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1. 发明授权

US10471795B2 Method for compensating for vertical movements 有权
公开(公告)号：US10471795B2
公开(公告)日：2019-11-12
申请号：US15554107
申请日：2016-02-02
申请人： AUDI AG
发明人： Andreas Unger , Christoph Göhrle
IPC分类号： B60G17/0165 , B60G17/019
摘要： The invention relates to a method for compensating for vertically oriented movements of a superstructure of a vehicle. The vehicle is provided with the superstructure and with an active undercarriage having a plurality of wheels which are in contact with the carriageway, wherein each wheel is connected via an actuator adjustable over its length at a wheel assigned to a suspension point with the superstructure. Vertically oriented movements of the superstructure are caused by an inclination of the carriageway and by unevennesses of the carriageway, a first change of the length of at least one actuator is carried out for frequencies in a first, lower frequency range, and a second change of the length of the at least one actuator is carried out for frequencies in a second, higher frequency range.

2. 发明授权

US09950585B2 Method for providing a manipulated variable 有权
公开(公告)号：US09950585B2
公开(公告)日：2018-04-24
申请号：US15036294
申请日：2014-11-07
申请人： AUDI AG
发明人： Christoph Göhrle , Andreas Schindler , Andreas Unger , Oliver Sawodny
IPC分类号： B60G17/018 , B60G23/00 , B62C3/00 , B62K25/00 , G06F7/00 , G06F17/00 , G06F19/00 , B60G17/0165
CPC分类号： B60G17/0165 , B60G17/018 , B60G2400/102 , B60G2400/202 , B60G2400/82 , B60G2400/821 , B60G2401/14 , B60G2401/174 , B60G2401/176 , B60G2401/21 , B60G2500/10 , B60G2800/70 , B60G2800/80 , B60G2800/85
摘要： The invention relates to a method for providing a manipulated variable for an actuator (4) of an active chassis of a motor vehicle (2), wherein the manipulated variable in the event that a value for a projected variable, which is dependent upon a height profile of the terrain to be travelled by the motor vehicle (2), is available, is configured from a combination of a Skyhook variable, which is dependent upon a movement of a structure of the motor vehicle (2), and the projected variable, and wherein the manipulated variable is configured from a combination of a soft-spring variable, which is dependent upon a wheel-suspension of the motor vehicle (2), and the Skyhook variable, if no value for the projected variable is available.

3. 发明授权

US09868333B2 Method of operating an active suspension 有权
公开(公告)号：US09868333B2
公开(公告)日：2018-01-16
申请号：US14808684
申请日：2015-07-24
申请人： AUDI AG
发明人： Christoph Göhrle , Andreas Unger
IPC分类号： B60G17/018 , B60G17/06
CPC分类号： B60G17/018 , B60G17/06 , B60G2400/102 , B60G2400/206 , B60G2500/10 , B60G2500/104
摘要： In a method of operating an active suspension of a motor vehicle, power is added to at least one active control element of the active suspension, arranged between a wheel and a body, for damping a movement of the motor vehicle in a vertical direction when negotiating a terrain to thereby influence at least one control variable of the suspension, which control variable is oriented in the vertical direction. A first signal of a velocity of the body in the vertical direction and a second signal of the at least one control variable are determined. After ascertaining a phase shift between the first and second signals, a value of the phase shift is compared with a predefined threshold value. The presence of excitation is identified for the vertical body movement, when the value of the phase shift deviates from the threshold value at least by a tolerance value.

4. 发明授权

US10882375B2 Active chassis for a two-track vehicle 有权
公开(公告)号：US10882375B2
公开(公告)日：2021-01-05
申请号：US15750344
申请日：2016-08-01
申请人： AUDI AG
发明人： Andreas Unger , Wolfgang Schmid , Uli Schaaf
IPC分类号： B60G17/016 , B60G17/017 , B60G17/018 , B62D17/00 , B60G3/26 , B60G21/055 , B60G7/00
摘要： An active chassis for a two-track vehicle provided with a wheel suspension. A wheel carrier carrying a vehicle wheel is connected via connecting rod to the vehicle structure. The camber behavior of the vehicle wheel is defined by a mechanical camber curve of the vehicle wheels that is predetermined by the rigid kinematics of the connected rods, which defines a mechanical adjustment of the camber angle of the vehicle wheel depending on a spring path of the vehicle structure, and which is controllable with an actuator controller which can be controlled by a chassis control device.

