The present invention relates generally to method for achieving reduced chassis motion using individually actuated wheels, without addition actuator i.e. an active suspension.
An active suspension is a type of vehicle suspension for reducing the motion of the vehicle-chassis due to an uneven road surface. An active suspension uses actuators that reconfigure the suspension in response to the road surface. For instance, an active suspension can use a linear motor to move wheels up or down to reduce the impact of driving over a pot-hole. Active suspensions provide improved ride comfort, but require dedicated actuator hardware that can be potentially expensive.
Anti-lift and anti-squat suspensions are types of vehicle suspension for reducing the motion of the vehicle-chassis due to acceleration and/or deceleration of the vehicle. When a vehicle accelerates, inertia causes the vehicle to pitch resulting in the front-end lifting and the rear-end squatting. For rear-wheel drive vehicles, an anti-squat suspension uses an angled suspension bar to redirect some of the traction force produced rear-wheels into a vertical force that counters the squatting of the rear-end. Hence the name “anti-squat” suspension. For front-wheel drive vehicles, an anti-lift suspension uses an angled suspension bar to counter the natural lifting of the front-end during acceleration. Hence the name “anti-lift” suspension. The anti-lift/squat features of a suspension are a result of the geometry of the suspension design and only require standard (passive) hardware. Suspensions designed for the anti-lift/squat feature are universal in commercial vehicles.
Some embodiments of present disclosure are based on recognition that future (e.g. electric) vehicles will employ (e.g. 4) individual motors to independently drive each wheel, rather than a single motor/engine that drives 2 or 4 wheels together. This invention can provide the anti-lift/squat feature of vehicle suspensions and the independently driven wheels to provide the effect of an active suspension, without any additional hardware (other than the individual motors that independently actuator each wheel). This invention is based on the realization that the vertical forces on the vehicle chassis can be manipulated through the anti-lift/squat suspension forces when the wheels are independently driven. For instance, a vehicle driving over a pot-hole will initial pitch forward when the front-wheels enter the pot-hole. This forward pitch can be counter by producing a backward pitch by applying a traction force on the front-wheels and a braking-force on the rear-wheels. When the rear-wheels enter the pot-hole, the opposite forces can be applied. By using a hardware feature (anti-lift/squat) already present in vehicle suspensions and another hardware feature (independently driven wheels) that we predict will be adopted in the future, this invention produces the improvement in ride comfort provided by active suspensions, but without any additional hardware required.
According to embodiments of the present disclosure, a control system for controlling motions of a vehicle having wheels is provided. The control system may include suspension units configured to support the wheels respectively driven by motors controlled by throttles; a set of sensors configured to detect(measure) the motions of the vehicle, wherein the motions are represented by lift, pitch, and roll values of the vehicle; an allocation module configured, in connected with the sensors, to generate/compute and transmit allocated throttle signals to the throttles to minimize the motion by solving an optimization problem related to the motion; and a motor control unit configured to drive each of the motors via the throttles according to the allocated throttle signals.
Further, some embodiments can provide a method for controlling motions of a vehicle having wheels. In this case, suspension units are configured to support the wheels, and the method includes driving the wheels respectively by motors controlled by throttles; measuring the motions of the vehicle using a set of sensors, wherein the motions are represented by lift, pitch, and roll values of the vehicle; computing and transmitting allocated throttle signals to the throttles to minimize the motion by solving an optimization problem related to the motion; and driving each of the motors via the throttles according to the allocated throttle signals.
The presently disclosed embodiments will be further explained with reference to the attached drawings. The drawings shown are not necessarily to scale, with emphasis instead generally being placed upon illustrating the principles of the presently disclosed embodiments.
While the above-identified drawings set forth presently disclosed embodiments, other embodiments are also contemplated, as noted in the discussion. This disclosure presents illustrative embodiments by way of representation and not limitation. Numerous other modifications and embodiments can be devised by those skilled in the art which fall within the scope and spirit of the principles of the presently disclosed embodiments.
The following description provides exemplary embodiments only, and is not intended to limit the scope, applicability, or configuration of the disclosure. Rather, the following description of the exemplary embodiments will provide those skilled in the art with an enabling description for implementing one or more exemplary embodiments. Contemplated are various changes that may be made in the function and arrangement of elements without departing from the spirit and scope of the subject matter disclosed as set forth in the appended claims.
