Vehicle with suspension with continuous damping control
阅读说明:本技术 具有带有连续阻尼控制的悬架的车辆 (Vehicle with suspension with continuous damping control ) 是由 路易·J·布拉迪 亚历克斯·R·朔伊雷尔 史蒂文·R·弗兰克 阿伦·J·尼斯 于 2015-10-06 设计创作,主要内容包括:一种用于具有位于多个接地构件与车架之间的悬架的车辆的阻尼控制系统,该阻尼控制系统包括具有可调节阻尼特性的至少一个可调节减震器。该系统还包括:控制器,该控制器联接至每个可调节减震器以调节每个可调节减震器的阻尼特性;以及用户界面,该用户界面耦接至控制器并且是车辆的驾驶员能够触及的。用户界面包括至少一个用户输入以在车辆的操作期间允许手动调节所述至少一个可调节减震器的阻尼特性。控制器还耦接有车辆传感器,以基于由传感器输出信号确定的车辆状态来调节所述至少一个可调节减震器的阻尼特性。(A damping control system for a vehicle having a suspension between a plurality of ground engaging members and a frame includes at least one adjustable shock absorber having an adjustable damping characteristic. The system further comprises: a controller coupled to each adjustable shock absorber to adjust a damping characteristic of each adjustable shock absorber; and a user interface coupled to the controller and accessible to a driver of the vehicle. The user interface includes at least one user input to allow manual adjustment of the damping characteristics of the at least one adjustable shock absorber during operation of the vehicle. A vehicle sensor is also coupled to the controller to adjust a damping characteristic of the at least one adjustable shock absorber based on a vehicle condition determined from the sensor output signal.)
1. A damping control method for a vehicle, the vehicle comprising: a suspension between the plurality of wheels and the frame; a controller; a plurality of vehicle state sensors; and a user interface, the suspension including a plurality of adjustable shock absorbers including a right front shock absorber, a left front shock absorber, a right rear shock absorber, and a left rear shock absorber, the damping control method including:
receiving, by the controller, user input from the user interface to provide a user-selected damping mode of operation for the plurality of adjustable shock absorbers during operation of the vehicle;
receiving, by the controller, a plurality of inputs from the plurality of vehicle state sensors, the plurality of vehicle state sensors including a brake sensor, a throttle sensor, and a vehicle speed sensor;
determining, with the controller, whether a vehicle brake is actuated based on input from the brake sensor;
determining, with the controller, a throttle position based on input from the throttle sensor;
determining, with the controller, a speed of the vehicle based on input from the vehicle speed sensor;
operating the damping control in a braking state if the brake is actuated, wherein in the braking state the controller adjusts damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user selected mode and a vehicle speed;
operating the damping control in a driving state if the brake is not actuated and a throttle position is less than a threshold Y, wherein in the driving state the controller adjusts damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user selected mode and a vehicle speed;
operating the damping control in the driving state if the brake is not actuated, the throttle position is greater than the threshold value Y, and the vehicle speed is greater than a threshold value Z; and
operating the damping control in a sink state if the brakes are not actuated, the throttle position is greater than the threshold Y, and the vehicle speed is less than the threshold Z, wherein in the sink state the controller adjusts damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user selected mode, vehicle speed, and throttle opening.
2. The method of claim 1, wherein in the braking state, the controller increases compression damping on the front right and front left shock absorbers.
3. The method according to claim 1 or 2, wherein in the braking state, the controller increases rebound damping on the right and left rear shock absorbers.
4. The method according to any one of claims 1 to 3, wherein in the sink state, the controller increases compression damping on the right and left rear shock absorbers.
5. The method according to any one of claims 1 to 4, wherein in the sink state, the controller increases rebound damping on the front right and front left shock absorbers.
6. The method of any of claims 1 to 5, further comprising:
receiving input from additional vehicle state sensors including a steering rate sensor and a steering position sensor;
determining, with the controller, a steering rate based on input from the steering rate sensor;
determining, with the controller, a steering position based on input from the steering position sensor; and
if the brake is actuated and if the steering position is greater than a threshold X or the steering rate is greater than a threshold B, operating the damping control in a modified braking state in which the controller adjusts the damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user selected mode, vehicle speed and steering rate.
