 , a second chassis-fixed coordinate system is used claim 12 , and wherein a third claim 12 , inertial coordinate ...
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