Surface vehicle vertical trajectory planning

An active suspension system for a vehicle including elements for developing and executing a trajectory plan responsive to the path on which the vehicle is traveling. The system may include a location system for locating the vehicle, and a system for retrieving a road profile corresponding to the vehicle location.

ACTIVE WHEEL DAMPING

An active wheel damper. An active suspension damps vertical displacement of an unsprung mass in a frequency range and reduces vertical displacement of a sprung mass in another frequency range. 1. A vehicle suspension for controlling motion of a sprung and unsprung mass comprising:a force source which is capable of applying a force in response to a control signal and without a physical stimulus, the force source coupling a vehicle unsprung mass and a vehicle sprung mass:a sensor for detecting vertical motion of the sprung mass or a quantity from which vertical motion of the sprung mass can be derived;an unsprung mass sensor for detecting vertical motion of the unsprung mass or a quantity from which vertical motion of the unsprung mass can be derived; andcontrol circuitry;responsive to the sprung mass sensor for determining a force to reduce the vertical motion of the sprung mass in a first frequency range; andresponsive to the unsprung mass sensor for determining a force to reduce the vertical motion of the unsprung mass in a second frequency range;wherein the first frequency range includes frequencies above and below the second frequency range and wherein the first frequency range does not include the second frequency range.2. The vehicle suspension system of claim 1 , wherein the control circuitry comprises an anti causal filter.3. The vehicle suspension system of claim 2 , further comprising circuitry for detecting vertical disturbances in the road ahead of a wheel that is a component of the unsprung mass.4. The vehicle suspension system of claim 3 , wherein the wheel is a rear wheel and wherein the circuitry for detecting vertical disturbances in the road is associated with a front wheel.5. The vehicle suspension system of claim 4 , wherein the anti-causal filterdetermines, prior to the wheel's encountering the road disturbance, an estimated response of the vehicle suspension to the disturbance;reverses with respect to time the estimated response to provide an ...

Surface Vehicle Vertical Trajectory Planning

An active suspension system for a vehicle including elements for developing and executing a trajectory plan responsive to the path on which the vehicle is traveling. The system may include a location system for locating the vehicle, and a system for retrieving a road profile corresponding to the vehicle location. 1145-. (canceled)146. Apparatus for use in a surface vehicle operating on a path , said path comprising vertical disturbances , said apparatus comprising:a controllable suspension for actively suspending a payload with respect to a vertical disturbance input, and;a trajectory developing system operatively coupled to said controllable suspension, said trajectory developing system for developing a trajectory plan responsive to data specifically representative of said vertical disturbances.147. Apparatus in accordance with claim 146 , wherein said data is expressed as one of force claim 146 , velocity claim 146 , and acceleration.148. Apparatus in accordance with claim 146 , wherein said trajectory developing system comprises a device for smoothing said data to develop said trajectory plan.149. Apparatus in accordance with claim 148 , wherein said smoothing device comprises a low pass filter.150. Apparatus in accordance with claim 148 , wherein said smoothing device comprises a bi-directional low pass filter.151. Apparatus in accordance with claim 146 , said controllable suspension comprises a linear actuator.152. Apparatus in accordance with claim 146 , wherein said data comprises positive and negative values.153. Apparatus in accordance with claim 146 , further comprising:a profile storage device for storing said data.154. Apparatus in accordance with wherein said profile storage device is located remotely from said surface vehicle.155. Apparatus in accordance with claim 153 , wherein said trajectory plan developing system is located remotely from said surface vehicle.156. A method for operating an active suspension system in a surface vehicle claim 153 , ...

Surface Vehicle Vertical Trajectory Planning

An active suspension system for a vehicle including elements for developing and executing a trajectory plan responsive to the path on which the vehicle is traveling. The system may include a location system for locating the vehicle, and a system for retrieving a road profile corresponding to the vehicle location. 1. A method for improving accuracy of vehicle position determination , comprising:determining an initial vehicle position estimate based on GPS data,recording a sequence of sensor data from a sensor located with the vehicle, andrefining the initial vehicle position estimate by performing pattern matching with a pattern matching system that looks for the presence of a known sequence of data in the recorded sequence of sensor data.2. The method for improving accuracy of wherein the sensor data is Z axis deflection data.3. The method for improving accuracy of further comprising using a dead reckoning system to provide additional information on vehicle speed and direction when GPS data is difficult to obtain.4. The method for improving accuracy of wherein the dead reckoning system counts wheel rotations of the vehicle.5. The method for improving accuracy of wherein the dead reckoning system tracks steering angle changes of the vehicle.6. The method for improving accuracy of wherein the pattern matching system multiplies a sequence consisting of n numbers obtained from the known sequence of data by a corresponding sequence of n numbers obtained from the recorded sequence of sensor data claim 1 , sums the results of the n multiplications claim 1 , and determines when the sequences match by identifying when the sum of the n multiplications has a peak.7. The method for improving accuracy of wherein the pattern matching system performs continuous pattern matching.8. The method for improving accuracy of wherein the pattern matching system matches consecutive groups of n multiplications.9. The method for improving accuracy of wherein the known sequence of data and the ...