7. The method of claim 6, further comprising:
if the steering position is greater than a threshold X or the steering rate is greater than a threshold B, and if the brake is not actuated and the throttle position is less than the threshold Y, operating the damping control in a roll/turn state in which the controller adjusts the damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user selected mode, a steering position, and a steering rate.
8. The method of claim 7, wherein in the roll/turn state, the controller increases compression damping on an outboard shock absorber upon detecting a turning event via the steering sensor.
9. The method of claim 7, wherein in the roll/turn state, the controller increases rebound damping on an inboard shock absorber upon detection of a turning event via the steering sensor.
10. The method of claim 6, further comprising:
if the steering position is greater than a threshold X or the steering rate is greater than a threshold B, and if the brake is not actuated and the throttle position is greater than the threshold Y, operating the damping control in a modified sink state in which the controller adjusts the damping characteristics of the plurality of adjustable shock absorbers based on state modifiers including a user selected mode, vehicle speed, throttle opening, steering position, and steering rate.
11. The method of claim 10, wherein in the modified sink state, the controller increases compression damping on an outer rear side shock absorber based on inputs from the steering sensor, the throttle sensor, and the vehicle speed sensor.
12. The method of any of claims 1 to 11, further comprising:
receiving, with the controller, input from additional vehicle state sensors including a steering rate sensor, a steering position sensor, an x-axis acceleration sensor, and a z-axis acceleration sensor;
determining, with the controller, a steering rate based on input from the steering rate sensor;
determining, with the controller, a steering position based on input from the steering position sensor;
determining, with the controller, an x-axis acceleration based on input from the x-axis acceleration sensor;
determining, with the controller, a z-axis acceleration based on input from the z-axis acceleration sensor; and
operating the damping control based on the detected conditions, the controller adjusting damping characteristics of the plurality of adjustable shock absorbers based on a condition modifier including a steering rate, a steering position, an x-axis acceleration, and a z-axis acceleration.
13. The method of any of claims 1 to 12, further comprising:
receiving, with the controller, input from an additional vehicle state sensor comprising a z-axis acceleration sensor;
determining, with the controller, a z-axis acceleration based on input from the z-axis acceleration sensor; and
operating the damping control in a skip/pitch state in which the controller adjusts damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user selected mode, vehicle speed, and z-axis acceleration sensor if the z-axis acceleration has been less than a threshold C for a duration N.
14. The method of claim 13, wherein in the bounce/pitch state, the controller increases compression damping on the front right, front left, rear right, and rear left shock absorbers upon detection of an empty event via a negative vertical acceleration detected by the z-axis acceleration sensor.
15. The method of claim 14, wherein in the skip/pitch state, the controller maintains an increase in damping for a predetermined time after the end of the skip event.
16. The method of claim 13, wherein in the jump/pitch state, the controller increases rebound damping on the front right, front left, rear right, and rear left shock absorbers when the occurrence of contact with the ground is detected via detection of positive vertical acceleration by the z-axis acceleration sensor after an empty event.
17. The method of any of claims 1-6, wherein a plurality of springs and a plurality of shock absorbers are coupled between the frame and the ground engaging member through an A-arm link of the suspension.
18. The method of any of claims 1-17, wherein a plurality of springs and a plurality of shock absorbers are coupled between the frame and the ground engaging member through a trailing arm suspension.
19. The method of any of claims 1-18, wherein the user interface is integrated with a display on a dashboard of a vehicle.
20. The method of any of claims 1-19, wherein at least one user input of the user interface is located on one of a steering wheel, a handlebar, or a steering control of a vehicle to facilitate adjusting a damping characteristic of at least one of the adjustable shock absorbers by a driver of the vehicle.
21. The method of any one of claims 1 to 20, wherein the user input of the user interface comprises at least one of a touch screen control, a slide control, a rotatable knob, and a button to adjust the damping characteristics of the front and rear adjustable shock absorbers.
22. The method of any of claims 1 to 21, further comprising:
receiving, by the controller, an input from a drive mode sensor, and wherein the controller adjusts the damping characteristics of the plurality of adjustable shock absorbers further based on a state modifier that includes the drive mode sensor.
