US 12,330,464 B2
System and method for determining a displacement velocity signal, and active wheel suspension
Shi Yan, Aachen (DE)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Jun. 30, 2022, as Appl. No. 17/854,747.
Claims priority of application No. 102021117078.8 (DE), filed on Jul. 2, 2021.
Prior Publication US 2023/0001760 A1, Jan. 5, 2023
Int. Cl. B60G 17/018 (2006.01); B60G 17/019 (2006.01)
CPC B60G 17/0182 (2013.01) [B60G 17/01908 (2013.01); B60G 17/01933 (2013.01); B60G 2400/102 (2013.01); B60G 2400/202 (2013.01); B60G 2400/252 (2013.01); B60G 2600/09 (2013.01); B60G 2600/1871 (2013.01); B60G 2600/68 (2013.01); B60G 2800/702 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A system for determining a displacement velocity signal for controlling an active wheel suspension of a land vehicle by open-loop and/or closed-loop control, the system comprising:
at least one Kalman filter, and
at least one acceleration sensor, the at least one acceleration sensor being arranged on a sprung mass of the land vehicle to sense a vertical acceleration of the sprung mass and to generate a corresponding acceleration signal supplied to the Kalman filter,
wherein the Kalman filter includes a mathematical motion model of the sprung mass, and input states of the Kalman filter include:
a vertical acceleration of the sprung mass,
a vertical displacement velocity of the sprung mass, and
a vertical displacement distance of the sprung mass,
wherein a displacement measurement signal having a value 0 is supplied continuously to the Kalman filter to determine the displacement velocity signal, and
wherein constant noise variance values of a measurement noise covariance matrix of the Kalman filter that are assigned to the displacement measurement signal are, set at one half of a maximum vertical displacement distance of the sprung mass, and
wherein the system controls a continuously controlled damping or the active wheel suspension of the land vehicle suspension based on the determined displacement velocity signal.