5. 发明授权

US09902228B2 Method for controlling an actuator 有权
公开(公告)号：US09902228B2
公开(公告)日：2018-02-27
申请号：US15036309
申请日：2014-11-07
申请人： AUDI AG
发明人： Christoph Göhrle , Andreas Schindler , Andreas Unger , Oliver Sawodny
IPC分类号： B60G17/0165 , B60G17/018
CPC分类号： B60G17/0165 , B60G17/018 , B60G2400/82 , B60G2400/821 , B60G2401/14 , B60G2401/174 , B60G2401/176 , B60G2401/21 , B60G2500/10 , B60G2600/02 , B60G2600/60 , B60G2800/70
摘要： A method for controlling at least one actuator of a chassis of a motor vehicle, which travels over a subsurface is disclosed, wherein a height profile of the subsurface is detected, wherein it is analyzed for a section of the subsurface whether the height profile along said section has a value which deviates from a threshold value by a specified tolerance value, and wherein a regulating variable for activating the actuator is adjusted in consideration of the identified unevenness when the motor vehicle travels over the identified unevenness.

6. 发明授权

US09770959B2 Method for proactive controlling of chassis components 有权
公开(公告)号：US09770959B2
公开(公告)日：2017-09-26
申请号：US15315980
申请日：2015-05-29
申请人： AUDI AG
发明人： Andreas Unger , Christoph Göhrle
IPC分类号： B60G17/0165 , B62K25/24 , B60G17/015 , G01S3/74 , B60G17/018
CPC分类号： B60G17/0165 , B60G17/018 , B60G17/0185 , B60G2400/0511 , B60G2400/0512 , B60G2400/0513 , B60G2400/10 , B60G2400/102 , B60G2400/252 , B60G2400/821 , B60G2400/91 , B60G2401/16 , B60G2500/20 , B60G2600/08 , B60G2800/702 , B60G2800/80 , B60W40/06 , B60W2050/0043 , G01C7/04
摘要： In a method for controlling at least one component of a chassis of a vehicle, a parameterization of a reactive controller of the at least one component of the chassis is changed depending on a current certainty of sensor data of a roadway section to be driven detected by a sensor system, such that, when driving on the roadway section, in the case of increased uncertainty of the sensor data, the reactive controller controls with a lower reaction time with respect to a normal operation.

7. 发明授权

US11981175B2 Method for operating a chassis of a motor vehicle, and motor vehicle 有权
公开(公告)号：US11981175B2
公开(公告)日：2024-05-14
申请号：US17973766
申请日：2022-10-26
申请人： AUDI AG
发明人： Andreas Unger
IPC分类号： B60G17/0165 , B60G17/08
CPC分类号： B60G17/0165 , B60G17/08 , B60G2400/821 , B60G2500/10
摘要： A method for operating a chassis of a motor vehicle according to the principle of a skyhook control, the chassis having at least one adjustable damper according to which body movements of the motor vehicle body resulting from road bumps are damped using the skyhook damping value (dsky). When driving over a road bump, a classification is made as to whether a critical body movement of the motor vehicle body is to be expected, and that in case of a classification as a critical body movement, the critical classified body movement is compensated for using a stored critical skyhook damping value (dsky-crit) which is greater than the skyhook damping value (dsky).