23. The method of any of claims 1 to 22, further comprising:
receiving, by the controller, input from a four wheel drive sensor; and determining, with the controller, whether the vehicle is in four-wheel drive based on input from the four-wheel drive sensor; and wherein in the driving state, the controller further adjusts the damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including the four-wheel drive sensor.
Technical Field
The present disclosure relates to an improved suspension for a vehicle having continuous "on-going" damping control for the shock absorber.
Background
Currently, some off-road vehicles include adjustable shock absorbers. These adjustments include spring preload, high and low speed compression damping and/or high and low speed rebound damping. To make these adjustments, the vehicle is stopped and the operator makes the adjustment at each shock absorber position on the vehicle. Often, tools are required to make the adjustments. Some road motor vehicles also include adjustable electronic shock absorbers and sensors for active steering control systems. However, these systems are typically computer controlled and focus on vehicle stability rather than on ride comfort. The system of the present disclosure allows the operator to make real-time "on-the-fly" adjustments to the shock absorbers to obtain the most comfortable ride for a given terrain and load scenario.
Disclosure of Invention
Vehicles typically have springs (coils, reeds or air) at each wheel, rail or ski to support most of the load. The vehicle of the present disclosure also has electronic shock absorbers that control the dynamic motion of each wheel, snowboard, or rail. The electronic shock absorbers have valves that control the damping force of each shock absorber. The valve may control compression damping only, rebound damping only, or a combination of compression and rebound damping. The valve is connected to a controller having a user interface within reach of the driver to facilitate adjustment by the driver while operating the vehicle. In one embodiment, the controller increases or decreases the damping of the shock absorber based on user input received from an operator. In another embodiment, the controller has a number of preset damping modes for selection by the operator. The controller is also coupled to sensors on the suspension and chassis to provide an actively controlled damping system.
In an illustrative embodiment of the present disclosure, there is provided a damping control method for a vehicle having: a suspension between the plurality of wheels and the frame; a controller; a plurality of vehicle state sensors; and a user interface, the suspension including a plurality of adjustable shock absorbers including a right front shock absorber, a left front shock absorber, a right rear shock absorber, and a left rear shock absorber. The damping control method comprises the following steps: receiving, by the controller, a user input from a user interface to provide a user selected damping mode of operation for the plurality of adjustable shock absorbers during operation of the vehicle; receiving, by a controller, a plurality of inputs from a plurality of vehicle state sensors, the plurality of vehicle state sensors including a brake sensor, a throttle sensor, and a vehicle speed sensor; determining, by a controller, whether a vehicle brake is actuated based on an input from a brake sensor; determining, by a controller, a throttle position based on input from the throttle sensor; and determining, by the controller, a speed of the vehicle based on input from the vehicle speed sensor. The illustrative damping control method further comprises: operating the damping control in a braking state if the brake is actuated, wherein in the braking state the controller adjusts the damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user selected mode and a vehicle speed; operating damping control in a driving state if the brake is not actuated and a throttle position is less than a threshold Y, wherein in the driving state a controller adjusts damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user selected mode and a vehicle speed; operating the damping control in a driving state if the brake is not actuated, the throttle position is greater than a threshold value Y and the vehicle speed is greater than a threshold value Z; and operating the damping control in a sink state if the brake is not actuated, the throttle position is greater than a threshold Y, and the vehicle speed is less than a threshold Z, wherein in the sink state, the controller adjusts the damping characteristics of the plurality of adjustable shock absorbers based on a state modifier including a user-selected mode, the vehicle speed, and the throttle opening.
Additional features of the present disclosure will become apparent to those skilled in the art upon consideration of the following detailed description of an exemplary embodiment exemplifying the best mode of carrying out the invention as presently perceived.
Drawings
The foregoing aspects and many of the attendant features of this system and method will become more readily appreciated as the same become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings.