Specific details are given in the following description to provide a thorough understanding of the embodiments. However, understood by one of ordinary skill in the art can be that the embodiments may be practiced without these specific details. For example, systems, processes, and other elements in the subject matter disclosed may be shown as components in block diagram form in order not to obscure the embodiments in unnecessary detail. In other instances, well-known processes, structures, and techniques may be shown without unnecessary detail in order to avoid obscuring the embodiments. Further, like reference numbers and designations in the various drawings indicated like elements.
Also, individual embodiments may be described as a process which is depicted as a flowchart, a flow diagram, a data flow diagram, a structure diagram, or a block diagram. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel or concurrently. In addition, the order of the operations may be re-arranged. A process may be terminated when its operations are completed, but may have additional steps not discussed or included in a figure. Furthermore, not all operations in any particularly described process may occur in all embodiments. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc. When a process corresponds to a function, the function's termination can correspond to a return of the function to the calling function or the main function.
Furthermore, embodiments of the subject matter disclosed may be implemented, at least in part, either manually or automatically. Manual or automatic implementations may be executed, or at least assisted, through the use of machines, hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine readable medium. A processor(s) may perform the necessary tasks.
The x-axis 101 of the coordinate frame attached to the vehicle is called the longitudinal direction. Longitudinal motion includes the position, velocity, acceleration, jerk, etc. of the chassis in this direction. Rotation 104 of the chassis about the x-axis 101 is called roll. Roll motion includes the angle, angular velocity, angular acceleration, etc. of the chassis in this direction.
The y-axis 102 of the coordinate frame attached to the vehicle is called the lateral direction. Lateral motion includes the position, velocity, acceleration, jerk, etc. of the chassis in this direction. Rotation 105 of the chassis about the y-axis 102 is called pitch. Pitch motion includes the angle, angular velocity, angular acceleration, etc. of the chassis in this direction.
The z-axis 103 of the coordinate frame attached to the vehicle is called the lift direction. Lift motion includes the position, velocity, acceleration, jerk, etc. of the chassis in this direction. Rotation 106 of the chassis about the z-axis 103 is called yaw. Yaw motion includes the angle, angular velocity, angular acceleration, etc. of the chassis in this direction.
According to embodiments of the present invention, it becomes possible to improve passenger comfort by reducing the motion of the vehicle chassis. For instance, in an autonomous vehicle the passengers may want to read during their commute but unwanted chassis motion could cause motion-sickness.
However, it is important that the invention does not eliminate all chassis motion since the purpose of a vehicle to move the chassis (and its contents) between locations. There are 2 main factors that cause motion in the vehicle chassis; how the vehicle is driven and the quality of the road surface over which the vehicle is driven. The invention reduces chassis motion due to the road roughness without changing how the vehicle is driven. On the contrary, one of the features of the invention is that it maintains the drivability of the vehicle. Drivability means that the vehicle responds to the driver's (human or autonomous) commands in a predictable and repeatable manner. After all, the simplest way to eliminate a bumpy ride is to stop the vehicle, however that would not be a right solution. It is critical that the invention maintains drivability, so that the driver can safely and usefully operate the vehicle.
The driver controls the motion of the vehicle (and its chassis) in the longitudinal and yaw directions. The gas/brake petals control the longitudinal acceleration (and thus velocity and position) and the steering wheel controls the yaw-rate (and thus yaw direction). To improve comfort, the invention allocates traction forces to each of the wheels and sets the steering angle to achieve the driver specified acceleration and yaw-rate while reducing the motion of the chassis in the lift, pitch, and roll directions. Thus, in this disclosure, comfort will be synonymous with lift, pitch, and roll motion of the chassis. According to the present invention, it is possible to reduce lift, pitch, and roll motion of the chassis without sacrificing drivability since this invention is only applicable to vehicles with independently actuated wheels, which provides 3 additional degrees of freedom when maintaining drivability i.e. there are 4 “throttles” instead of 1 for vehicles with independently driven wheels. The invention can also reduce the lateral motion of the vehicle which depends tire slippage to reduce wear on the vehicle tires.