8. 发明申请

US20230073311A1 VEHICLE WITH A CURVE TILTING FUNCTION 有权
公开(公告)号：US20230073311A1
公开(公告)日：2023-03-09
申请号：US17900420
申请日：2022-08-31
申请人： CARIAD SE , AUDI AG
发明人： Andreas Unger , Michael Jall , Philipp Knuth , Hanno Stingl , Tobias Templer
IPC分类号： B60G17/016
摘要： A vehicle having an active chassis system with curve tilting function, comprises a control unit, which when negotiating a curve determines a vehicle tilting angle on the basis of a current vehicle transverse acceleration or a correlated driving operation parameter, by which the vehicle transverse acceleration can be reduced, wherein the control unit uses the vehicle tilting angle so determined to trigger actuators of a suspension/shock absorbing system in order to adjust the vehicle tilting angle. The curve tilting function incorporates a prediction unit which provides the curve negotiation data for an upcoming curve. The vehicle tilting angle is set in consideration of the curve negotiation data.

9. 发明申请

US20170038476A1 METHOD FOR MEASURING A SIDE SLIP ANGLE IN VEHICLES 有权
标题翻译：测量车辆侧滑角的方法
公开(公告)号：US20170038476A1
公开(公告)日：2017-02-09
申请号：US15229933
申请日：2016-08-05
申请人： AUDI AG
发明人： Andreas Unger
IPC分类号： G01S19/47 , G01S19/52 , G01S19/53 , G01C21/16
CPC分类号： G01S19/47 , B60W40/10 , B60W40/114 , G01C21/16 , G01C21/165 , G01R33/02 , G01S19/39 , G01S19/52 , G01S19/53
摘要： A method for determining a side slip angle in a vehicle, includes determining with a first sensor an orientation of an effective vehicle speed vector of the Vehicle in relation to a geographic coordinate system of the earth; determining with a second sensor an orientation of the vehicle in relation to a magnetic coordinate system of the earth magnetic field; determining a differential angle of the magnetic north direction of the earth relative to the geographic north direction of the earth by using a vehicle speed; and determining the side slip angle as a function of the orientation of the effective vehicle speed vector and the differential angle according to the relationship β=ψcourse+ψmag,Δ−ψmag, wherein β designates the side slip angle, ψmag,Δ the differential angle, ψmag the orientation of the vehicle in relation to the magnetic north direction and ψcourse the orientation of the vehicle speed vector.
摘要翻译：一种用于确定车辆中的侧滑角的方法，包括：利用第一传感器确定车辆相对于地球的地理坐标系的有效车辆速度矢量的方位; 使用第二传感器确定车辆相对于地球磁场的磁坐标系的取向; 通过使用车速确定地球的磁北方向相对于地球北纬方向的差角; 并根据关系式β=ψcourse+ψmag，Δ-ψmag确定作为有效车速矢量和差角的方向的函数的侧滑角，其中β表示侧滑角，ψmag，Δ是差角，ψ将车辆的方向相对于磁北方向和ψ乘以车速矢量的方向。

10. 发明授权

US11760365B2 Active chassis control for a motor vehicle 有权
公开(公告)号：US11760365B2
公开(公告)日：2023-09-19
申请号：US17949404
申请日：2022-09-21
申请人： AUDI AG
发明人： Andreas Unger
IPC分类号： B60W50/00 , B60G17/016
CPC分类号： B60W50/0098 , B60G17/016 , B60G2400/10 , B60G2400/206
摘要： An active chassis control for a motor vehicle with an adaptive control circuit for reducing body vibrations (Aactual) of the motor vehicle, in which a control unit is integrated, which, depending on a current body vibration (Aactual) or a parameter correlating therewith (a), controls a chassis actuator. The control unit is followed by an adaptive unit which adapts an actuating signal (S) generated by the control unit with a driving speed-dependent scaling factor (f(v)), in particular by generating an adapted actuating signal (S′) with which the chassis actuator can be controlled. Depending on the situation, a factor allowance (Δf) can be added to the driving speed-dependent scaling factor (f(v)) in the event of a significantly greater body vibration (Ao) in order to effectively dampen the significantly greater body vibration (Ao).

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