FIG. 1 is a block diagram showing components of a vehicle of the present disclosure having a suspension including a plurality of continuous damping control shock absorbers and a plurality of sensors integrated with the continuous damping controller;
FIG. 2 illustrates an exemplary user interface for controlling damping at front and rear axles of a vehicle;
FIG. 3 illustrates another exemplary embodiment of a user interface for continuous damping control of a shock absorber of a vehicle;
FIG. 4 illustrates yet another user interface for setting various operating modes of the continuous damping control as a function of terrain traversed by the vehicle;
FIG. 5 illustrates an adjustable damping shock absorber coupled to a vehicle suspension;
FIG. 6 is a flow chart illustrating vehicle platform logic for controlling various vehicle parameters in a plurality of different user selectable operating modes;
FIG. 7 is a block diagram illustrating a plurality of different state modifiers used as inputs in different control modes to modify the damping characteristics of an electronically tunable shock absorber or damper according to the present disclosure;
FIG. 8 is a flow chart illustrating a damping control method for controlling a vehicle operating in a plurality of vehicle states based on a plurality of sensor inputs, according to an embodiment of the present invention;
FIG. 9 is a flow chart illustrating another embodiment of a damping control method of the present disclosure;
FIG. 10 is a flow chart illustrating yet another damping control method of the present disclosure;
FIG. 11 is a cross-sectional view of a selectively decoupled stabilizer bar of the present disclosure under certain vehicle conditions;
fig. 12 shows the stabilizer bar of fig. 11 with the actuator in a locked position to prevent movement of the stabilizer bar's piston;
FIG. 13 is a cross-sectional view similar to FIG. 12, showing the actuator in an unlocked position decoupled from the piston of the stabilizer bar to allow movement of the piston relative to the cylinder; and
FIG. 14 shows the x-axis, y-axis, and z-axis of a vehicle such as an ATV.
Corresponding reference characters indicate corresponding parts throughout the several views. Although the drawings represent embodiments of various features and components in accordance with the present disclosure, the drawings are not necessarily to scale and certain features may be exaggerated to better illustrate and explain the present disclosure.
Detailed Description
For the purposes of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiments illustrated in the drawings and described below. The embodiments disclosed below are not intended to be exhaustive or to limit the invention to the precise forms disclosed in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may utilize the teachings of the embodiments. Therefore, it should be understood that there is no intention to limit the scope of the present invention by these embodiments. The present invention includes any alterations and further modifications in the illustrated devices and described methods and further applications of the principles of the invention as would normally occur to one skilled in the art to which the invention relates.
Referring now to fig. 1, the present disclosure is directed to a vehicle 10 having a suspension between a plurality of ground engaging members 12 and a frame 14. The ground engaging members 12 include wheels, skis, rails, treads, etc. The suspension generally includes a spring 16 and a shock absorber 18 coupled between ground engaging member 12 and frame 14. The spring 16 may comprise, for example, a coil spring, a leaf spring, an air spring, or other gas spring. The air or gas spring 16 may be adjustable. See, for example, U.S. patent No.7,950,486, which is incorporated herein by reference. The spring 16 is typically coupled between the frame 14 and the ground engaging member 12 by an A-arm link 70 (see FIG. 5) or other type of link. An adjustable shock absorber 18 is also coupled between the ground engaging member 12 and the frame 14. In the illustrated embodiment, the spring 16 and the damper 18 are positioned adjacent each of the ground engaging members 12. In an ATV (all terrain vehicle), for example, four springs 16 and four adjustable shock absorbers 18 are provided adjacent each wheel 12. Some manufacturers provide adjustable springs 16 in the form of air springs or hydraulically preloaded rings. These adjustable springs 16 allow the operator to adjust ride height during travel (on the go). However, ride comfort is greater than the damping provided by free shock absorber 18.
In the illustrated embodiment, adjustable shock absorber 18 is an electronically controlled shock absorber for adjusting the damping characteristics of shock absorber 18. Controller 20 provides signals that adjust the damping of shock absorber 18 in a continuous or dynamic manner. Adjustable shock absorber 18 may be adjusted to provide different compression damping, rebound damping, or both compression and rebound damping.
