Device for determining height

Abstract

A device for determining a height in a vehicle having a chassis with a plurality of wheels, the wheels standing or rolling on the ground; a vehicle body carried by the chassis, which is connected by means of a vehicle spring to an unsprung component of the chassis comprising a wheel that is hinged to the vehicle body by means of a chassis link; a plurality of sensor assemblies, at least one vehicle body sensor assembly being arranged on the vehicle body and one or more chassis sensor assemblies being arranged on unsprung components and / or chassis links of the chassis, each sensor assembly comprising at least one or more acceleration sensors, translation accelerations in different spatial directions can be detected, and acceleration signals characterizing the accelerations can be provided; the vehicle body sensor assembly comprises at least one or more rotational movement sensors, by means of which rotational movements about different axes of rotation can be detected and vehicle body rotational movement signals characterizing the rotational movements can be provided, one or more wheel elevations of the wheel can be determined from the acceleration signal and the vehicle body rotational movement signal by means of an evaluation device.

Description

Technical Field

[0001] The invention relates to a device for determining height in a vehicle, the vehicle comprising: a chassis with a plurality of wheels, which stand upright or roll on the ground; a vehicle body supported by the chassis and connected to unsprung parts of the chassis via vehicle springs, the parts comprising wheels, which are articulated to the vehicle body via chassis links; a plurality of sensor assemblies, at least one body sensor assembly being arranged on the vehicle body and one or more chassis sensor assemblies being arranged on unsprung parts of the chassis and / or chassis links, wherein each sensor assembly comprises at least one acceleration sensor or a plurality of acceleration sensors, by means of which translational accelerations in different spatial directions can be detected and acceleration signals characterizing these accelerations can be provided; and an evaluation device connected to the sensor assemblies. Background Art

[0002] Document DE 10 2018 210 586 B3 discloses a device for automatically adjusting the lighting range of a headlight device of a vehicle, wherein the vehicle has a plurality of wheels with pneumatic tires, the device comprising: a control device, which is configured to determine the pitch angle of the vehicle and to set the light emission of the headlight device based on the determined pitch angle; a first acceleration sensor arranged on the vehicle in a substantially fixed orientation relative to the bottom of the vehicle and a second acceleration sensor arranged on the vehicle in a fixed orientation relative to the headlight device of the vehicle, the first acceleration sensor and the second acceleration sensor being configured to respectively measure at least the direction of an acceleration present at the position of the corresponding acceleration sensor, wherein the control device is configured to determine the pitch angle based on the acceleration directions measured using the first acceleration sensor and the second acceleration sensor.

[0003] The device according to document DE 10 2018 210 586 B3 is suitable for determining the height. However, due to the vehicle springs, the vehicle body may shake compared to the unsprung parts of the chassis, so that the orientation of the vehicle body determined by means of the translation acceleration sensor may be inaccurate. As a result, the determined height may also be inaccurate. Summary of the invention

[0004] Based on this, it is an object of the invention in particular to be able to improve the accuracy when determining the altitude.

[0005] According to the invention, this object is achieved by a device according to claim 1 and a method according to claim 9. Preferred developments of the invention are given in the dependent claims and in the following description.

[0006] A device for determining a height in a vehicle, the vehicle comprising: a chassis with a plurality of wheels, which stand upright or roll on the ground; a vehicle body supported by the chassis, which is connected to unsprung parts of the chassis via vehicle springs, the parts comprising wheels, which are articulated to the vehicle body via chassis links; a plurality of sensor assemblies, at least one body sensor assembly being arranged on the vehicle body and one or more chassis sensor assemblies being arranged on the unsprung parts of the chassis and / or the chassis links, wherein each sensor assembly comprises at least one acceleration sensor or a plurality of acceleration sensors, by means of which translational accelerations in different spatial directions can be detected and acceleration signals characterizing these accelerations can be provided; an evaluation device connected to the sensor assemblies, the device being developed in particular in such a way that the body sensor assembly comprises at least one rotational motion sensor or a plurality of rotational motion sensors, by means of which rotational motions about different rotational axes can be detected and body rotational motion signals characterizing these rotational motions can be provided, wherein one or more wheel heights of the wheels can be determined from the acceleration signals and the body rotational motion signals by means of the evaluation device.