The interface 210 is configured to form a wired network of the vehicle or a wireless network of the vehicle 100 and perform data communications among the actuator control system 200, the vehicle sensor(s) 1201, the road roughness sensors 1302 and the motors 1-4 of the wheels of the vehicle 100. The processor 220 is configured to perform the road roughness prediction program 231, the actuator control program 232 and the throttle allocator program 233 in response to sensor data from the vehicle sensor(s) 1201 and the road roughness sensors 1302 via the interface 210. Further, the processor 220 is configured to transmit control data to an actuator controller 1402 via the interface 210 while performing the road roughness prediction program 231, the actuator control program 232 and the throttle allocator program 233 in response to signals (data) from the vehicle sensor(s) 1201 and the road roughness sensor 1302. The actuator controller 1402 performs the throttle allocations of the motors 1-4 and the staring control of the vehicle 100 based on the control data with respect to the throttle allocation to each of the motors 1-4 and the steering control from the processor 220.
The memory device 230 can be one or more memory units, which may include one or combination of a random access memory (RAM), a read-only memory (ROM) and a nonvolatile memory and a hard drive. Further, the system 200 may include the actuator controller 1402 that is configured to receive output data (signals) from the processor 220 via the interface 210, and perform the
steering control and the throttle/brake control of each of four motors 1-4 using throttle/brake controllers (torque allocation module) 1203 (1203-1, 1203-2, 1203-3 and 1203-4) of the wheels based on the received output data signals.
According to the present invention, the actuator control system 200 can allocate the traction forces to each of the wheels and sets the steering angle to reduce the chassis motion due to road roughness while maintaining drivability. In one embodiment of the invention, the road roughness is measured by the road roughness sensors 1302 and these measurements are used to compute the traction forces and steering angle of the vehicle 100. In another embodiment of the invention, the road roughness is unmeasured, but the resulting motion of the chassis is measured using the sensors 1201 (vehicle motion sensors 1201) on the vehicle 100 or external sensors (not shown) arranged on/in the vehicle communicating with the actuator control system 200. In this embodiment, the motion sensors 1201 are used to compute the traction forces and steering angle of the vehicle 100. Yet another embodiment of the invention uses measurements of both the road roughness and chassis motion using the vehicle motion sensors 1201 and the road roughness sensors 1302 to compute the traction forces and steering angle that reduce chassis motion and maintain drivability.
According to some embodiments of the invention, it is possible to deal with wheeled vehicles (e.g. cars) that have at least 4 independently actuated wheels arranged to the motors 1-4. In this case, each of the actuated wheels is configured to control both the throttle and braking forces produced by each wheel independently each other.
This invention can also be applied to vehicles with more than 4 independently actuate wheels or groups of independently actuated wheels. Independent actuation can be accomplished for instance by using “hub motors” located in each wheel, however this invention is also applicable when the individual motors are external to the wheel.
Traditional vehicles have two actuators that are used to drive the vehicle: (1) the throttle/brake and (2) the steering angle of the e.g. front tires. These actuators are used to follow a desired acceleration and yaw-rate specified by the driver, which can be human or an autonomous driving system. For a human driver, the desired acceleration and yaw-rate are specified by the position of the gas/brake petal and the steering wheel angle. For an autonomous driver, the desired acceleration and yaw-rate are specified by different methods. Note that traditional vehicles have 2 actuators which are used to achieve 2 driving objectives i.e. throttle/brake and steering wheel track the desired acceleration and yaw-rate.
An embodiments of the invention is based on the realization that vehicles with independently throttled/braked wheels have 3 additional degrees of freedom i.e. 4 throttle/brake and 1 steering angle. It was further realized that these additional degrees of freedom can be used to improve passenger comfort by reducing the lift, pitch, and roll motion of the vehicle chassis.
It should be noted that it is non-obvious how the throttle/brake and steering angle affect the lift, pitch, and roll motion of the vehicle chassis. Some embodiments of the invention are based on the realization that the longitudinal and lateral forces produced by the wheels create vertical forces on the chassis due to the way in which vehicle suspensions are designed. Thus, the relevant features of vehicle suspensions are discussed next.
Longitudinal reaction forces 303a and 303b: The left and right tires must produce driving forces 301a and 301b for the vehicle to accelerate/decelerate. The suspension transmits these driving forces 301a and 301b to the vehicle chassis, producing in the longitudinal forces 303a and 303b.