In the illustrated embodiment of the present disclosure, the
In the illustrated embodiment, the adjustable shock absorber 18 is a CDC (continuous damping control) type electrically controlled shock absorber available from ZF Sachs Automotive. See cauema nn, Peter; automatic shock absorbers: Features, Designs, Applications, ISBN 3-478-93230-0, Verl. moderne Industrie, Second Edition,2001, pages 53-63, which is incorporated herein by reference, are used to illustrate the basic operation of shock absorber 18 in the illustrated embodiment. It should be understood that this description is not limiting, and that there are other suitable types of shock absorbers that are commercially available from other manufacturers.
Controller 20 receives user inputs from
There are also a plurality of sensors coupled to the controller 20. For example, a global change accelerometer 25 is coupled adjacent to each ground member 12. The accelerometer provides an output signal coupled to the controller 20. The accelerometer 25 provides output signals indicative of movement between the ground engaging member and the suspension components 16, 18 as the vehicle traverses different terrain.
Additional sensors may include a vehicle speed sensor 26, a steering sensor 28, and a chassis accelerometer 30, all having output signals coupled to the controller 20. The accelerometer 30 is, for example, a three-axis accelerometer located on the chassis to provide an indication of the forces on the vehicle during operation. Additional sensors include a brake sensor 32, a throttle position sensor 34, a wheel speed sensor 36, and a gear selection sensor 38. Each of these sensors has an output signal coupled to the controller 20.
In the illustrated embodiment of the present disclosure,
The operator rotates
Another embodiment of the
Similarly, the operator presses the button 54 to increase the damping of the shock absorber positioned adjacent the rear axle. The operator presses the button 56 to reduce the damping reduction of the shock absorber positioned adjacent the rear axle. Display window 58 provides a visual indication of the level of damping of shock absorber 18 adjacent the rear axle. In other embodiments, different user inputs, such as a touch screen control, a slide control, or other input, may be used to adjust the damping levels of shock absorbers 18 adjacent the front axle and shock absorbers 18 adjacent the rear axle. In other embodiments, different user inputs, such as a touch screen control, a sliding control, or other input, may be used to simultaneously adjust the damping levels of all shock absorbers 18 near the four wheels.
Fig. 4 shows a further embodiment of the present disclosure in which the
It should be understood that various other modes may be provided, including a sports mode, a field mode (trail mode), or other desired modes. In addition, different modes may be provided for the two-wheel drive, four-wheel drive, high configuration, and low configuration operation of the vehicle. Example modes of operation include:
● level road mode-a very stiff setting intended to minimize transient vehicle pitch and roll during hard acceleration, hard braking, and sharp turns.
● Normal field mode-similar to level road mode but with a somewhat softer setting to allow for the absorption of rocks, rootstocks and potholes, but still with good cornering, acceleration and braking performance.
● rock climbing mode-this is perhaps the softest setting, in which the vehicle is operated at a lower speed, allowing maximum wheel tracking. In one embodiment, the rock climbing pattern is associated with a vehicle speed sensor 26.
● high speed bumpy trail (jitter) -this setting is between the normal field mode and the rock climbing mode to allow high speed control but provide very comfortable ride (easy bottom out).
● jump and jump mode-this mode provides harder compression in the damper but less rebound to keep the tire on the ground as much as possible.
● are examples only, and those skilled in the art will appreciate that there may be many more modes depending on the desired/intended use of the vehicle.
In addition to the driving mode, damping control may be adjusted based on outputs from a plurality of sensors coupled with controller 20. For example, the setting of adjustable shock absorber 18 may be adjusted based on the vehicle speed from speed sensor 26 or the output from accelerometers 25 and 30. In a slowly moving vehicle, the damping of adjustable shock absorber 18 is reduced to provide a softer mode for better ride. As vehicle speed increases, shock absorbers 18 are tuned to a stiffer damping setting. The damping of shock absorber 18 may be coupled to the output from steering sensor 28 and controlled by the output from steering sensor 28. For example, if the vehicle makes a sharp turn, the damping of shock absorbers 18 on the appropriate side of the vehicle may be momentarily adjusted to improve ride.
The continuous damping control of the present disclosure may be combined with an adjustable spring 16. The spring 16 may be a preload adjustment or a continuous dynamic adjustment based on a signal from the controller 20.