[0007] If at least one acceleration sensor or multiple acceleration sensors of the body sensor assembly experience rotational movements due to the shaking vehicle body, the acceleration signal provided by the acceleration sensor or these acceleration sensors may have rotational signal components in addition to the translational signal components, which can reduce the accuracy when determining the wheel elevation. By detecting the rotational movement, these rotational signal components can be calculated and / or compensated in particular at least partially and the accuracy of the wheel elevation or wheels can thus be increased.

[0008] The invention also relates in particular to a method for determining the height in a vehicle, the vehicle having a chassis with a plurality of wheels which stand upright or roll on the ground, a vehicle body carried by the chassis, the vehicle body being connected to unsprung parts of the chassis via vehicle springs, the parts including wheels which are articulated to the vehicle body via chassis links, a plurality of sensor assemblies, at least one body sensor assembly being arranged on the vehicle body and one or more chassis sensor assemblies being arranged on unsprung parts of the chassis and / or chassis links, wherein each sensor assembly comprises at least one acceleration sensor or a plurality of acceleration sensors, by means of which translational accelerations in different spatial directions are detected and acceleration signals characterizing these accelerations are provided. The method is particularly developed in that the body sensor assembly comprises at least one rotational motion sensor or a plurality of rotational motion sensors, by means of which rotational motions about different rotational axes are detected and body rotational motion signals characterizing these rotational motions are provided, wherein one or more wheel heights of the wheels are determined from the acceleration signals and the body rotational motion signals.

[0009] Preferably, according to the method, the vehicle has an evaluation device connected to the sensor arrangement, with the aid of which one or more wheel heights of the wheels are determined from the acceleration signal and the body rotational movement signal.

[0010] Preferably, the method according to the invention is carried out using the device according to the invention. In particular, the method according to the invention can be improved according to all the design solutions explained in conjunction with the device according to the invention. In addition, the device according to the invention can be improved, for example, according to all the design solutions explained in conjunction with the method according to the invention.

[0011] From one or more wheel heights of the wheels, in particular one or at least one height of the vehicle and / or of the wheel results.The term “at least one” or “at least one” preferably also includes the meaning of “one” or “exactly one”.

[0012] Preferably, a rotational signal component in an acceleration signal provided by at least one acceleration sensor or multiple acceleration sensors of the body sensor assembly can be calculated and / or compensated and / or calculated and / or compensated, in particular at least partially, with the aid of an analysis device with the aid of and / or taking into account a body rotational movement signal.

[0013] Preferably, in particular with the aid of the analysis device, one or more wheel elevation signals characterizing one or more wheel elevations can be provided and / or provided. Preferably, in particular with the aid of the analysis device, for each wheel elevation, one or at least one wheel elevation signal characterizing the respective wheel elevation can be provided and / or provided.

[0014] The number of wheels is preferably four. The wheels are preferably arranged at the corners of the vehicle. The number of corners is in particular four. Preferably, a wheel carrier is provided for each wheel, which carries the respective wheel. Preferably, each wheel is supported on the respective wheel carrier, for example by means of a wheel bearing, in particular rotatably about a wheel axis of rotation. Advantageously, the wheel carrier is articulated to the vehicle body via a chassis link. Thus, in particular, the wheel is articulated to the vehicle body via the chassis link. The chassis preferably comprises a chassis link and / or a wheel carrier.

[0015] Preferably, each wheel and / or each wheel carrier is articulated to the vehicle body via one or at least one or via two or more chassis links. Each chassis link is in particular a transverse link. For example, each wheel and / or each wheel carrier is articulated to the vehicle body via two or more chassis links, preferably arranged one above the other in the height direction of the vehicle, one of which in particular forms a lower transverse link and the other in particular forms an upper transverse link.

