SELF-DRIVING VEHICLE WITH INTEGRATED ACTIVE SUSPENSION

摘要

A self-driving vehicle with an integrated fully-active suspension system. The fully-active suspension utilizes data from one or more sensors used for autonomous driving (e.g. vision, LIDAR, GPS) in order to anticipate road conditions in advance. The system builds a topographical map of the road surface. Suspension and road data is delivered back to the vehicle in order to change autonomous driving behavior including route planning. Energy storage is regulated based on a planned route. Forward and lateral acceleration feel is mitigated through active pitch and tilt compensation. The fully-active suspension pushes and pulls the suspension in three or more operational quadrants in order to deliver superior ride comfort, handling, and/safety of the vehicle.

主权项

1. An active suspension system, comprising:
a plurality of active suspension actuators capable of operation in at least three operational quadrants; at least one forward-looking sensor capable of detecting a future road condition; a location sensor for the vehicle; a least one relative sensor indicating at least one of relative position and relative movement between the vehicle and the ground; a sensor fusion system that determines an absolute position of the vehicle by using the information from the location sensor and the at least one relative sensor; a memory system comprising a topographical map comprising of three-dimensional terrain information; and an active suspension controller that receives information from the sensor fusion system and memory system and controls the active suspension system as a function of the topographical map.