The output from the brake sensor 32 may also be monitored by the controller 20 and used to adjust the adjustable shock absorbers 18. For example, during emergency braking, the damping level of the adjustable shock absorber 18 adjacent the front axle may be adjusted to reduce "dive" of the vehicle. In the illustrated embodiment, the damper is adjusted to minimize pitch by: by determining the direction of travel of the vehicle, by sensing input from the gear selection sensor 38 and then adjusting the damping when the brake is detected to be applied by the brake sensor 32. In the illustrative example, for a forward-traveling vehicle, to improve the braking feel, the system increases the compression damping of shock absorbers 18 at the front of the vehicle and increases the rebound damping of shock absorbers 18 at the rear of the vehicle.
In another embodiment, controller 20 uses the output from the throttle position sensor to adjust adjustable shock absorber 18 to adjust or control vehicle roll-down that occurs when the rear of the vehicle drops or rolls down during acceleration. For example, controller 20 may enhance damping of shock absorbers 18 adjacent the rear axle during rapid acceleration of the vehicle. Another embodiment includes a driver selectable mode that controls both throttle map and damper settings of the vehicle. By associating the throttle map with the CDC damper calibration, the throttle (engine) characteristics and suspension settings are changed simultaneously as the driver changes operating modes.
In another embodiment, a position sensor is provided adjacent to the adjustable shock absorber 18. Controller 20 uses these position sensors to enhance damping of adjustable shock absorber 18 near the end of its travel. This provides progressive damping control for the shock absorber. In one illustrated embodiment, the position sensor of the adjustable shock absorber is an angle sensor located on the a-arm of the vehicle suspension. In another embodiment, the adjustable shock absorber includes a built-in position sensor to indicate when the shock absorber is near the end of its stroke.
In another illustrated embodiment, the system limits the range of adjustment of shock absorbers 18 based on the gear selection detected by gear selection sensor 38. For example, the damping adjustment range is greater when the gear selector is in the low range than when the gear selector is in the high range to keep the load in a range accepted by both the vehicle and the operator.
Fig. 5 shows adjustable shock absorber 18 mounted on an a-arm link 70, the a-arm link 70 having a first end coupled to frame 14 and a second end coupled to wheel 12. The adjustable shock absorber 18 includes a first end 72 pivotally coupled to the a-arm 70 and a second end (not shown) pivotally coupled to the frame 14. Damping control actuator 74 is coupled to controller 20 by a wire 76.
In the illustrated embodiment of the present disclosure, as shown in fig. 1, a battery 80 is coupled to the controller 20. To operate in the demonstration mode in the display room, the controller 20,
As described herein, the system of the present disclosure includes four levels or levels of operation. In the first level, adjustable shock absorber 18 is adjusted by manual input as described herein using
In another illustrated embodiment, vehicle load information is provided to controller 20 and used to adjust adjustable shock absorber 18. For example, the number of passengers may be used or the amount of cargo may be entered to provide vehicle load information. Passenger or cargo sensors may also be provided for automatic input to the controller 20. Additionally, sensors on the vehicle may detect accessories on the front or rear of the vehicle that affect the handling of the vehicle. Upon sensing a heavy accessory on the front or rear of the vehicle, the controller 20 adjusts the adjustable shock absorber 18. For example, when a heavy accessory is placed on the front of the vehicle, the compression damping of the front shock absorber may be increased to help support the additional load.