[0016] Advantageously, the chassis is provided with at least one axle, which in particular comprises two wheels or at least two wheels. Preferably, the chassis is provided with a plurality of axles, which in particular comprise two wheels or at least two wheels respectively. One of these axles is in particular a front axle. One or the other of these axles is in particular a rear axle. Preferably, the chassis is provided with a front axle, which in particular comprises two wheels or at least two wheels. The wheels of the front axle are in particular referred to as front wheels. Preferably, the chassis is provided with a rear axle, which in particular comprises two wheels or at least two wheels. The wheels of the rear axle are in particular referred to as rear wheels. The number of axles is advantageously two or at least two. Each axle preferably comprises a left wheel of the wheels and a right wheel of the wheels. Preferably, the terms "right" and "left" are here related to the vehicle coordinate system, wherein "left" in particular means that the wheels are arranged to be offset in the vehicle transverse direction when viewed from the vehicle longitudinal axis, and wherein "right" in particular means that the wheels are arranged to be offset against the vehicle transverse direction when viewed from the vehicle longitudinal axis.

[0017] Preferably, each chassis sensor assembly is arranged at one of the wheels and / or at the wheel suspension of one of the wheels and / or at one of the wheel supports carrying one of the wheels and / or at one of the chassis links and / or in one of the corners of the vehicle. The number of chassis sensor assemblies is, for example, one or at least one or two or at least two or three or at least three or four or at least four.

[0018] The number of chassis sensor assemblies is preferably equal to the number of wheels. For example, the number of chassis sensor assemblies is equal to the number of front wheels and / or the number of rear wheels. The number of front wheels is in particular two. Furthermore, the number of rear wheels is in particular two. Preferably, each wheel is assigned one of the chassis sensor assemblies. For example, each front wheel and / or each rear wheel is assigned one of the chassis sensor assemblies. Preferably, one of the chassis sensor assemblies is arranged in the region of each wheel. For example, one of the chassis sensor assemblies is arranged in the region of each front wheel and / or each rear wheel. Preferably, one of the chassis sensor assemblies is respectively arranged at one or more wheel supports carrying the wheels. For example, one of the chassis sensor assemblies is respectively arranged at one or more wheel supports carrying the front wheels and / or the rear wheels. Preferably, one of the chassis sensor assemblies is arranged for each wheel at the chassis link or at one or at least one of the chassis links, which articulates the wheel or the corresponding wheel to the vehicle body. Preferably, one of the chassis sensor assemblies is provided for each front wheel at the chassis link or one of the chassis links or at least one of the chassis links, which articulates the front wheel or the respective front wheel to the vehicle body. Advantageously, one of the chassis sensor assemblies is provided for each rear wheel at the chassis link or one of the chassis links or at least one of the chassis links, which articulates the rear wheel or the respective rear wheel to the vehicle body.

[0019] Advantageously, one or at least one of the chassis sensor assemblies is provided and / or arranged in the region of each wheel of at least one axle or one of the axles or at least one of the axles or each axle. In particular, for at least one axle or for at least one of the axles or for each axle, one of the chassis sensor assemblies is provided for each wheel at the wheel support carrying the wheel or the respective wheel. Preferably, for the front axle, one of the chassis sensor assemblies is provided for each wheel at the wheel support carrying the wheel or the respective wheel. Preferably, for the rear axle, one of the chassis sensor assemblies is provided for each wheel at the wheel support carrying the wheel or the respective wheel. In particular, for at least one axle or for at least one of the axles or for each axle, one of the chassis sensor assemblies is provided for each wheel at the chassis link or one of the chassis links or at least one of the chassis links, which articulates the wheel or the respective wheel to the vehicle body. Preferably, for the front axle, one of the chassis sensor assemblies is provided for each wheel at the chassis link or one of the chassis links or at least one of the chassis links, which articulates the wheel or the respective wheel to the vehicle body. Advantageously, for the rear axle, one of the chassis sensor assemblies is provided for each wheel at the chassis link or at one of the chassis links or at least at one of the chassis links which articulates the or the respective wheel to the vehicle body.

[0020] Preferably, the body sensor assembly is arranged in a fixed orientation relative to the vehicle body. Preferably, each chassis sensor assembly is arranged in a fixed orientation relative to one of the chassis links or to a respective chassis link or to an unsprung component of the chassis and / or to one of the wheel carriers or to a respective wheel carrier. Advantageously, each chassis sensor assembly is arranged in a fixed or substantially fixed orientation relative to the ground, in particular if the chassis sensor assembly is arranged in a fixed orientation relative to an unsprung component of the chassis. The term "substantially" here relates in particular to the bouncing of the unsprung component of the chassis relative to the ground caused by the pneumatic tire. In particular, the influence of such bouncing is neglected.