Suspension system with locking structure

A suspension component includes a suspension spring, a screw actuator that is operable to compress and decompress the suspension spring upon supply of electrical power to the screw actuator, and locking structure that engages a portion of the screw actuator to restrain motion of the screw actuator to maintain a current degree of compression of the suspension spring.

Active suspension system

A suspension actuator assembly includes a first actuator and a second actuator. The first actuator selectively applies a first force between an unsprung mass and a sprung mass of a vehicle to control movement therebetween. The second actuator selectively applies a second force between the unsprung mass and a reaction mass to damp movement of the unsprung mass. The second actuator is coupled to the first actuator to form the suspension actuator assembly as a singular unit.

Control system

A vehicle includes a vehicle body, a wheel, a suspension system that supports the wheel relative to the vehicle body, a sensing system for determining an environmental condition ahead of the vehicle and a control system. The suspension system includes a primary actuator that transfers force between the wheel and the vehicle body, and a wheel hop damper that includes a moving mass and that transfers force between the wheel and the moving mass independent of the vehicle body to inhibit resonance of an unsprung mass formed by the wheel and a portion of the suspension system coupled thereto. The control system operates the primary actuator to provide additional secondary ride control when the wheel hop damper exceeds a capacity threshold. The control system changes the capacity threshold according to the environmental condition. The wheel hop damper may be a reaction mass actuator or a tuned mass damper.

Active wheel damping

An active wheel damper. An active suspension damps vertical displacement of an unsprung mass in a frequency range and reduces vertical displacement of a sprung mass in another frequency range.

Message tracking in a parallel network employing a status word at each node which reflects a message's progress

A multiple node network is described wherein messages are transmitted between source and intermediate nodes to a destination node, the network including a message progress reporting system which employs a status word that enables the source node to determine a message's progress. Each parent node comprises a status word register for reporting a status word that indicates the progress of the message. The parent node further includes a routing mechanism for receiving a status word from a child node that indicates the message's progress in the child node and at succeeding nodes thereafter. The routing mechanism updates the status word in the status word register in accordance with the received status word. The routing mechanism further transmits the updated status word from the parent node to a source node upon the parent node having received status words from all child nodes to which the parent node transmitted the message whereby each succeeding parent node does not transmit its status word until all succeeding nodes have accumulated their status words and reported upward in the tree.

Active wheel damping

An active wheel damper. An active suspension damps vertical displacement of an unsprung mass in a frequency range and reduces vertical displacement of a sprung mass in another frequency range.

Distributed crossbar switch architecture

A switching array as described for connecting ones of a plurality of data sources (10, 12, 14) to ones of a plurality of data sinks (24, 26, 28). The array includes source data busses which transmit from a connected source, data words, a connection mask and a connection designator. The connection mask has bit positions that map to individual data sinks. A multiplexer/control circuit module (18, 20, 22) is associated with each individual data sink for controlling the interconnection of the data sink to a source data bus. Each multiplexer/control circuit module is connected to each source data bus and is responsive to an active state connection mask bit and a connection designator on a first source data bus, to establish a connection between an associated sink and the first source data bus. This configuration enables the multiplexer/control circuit module to establish a connection without reference to any other multiplexer/control circuit.

Surface vehicle suspension and operation

A method is described for operating a vehicle which includes a payload compartment and a first and second surface engaging devices as well as a suspension system. The suspension system has a first controllable suspension element for exerting a force between the first surface engaging device and the payload compartment to adjust the distance between the first surface engaging device and said payload compartment. A second controllable suspension element for exerting a force between the second surface engaging device and the payload compartment modifies the distance between the second surface engaging device and the payload compartment. The suspension elements have associated sensors to measure at least one of vertical acceleration, vertical velocity, vertical road deflection, suspension displacement, and force applied by the controllable suspension. In the method, the vehicle is operated on a road segment having disturbances so that the first surface engaging device encounters disturbances before the second surface engaging device. The disturbances are measured by the sensors and the second controllable suspension element exerts a force related to the disturbance before the second surface engaging device encounters the disturbance.

Surface vehicle vertical trajectory planning

Surface Vehicle Vertical Trajectory Planning

An active suspension system for a vehicle including elements for developing and executing a trajectory plan responsive to the path on which the vehicle is traveling. The system may include a location system for locating the vehicle, and a system for retrieving a road profile corresponding to the vehicle location.

Sicheres aktives aufhängungssystem

Secure active suspension system

Among other things, an active suspension system for a vehicle includes a first component, and a second component in communication with the first component using a network. The first component is configured to encrypt at least some of the data transmitted by the first component to the second component using the network.