In another illustrative embodiment of the present disclosure, a method for actively controlling damping of an electronically tunable shock absorber using both a user selectable mode and multiple sensor inputs to actively adjust a damping level is disclosed. A central controller is used to continuously read inputs from a plurality of vehicle sensors and send output signals to control the damping characteristics of the electronically tunable shock absorbers. Illustrative embodiments control damping of the plurality of electronically tunable shock absorbers based on one or more of the following control strategies:
● damping meter based on vehicle speed
● roll control: damping meter for steering angle and steering rate of vehicle
● jump control: detecting air time and adjusting damping accordingly
● Pitch control: braking, dive and dive
● use of lookup tables or multivariate equations based on sensor inputs
● acceleration sensing: selecting damping based on chassis acceleration frequency
● load sensing: increasing damping based on vehicle/case load
● oversteer/understeer detection
● factory default setting, switch on mode selection
● failsafe device defaults to being completely stable
● closing the solenoid valve after a fixed period of time to conserve power when idle
In the illustrated embodiment of the present disclosure, the user selectable mode provides damping control for the electronic shock absorber. In addition to the methods described above, the present disclosure includes modes that can be selected by a user through knobs, touch screens, buttons, or other user inputs. Illustrative user-selectable modes and corresponding sensors and controls include:
in addition to damping control, the following key items can be adjusted in various modes:
1. factory default mode
2. Soft/comfort mode
● vehicle speed
● turning
● soaring (Air born) — jumping
● eCTV: low RPM > stationary
● higher assisted EPS calibration
3. Automatic/sport mode
● Pitch control
● is connected to the brake switch
● throttle (CAN) position
● roll control
● lateral acceleration
● steering position (EPS sensor)
● vehicle speed
● "Auto" indicates the use of a damping table or algorithm containing all of these inputs
4. Stabilization/competition mode
● eCTV: higher junction
● aggressive accelerator pedal mapping
● Stable (lower speed Assist) EPS calibration
● damping with complete stability
5. Rock climbing mode
● increased ride height-spring preload
● rebound increase to cope with additional preload
● Soft stabilizer bar
● speed limitation
6. Desert/dune model
● Soft stabilizer bar
● velocity based damping
● damping more stable than "soft
7. Wild/turn mode
● low ride height
● harder stabilizer bar
● increase damping
● Stable EPS calibration
8. Working mode (Lock, completely stable)
● eCTV: smooth joining
● eCTV: depending on engine load, keep low RPM > stationary
● load sense damping and preloading
9. Economy mode
● low ride height
● Engine calibration
● eCTV calibration
In the illustrated embodiments of the present disclosure, the sensor input includes one or more of:
● damping mode selection
● vehicle speed
● 4WD mode
● ADC mode
● Shift mode-CVT and other Transmission types
● EPS mode
● ambient temperature
● steering angle
● chassis acceleration (transverse, longitudinal, vertical)
● steering wheel acceleration
● Gyroscope
● GPS location
● shock absorber position
● shock absorber temperature
● in-box load/distribution
● Engine sensor (rpm, temperature, CAN)
● Accelerator pedal
● brake input/pressure
● passenger sensor (weight or safety belt)
In the illustrated embodiment of the present disclosure, the damping control system is integrated with other vehicle systems as follows:
vehicle system integration
● EPS calibration
Unique calibration for each driver mode. Full assist work or comfort mode.
● automatic preload adjustment setting (electrically and/or hydraulically controlled)
O load leveling
Flat field/road mode is low, and rock climbing is high
Increasing rebound damping for higher preload
The traction mode increases with rear preload. Execution mode-front preload
Increase of
● vehicle speed limit
Using look-up tables or using algorithms to increase damping in conjunction with vehicle speed for control and
security
■ adjust the minimum damping level in all modes except "steady",
■ stable mode will be at maximum damping independent of vehicle speed
■ may be used in certain modes with lower ride height (preload) and vehicle speed
● eCTV calibration
Unique calibration for each driver mode related to electronic damping and preload. (comfort mode ═ low rpm, soft damping)
● Engine/Pedal map calibration
Unique calibration for each driver mode related to electronic damping and preload. (comfort mode ═ soft pedal mapping, soft damping)
● steer-by-wire
● load sensing
● Decoupled wheel speed for cornering
● 4 wheel steering
● active stabilizer bar adjustment
● traction control
● stability control
●ABS
● active brake bias
● preload control
FIG. 6 is a flow chart illustrating vehicle mode platform logic for the systems and methods of the present disclosure. In the illustrated embodiment, the user selects the user mode, as shown at
The controller 20 then determines whether the anti-roll bar or stabilizer bar should be connected or disconnected, as indicated at
The controller 20 also implements damping control logic as discussed below and shown at
The controller 20 uses the stored map to perform calibration of the Electronic Power Steering (EPS) of the vehicle, as indicated at
In a passive method for controlling a plurality of electronic shock absorbers, the user selected mode is set with discrete damping levels at all corners of the vehicle. The front compression, back compression, and rebound can be independently adjusted based on the user selected mode of operation without using active control based on sensor input.