[0021] According to an advantageous development, at least one rotary motion sensor or a plurality of rotary motion sensors of the body sensor assembly is designed as a rotational speed sensor or a plurality of rotational speed sensors, by means of which a rotational movement in particular can be detected and / or detected in the form of an angular velocity. The body rotary motion signal is in particular an angular velocity signal and can also be referred to as a body angular velocity signal, for example. In order to determine and / or estimate the rotary signal component in the acceleration signal provided by the acceleration sensor of the body sensor assembly, the body angular velocity signal can be integrated, for example, over time.

[0022] Preferably, the vehicle body sensor assembly is designed to detect three translational degrees of freedom. Preferably, the vehicle body sensor assembly is designed to detect three rotational degrees of freedom. In particular, the vehicle body sensor assembly is designed to detect six kinematic degrees of freedom.

[0023] Preferably, the body sensor assembly can detect translational accelerations in three different spatial directions. Preferably, the body sensor assembly can detect translational accelerations in three different body sensor assembly directions. Preferably, each rotation axis of the body sensor assembly extends along one of the body sensor assembly directions. Advantageously, the rotation axes of the body sensor assembly intersect at a common origin.

[0024] The body sensor assembly is preferably formed by an inertial measurement unit (IMU), in particular in the form of a microsystem (MEMS). A rotational speed sensor is also called a gyroscope, for example. An inertial measurement unit designed as a microsystem takes up little installation space, requires little maintenance, and is available at a relatively low price.

[0025] According to an advantageous design, each chassis sensor assembly is designed to detect three or at least three kinematic degrees of freedom. In particular, each chassis sensor assembly is designed to detect three translational degrees of freedom.

[0026] According to an advantageous development, each chassis sensor assembly comprises at least one rotational motion sensor or a plurality of rotational motion sensors, by means of which rotational motions about different rotational axes can be detected and / or detected, and chassis rotational motion signals characterizing these rotational motions can be provided and / or provided. Preferably, in particular by means of an analysis device, one or more wheel elevations of the wheels can be determined and / or determined, taking into account the chassis rotational motion signals in addition. Preferably, therefore, from the acceleration signal, the body rotational motion signal and the chassis rotational motion signal, preferably by means of an analysis device, one or more wheel elevations of the wheels can be determined and / or determined. In particular, the orientation of the chassis and / or one or more wheels and / or one or more chassis links and / or the ground can thereby be determined more accurately, and the accuracy in determining one or more wheel elevations of the wheels can therefore also be increased.

[0027] Preferably, first with the aid of an analysis device, with the aid of and / or taking into account a chassis rotational movement signal of each chassis sensor component, a rotational signal component in an acceleration signal provided by the acceleration sensor of the respective chassis sensor component can be calculated and / or compensated, in particular at least partially.

[0028] According to an advantageous embodiment, at least one rotary motion sensor is designed as a rotational speed sensor, or the rotary motion sensor of each chassis sensor assembly is designed as a rotational speed sensor, by means of which the corresponding rotary motion in the form of an angular velocity can be detected and / or detected. The chassis rotary motion signal is in particular an angular velocity signal and can also be referred to as a chassis angular velocity signal, for example. In order to determine and / or estimate the rotary signal component in the acceleration signal provided by the acceleration sensor of each chassis sensor assembly, the corresponding chassis angular velocity signal can be integrated, for example, over time.

[0029] Each chassis sensor assembly is designed, for example, to detect three rotational degrees of freedom. Preferably, each chassis sensor assembly is designed to detect six kinematic degrees of freedom.

[0030] Preferably, each chassis sensor assembly can detect translational accelerations in three different spatial directions. Advantageously, each chassis sensor assembly can detect translational accelerations in three different chassis sensor assembly directions. Preferably, for each chassis sensor assembly, each rotation axis extends along one of the chassis sensor assembly directions of the respective chassis sensor assembly. Advantageously, the rotation axes of each chassis sensor assembly intersect, in particular respectively, at a common origin.

[0031] Each chassis sensor assembly is preferably formed by an inertial measurement unit (IMU), in particular in the form of a microsystem (MEMS). A rotational speed sensor is also called a gyroscope, for example.