Lateral reaction forces 304a and 304b: The left and right tires produce sliding forces 309a and 309b, respectively, when the vehicle to turn i.e. the wheels are gripping the road. The suspension transmits these tire-sliding forces 309a and 309b to the chassis, producing the lateral forces 304a and 304b, respectively.
Spring-damper forces 308a and 308b: The deformation of the springs and the movement of the dampers in the suspension produces forces 308a and 308b on the chassis. The deformation/movement of the springs/dampers is caused either by the vehicle chassis moving relative to the road or by the road height “moving” relative to the vehicle i.e. the vehicle is driving over a bump. The spring-damper forces damp the relative chassis-road motion and restore it to the default position i.e. chassis is flat relative to the road.
Vertical reaction forces 304a and 304b: Since the suspension arms are angled, 302a/b and 310a/b, the longitudinal 303a/b and lateral 305a/b forces produce a torque on the suspension arm. In quasi-steady-state, this torque is balanced by the vertical reaction forces 304a/b. Applying a throttle force 302a/b to one of the front wheels results in a negative vertical reaction force 304a/b on the suspension. Since
This actuator control system 200 may use these anti-lift and anti-squat forces to manipulate the motion of the vehicle chassis. For instance,
Another example of the lift and pitch motion in the pitch-plane is shown in
An analogous effect occurs in 3 dimensions (i.e. not restricted to the pitch-plane). However, the vehicle dynamics are more complicated since the throttle/braking forces are no longer the only forces acting on the tires. Instead, we must now consider the sliding forces produced by the tires moving in the transverse direction. Nonetheless, a model relating the throttle/brake forces and the steering angle to the lift, pitch, and roll motion of the chassis can be derived. For instances,
where the spring-damper forces are given by
F
sri
=−
sij
+K
r
Δz
ij
+C
r
Δż
ij,
We can use a model relating the throttle/brake forces and the steering angle to the lift, pitch, and roll motion of the chassis for design. However, this model is not required for implementation nor does the model need (1). Indeed, a more accurate physics-based model or a machine-learning model could replace the model (1). The variables of the model are summarized in tables 1 and 2.
Using the model (1) it is possible to determine allocations of the throttle/braking forces and steering angle that produce 3-dimensional motions analogous to those shown in
Further, some embodiments of the invention are based on the realization that the relationships between the throttle/braking forces and steering angle and the lift, pitch, roll, and yaw motion of the vehicle shown in
Another embodiment of the invention is shown in
An example of how the actuator control system 200 can use prediction information to ameliorate bumps is shown in
The actuator control system 200 according to the invention may add a new controller layer 1403 between the driver and the actuator controllers. The new controller layer 1403 is the torque allocation module which determines the set-points of each of actuators to both maintain the driving characteristics that the
driver expects (i.e. desired acceleration and yaw/turning are achieved) while improving passenger comfort. According to some embodiments of the present invention, it is possible to provide these addition benefits since it is applied to vehicles with independently actuated throttle/brake for each wheel. Thus, there are 3 additional degrees of freedom for achieve the desired driving profile. The torque allocation module uses the additional degrees of freedom to improve passenger comfort.
Also, the various methods or processes outlined herein may be coded as software that is executable on one or more processors that employ any one of a variety of operating systems or platforms. Additionally, such software may be written using any of a number of suitable programming languages and/or programming or scripting tools, and also may be compiled as executable machine language code or intermediate code that is executed on a framework or virtual machine. Typically, the functionality of the program modules may be combined or distributed as desired in various embodiments.
Further, the embodiments of the present disclosure may be embodied as a method, of which an example has been provided. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts concurrently, even though shown as sequential acts in illustrative embodiments. Further, use of ordinal terms such as first, second, in the claims to modify a claim element does not by itself connote any priority, precedence, or order of one claim element over another or the temporal order in which acts of a method are performed, but are used merely as labels to distinguish one claim element having a certain name from another element having a same name (but for use of the ordinal term) to distinguish the claim elements.
Although the present disclosure has been described with reference to certain preferred embodiments, it is to be understood that various other adaptations and modifications can be made within the spirit and scope of the present disclosure. Therefore, it is the aspect of the append claims to cover all such variations and modifications as come within the true spirit and scope of the present disclosure.