An exemplary method for active damping control for a plurality of electrical shock absorbers is shown in FIG. 8. The method of FIG. 8 uses a
In the
If the brake is not activated, as indicated at
If the throttle position is greater than the threshold Y at
In the
Another embodiment of the present disclosure that includes different sensor input options is shown in fig. 9. In the embodiment of FIG. 9, a
If the throttle position is greater than the threshold Y at block 164, the controller 20 determines if the vehicle speed is greater than the threshold Z, as indicated at block 166. If so, the controller 20 operates the vehicle in a driving state, as shown at
At block 162, if the brakes are activated, the controller 20 operates the vehicle in the
At block 160, if the absolute value of the steering position is greater than the threshold X or the absolute value of the steering rate is greater than the threshold B, the controller 20 determines whether the brakes are activated, as shown at block 168. If so, the controller 20 operates the vehicle in a braking state as shown at block 170. In the braking state 170, the mode modifier for controlling damping includes the user input 118, the vehicle speed 120, and the steering rate 128.
In the braking state 170, the controller 20 increases damping based on the increased vehicle speed. Further, the controller 20 increases the compression damping on the outside front corner shock absorbers based on the inputs from the steering sensor, the brake sensor, and the vehicle speed sensor. The user pattern modifier 118 selects a look-up table and/or algorithm defining damping characteristics at each corner based on the above inputs.
If the brake is not activated at block 168, the controller 20 determines if the throttle position is greater than the threshold Y, as indicated at block 172. If not, the vehicle controller 20 operates the vehicle in the roll/turn state as shown at block 174. In the roll/turn state, the state modifier for controlling damping includes a user mode 118, a steering position 126, and a steering rate 128. In the roll/turn state, lateral acceleration caused by steering and turning inputs causes the occurrence of body roll.
In the roll/turn state 174, the controller 20 increases damping based on the increased vehicle speed. Further, when a turning event is detected via the steering sensor, the controller 20 increases the compression damping on the outboard corner shock absorber and/or the rebound damping on the inboard corner shock absorber. For a left turn, the outboard shock absorbers are the right front and rear shock absorbers, and the inboard shock absorbers are the left front and rear shock absorbers. For a right turn, the outboard shock absorbers are the front left and rear left shock absorbers and the inboard shock absorbers are the front right and rear right shock absorbers. The user pattern modifier 118 selects a look-up table and/or algorithm defining damping characteristics at each corner based on the above inputs.
If the throttle position is greater than the threshold Y at block 172, the controller 20 operates the vehicle in a submerged state as shown at block 176. In the sink state 176, the mode modifier used by the controller 20 to control the damping characteristics relates to the user mode 118, the vehicle speed 120, the throttle opening 122, the steering position 126, and the steering rate 128. Further, damping is increased based on the increased vehicle speed. In addition, the compression damping on the rear corner on the outside is increased based on the steering sensor, the throttle sensor, and the vehicle speed.
In the sink state 176, the controller 20 increases damping based on the increased vehicle speed. Further, the controller 20 increases the compression damping on the outboard rear corner shock absorbers based on inputs from the steering sensor, the throttle sensor, and the vehicle speed. The user pattern modifier 118 selects a look-up table and/or algorithm defining damping characteristics at each corner based on the above inputs.
Fig. 10 illustrates yet another embodiment of the damping control method of the present disclosure including different sensor input options than the embodiments of fig. 8 and 9. In addition to the
As shown at
In the skip/
If an empty event is not detected at
In the
If the determination at
If the throttle position is greater than the threshold Y at
If the absolute value of the steering position is greater than the threshold X or the absolute value of the steering rate is greater than the threshold B at block 188, the controller 20 determines if the brakes are activated and the X-axis acceleration is greater than the threshold A, as shown at block 202. If so, the controller 20 operates the vehicle in a braking state as shown at
If a negative determination is made at block 202, the controller 20 determines whether the throttle position is greater than the threshold Y, as indicated at
If the throttle position is greater than the threshold Y at
Another embodiment of the present disclosure is shown in fig. 11-13. As part of the damping control system, the
The
When the
Unlocking the
While the embodiments of the disclosure have been described by way of exemplary designs, the present invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains.
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