[0032] According to an advantageous development, the pitch angle of the vehicle can be determined and / or is determined, in particular by means of an analysis device, based on the signal provided by the sensor assembly. Preferably, in particular by means of the analysis device, at least one pitch angle signal characterizing the pitch angle can be provided and / or is provided. The pitch angle is in particular the tilt angle of the vehicle.

[0033] According to an advantageous embodiment, the roll angle of the vehicle can be determined and / or is determined, in particular by means of the analysis device, based on the signal provided by the sensor assembly. Preferably, in particular by means of the analysis device, at least one roll angle signal characterizing the roll angle can be provided and / or is provided. The roll angle is in particular one or another tilt angle of the vehicle. The pitch angle and the roll angle extend, for example, transversely to each other.

[0034] According to an advantageous development, for example, one or more body orientation information, which are in particular characteristic of the orientation of the vehicle body, can be determined and / or determined, in particular by means of the analysis device, based on the signals provided by the body sensor assembly. Preferably, one or more body orientation information, in particular in the form of one or more body orientation signals, can be provided and / or provided by means of the analysis device. Preferably, for example, one or more wheel orientation information, which are in particular characteristic of one or more orientations of the wheel or one or more wheels, can be determined and / or determined, in particular by means of the analysis device, based on the signals provided by one or more chassis sensor assemblies. Preferably, one or more wheel orientation information, in particular in the form of one or more wheel orientation signals, can be provided and / or provided by means of the analysis device. Preferably, for example, one or more chassis link orientation information, which are in particular characteristic of one or more orientations of the chassis link or one or more chassis links, can be determined and / or determined, in particular by means of the analysis device, based on the signals provided by one or more chassis sensor assemblies. Preferably, one or more chassis link orientation information, in particular in the form of one or more chassis link orientation signals, can be provided and / or provided by means of the analysis device.

[0035] In particular, one or more wheel elevations of a wheel can be determined and / or determined from one or more body orientation information and one or more wheel orientation information and / or one or more chassis link orientation information. Since the positional relationship between the vehicle body, chassis link and wheel is predetermined in particular by the chassis, the wheel elevation can be determined for each wheel from its orientation and / or from the orientation of at least one chassis link articulating the wheel or the respective wheel to the vehicle body and from the orientation of the vehicle body. Furthermore, for example, the pitch angle or a pitch angle and / or the roll angle or a roll angle of the vehicle can be determined from one or more wheel elevations of the wheel, in particular with the aid of an analysis device.

[0036] Preferably, one or more chassis orientation information and / or ground orientation information can be determined and / or determined based on the signals provided by one or more chassis sensor components, in particular by means of an analysis device, which in particular characterizes the orientation of the chassis and / or the ground. Preferably, one or more chassis orientation information and / or ground orientation information can be provided and / or provided by means of an analysis device, in particular in the form of one or more chassis orientation signals and / or ground orientation signals. Preferably, the pitch angle or a pitch angle and / or the roll angle or a roll angle can be determined and / or determined from one or more body orientation information and one or more chassis orientation information or ground orientation information. The chassis orientation information characterizes in particular the orientation of the chassis and / or the orientation of unsprung components of the chassis, for example one or more orientations of at least one wheel or a plurality of wheels and / or at least one wheel carrier or a plurality of wheel carriers. The ground orientation information characterizes in particular the orientation of the ground, which is for example a lane or a street. Therefore, the orientation of the ground can also be referred to as a lane orientation and / or a street orientation, for example. The one or more chassis orientation information preferably corresponds to the one or more ground orientation information, in particular when the influence of the pneumatic tire is neglected.

[0037] One or more body orientation information comprises, for example, a first body direction information in, for example, a vehicle longitudinal height plane. One or more chassis orientation information or ground orientation information comprises, for example, a first chassis direction information or a first ground direction information in, for example, the vehicle longitudinal height plane or a vehicle longitudinal height plane. If each first direction information is present, for example, in the form of an angle, in particular relative to the same reference axis, the pitch angle or a pitch angle is obtained, for example, from the difference of these angles.

[0038] One or more body orientation information comprises, for example, a second body direction information in, for example, a vehicle transverse-height plane. One or more chassis orientation information or ground orientation information comprises, for example, a second chassis direction information or a second ground direction information in, for example, the vehicle transverse-height plane or a vehicle transverse-height plane. If each second direction information is present, for example, in the form of an angle, in particular relative to the same reference axis, the roll angle or a roll angle is obtained, for example, from the difference of these angles.

[0039] Preferably, the body orientation information characterizes a body plane representing the vehicle body. Preferably, the chassis orientation information characterizes a chassis plane representing the chassis and / or unsprung components of the chassis. Advantageously, the ground orientation information characterizes a ground plane representing the ground. The chassis plane, for example, corresponds to the ground plane or extends parallel thereto. In particular, the pitch angle or a pitch angle and / or the roll angle or a roll angle can be determined and / or determined from the position of the body plane relative to the chassis plane or the ground plane.

[0040] The body plane is described, for example, by a body plane vector extending perpendicularly thereto. The chassis plane is described, for example, by a chassis plane vector extending perpendicularly thereto. The ground plane is described, for example, by a ground plane vector extending perpendicularly thereto. The chassis plane vector corresponds in particular to the ground plane vector. For example, the angle between the body plane vector and the chassis plane vector or the ground plane vector results from the superposition of pitch and roll.

[0041] According to an advantageous embodiment, one or at least one headlight device, in particular connected to the evaluation device, is provided with at least one headlight and at least one headlight adjustment drive, by means of which the inclination of the headlight and / or the inclination of the light beam emitted by the headlight can be adjusted and / or adjusted as a function of the pitch angle, preferably relative to the vehicle body. Preferably, the headlight device comprises at least one headlight holder, the at least one headlight being supported at the at least one headlight holder in a tiltable and / or pivotable manner. The at least one headlight is in particular a headlight. For example, the term light cone can also be used instead of the term light beam. Preferably, the body sensor assembly is arranged in a fixed orientation relative to the headlight device and / or the at least one headlight holder. The at least one headlight holder is preferably fixed in position relative to the vehicle body. The headlight device preferably comprises two headlights and / or two headlight adjustment drives and / or two headlight holders. For example, the vehicle has one or at least one headlight device.

[0042] The analysis device preferably comprises a digital computer and / or is formed by a digital computer. The analysis device preferably comprises a plurality of analog-to-digital converters, by means of which sensor signals provided by the sensors can be digitized and / or are digitized.

[0043] According to an advantageous development, the analysis device comprises at least one or more evaluators, for example, in particular, evaluators based on an observer and / or a Kalman filter, respectively. Preferably, by means of at least one evaluator or by means of a plurality of evaluators, one or more wheel elevations of the wheel can be determined and / or determined by estimation. Preferably, by means of at least one evaluator or by means of a plurality of evaluators, in particular, the pitch angle and / or the roll angle and / or the orientation of the ground can also be determined and / or determined by estimation. Preferably, the evaluator or the plurality of evaluators or at least one or more of the evaluators can be optimized and / or optimized, in particular, by means of at least one optimizer, for example, by minimizing at least one quality functional.

[0044] Preferably, the analysis device and / or at least one or more evaluators include a body evaluator, with the help of which one or more body orientation signals or the body orientation signal or multiple body orientation signals, which preferably characterize the orientation of the vehicle body, can be determined and / or determined, in particular based on signals provided by a body sensor component.

[0045] Preferably, the analysis device and / or at least one or more evaluators include a chassis evaluator or a ground evaluator, with the help of which, in particular based on signals provided by a chassis sensor component, one or more chassis orientation signals or ground orientation signals or the chassis orientation signal or the ground orientation signal or multiple chassis orientation signals or multiple ground orientation signals can be determined and / or determined, preferably characterizing the orientation of the chassis and / or the ground.

[0046] Advantageously, the analysis device and / or at least one or more evaluators include a wheel elevation evaluator, by means of which, in particular based on signals provided by a body sensor component and / or based on signals provided by a chassis sensor component and / or based on a body orientation signal and / or based on a chassis orientation signal or a ground orientation signal, one or more wheel elevation signals or the wheel elevation signal or a plurality of the wheel elevation signals, which preferably characterize the elevation of one or more wheels, can be determined and / or determined.

[0047] Preferably, the analysis device and / or at least one or more evaluators include a pitch angle evaluator, with the help of which, in particular based on signals provided by a body sensor component and / or based on signals provided by a chassis sensor component and / or based on a body orientation signal and / or based on a chassis orientation signal or a ground orientation signal, it is possible to determine and / or determine at least one pitch angle signal or at least one pitch angle signal that preferably characterizes the pitch angle or a pitch angle of the vehicle.

[0048] Preferably, the analysis device and / or at least one or more evaluators include a roll angle evaluator, with the help of which, in particular based on signals provided by a body sensor component and / or based on signals provided by a chassis sensor component and / or based on a body orientation signal and / or based on a chassis orientation signal or a ground orientation signal, it is possible to determine and / or determine at least one roll angle signal or at least one roll angle signal that preferably characterizes the roll angle or a roll angle of the vehicle.

[0049] Advantageously, the analysis device and / or at least one or more evaluators comprise at least one optimizer, by means of which the evaluator or the evaluators or at least one or more of the evaluators can be optimized and / or optimized, for example by minimizing at least one quality functional.

[0050] The ground evaluator, the wheel height evaluator, the pitch angle evaluator, the roll angle evaluator and preferably also the optimizer together form in particular an evaluator unit. For example, the evaluator unit also comprises a vehicle body evaluator. At least one or more evaluators form or comprise in particular an evaluator unit.

[0051] According to an advantageous design, at least one height sensor, in particular connected to an analysis device, is provided at one of the axles, by means of which one or at least one height of the axle can be detected and / or detected, and preferably at least one height signal characterizing the height can be provided and / or provided. Preferably, in particular with the aid of the analysis device or according to the height signal and / or by comparison with the height signal, one or more wheel elevations of the wheel or at least one or more wheel elevations of these wheel elevations can be verified and / or verified. This is particularly advantageous when using an evaluator. In the case of incorrect and / or untrustworthy wheel elevations, a calibration and / or correction of the analysis device and / or the evaluator and / or the evaluator unit can be performed and / or performed in particular. Preferably, the height sensor is arranged at one of the chassis links and / or integrated therein. Preferably, the height sensor is arranged at or in the joint of the chassis and / or one of the chassis links and / or integrated into the joint. The axle is preferably the front axle or a front axle of the vehicle.

[0052] According to an advantageous improvement, a height sensor assembly, in particular connected to an analysis device, is provided at one of the axles, by means of which one or at least one height of the axle can be detected and / or detected, and preferably at least one height signal characterizing the height can be provided and / or provided. Preferably, one or more wheel elevations of the wheels or at least one or more of these wheel elevations are provided at the other axle. Advantageously, one or more wheel elevations of the wheels or at least one or more of these wheel elevations can be determined and / or determined, preferably additionally taking into account the height signal and / or the pitch angle, in particular by means of the analysis device. Preferably, at least one chassis sensor assembly is provided at the other axle and / or in the region of at least one wheel of the other axle. Preferably, one of the chassis sensor assemblies is provided in the region of each wheel of the other axle. For example, for the other axle, one of the chassis sensor assemblies is provided for each wheel at the wheel support that carries the wheel or the corresponding wheel. In particular, for the further axle, one of the chassis sensor assemblies is provided for each wheel at the chassis link or at one chassis link or at least one chassis link that articulates the wheel or the respective wheel to the vehicle body. The axle is, for example, the front axle or a front axle. For example, no chassis sensor assembly is provided at the axle. The further axle is, for example, the rear axle.

[0053] The height sensor assembly in particular comprises or is formed by one or at least one height sensor or the height sensor or at least one of the height sensors. For example, the height sensor assembly comprises two or more height sensors, wherein one of the height sensors is provided at each wheel of the axle. In this case, one of the height sensors is preferably formed by the height sensor or at least one of the height sensors.

[0054] The device according to the invention is in particular part of a vehicle. For example, the term "device for determining the height in a vehicle" can also be replaced by the term "vehicle" or by the term "vehicle with a device for determining the height" or by the term "vehicle with a device for determining the height in a vehicle". The device according to the invention preferably comprises at least one body sensor assembly and / or one or more chassis sensor assemblies and / or an evaluation device and / or a height sensor assembly and / or a headlight device and / or a chassis and / or a vehicle body and / or a vehicle spring and / or a chassis link and / or each wheel carrier. Furthermore, for example, in particular in the device according to the invention and / or in the method according to the invention, the term "determining the height" can be replaced by the term "determining the wheel elevation". BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The present invention will be described below with reference to the accompanying drawings by means of preferred embodiments.

[0056] Figure 1 is a schematic top view of a vehicle according to a first embodiment;

[0057] Figure 2 is a schematic diagram of a wheel suspension of a vehicle according to a first embodiment;

[0058] Figure 3 is a schematic diagram of an apparatus for determining height according to a first embodiment;

[0059] Figure 4 is a schematic diagram for explaining determination of wheel elevation according to the first embodiment;

[0060] Figure 5 is a schematic diagram for explaining determination of a pitch angle according to a first embodiment;

[0061] Figure 6 is a schematic diagram for explaining determination of the roll angle according to the first embodiment;

[0062] Figure 7 is a schematic diagram of a wheel suspension of a vehicle according to a second embodiment;

[0063] Figure 8 is a schematic diagram of an apparatus for determining height according to a second embodiment;

[0064] Fig. 9 is a schematic diagram of a wheel suspension of a vehicle according to a third embodiment; and

[0065] Fig.10 is a schematic diagram of a wheel suspension of a vehicle according to a fourth embodiment. DETAILED DESCRIPTION

[0066] Figure 1 A schematic top view of a vehicle 1 according to a first specific embodiment is shown, which has a vehicle body 2 and a chassis 3 with a plurality of wheel suspensions 4, 5, 6 and 7, wherein the wheel suspensions 4 and 5 are assigned to a front axle 8 and the wheel suspensions 6 and 7 are assigned to a rear axle 9. Each wheel suspension comprises a wheel, wherein the wheel suspension 4 has a wheel 10, the wheel suspension 5 has a wheel 11, the wheel suspension 6 has a wheel 12 and the wheel suspension 7 has a wheel 13. Furthermore, a coordinate system with a longitudinal direction x, a transverse direction y and a height direction z is shown.

[0067] Figure 2 The schematic diagram of a wheel suspension 4 is shown, which has a wheel carrier 14, which is connected via an articulation 15, preferably in the form of a ball and socket joint, to a chassis link 16, preferably in the form of a transverse link, the end of which, facing away from the wheel carrier 14, is articulated to the vehicle body 2 via at least one articulation 17, preferably in the form of a rubber bearing. Furthermore, the wheel carrier 14 is particularly firmly connected to a spring strut 18, the end of which, facing away from the wheel carrier 14, is connected to the vehicle body 2 via a spring strut support 19. The spring strut 18 comprises a vehicle spring 20 and a damper 21, which is particularly surrounded by the vehicle spring 20, preferably in the form of a helical spring. A wheel bearing 22 is fixed to the wheel carrier 14, by means of which the wheel 10 is supported on the wheel carrier 14 in a manner rotatable about a wheel axis of rotation 23. Furthermore, a tie rod 24 is connected to the wheel carrier 14 via an articulation 25, preferably in the form of a ball and socket joint. The wheel 10 is in contact with a ground surface 26, such as a street or a roadway, for example.

[0068] A body sensor assembly 27 is provided on the vehicle body 2. According to this embodiment, the body sensor assembly has three translation acceleration sensors 28, 29 and 30 and three rotation speed sensors 31, 32 and 33 (see Figure 3 ). In addition, in this embodiment, a chassis sensor assembly 37 having three translation acceleration sensors 34, 35 and 36 is provided on the chassis link 16 (see Figure 3 ). Optionally, the chassis sensor assembly 37 may additionally have three rotation speed sensors.

[0069] The wheel suspension 5 is preferably configured to be opposite to the wheel suspension 4 in left-right orientation. Furthermore, the wheel suspension 7 is preferably configured to be opposite to the wheel suspension 6 in left-right orientation. In particular, the front axle 8 is designed to be steerable. The rear axle is designed, for example, to be steerable or non-steerable. Apart from this, the wheel suspensions 4, 5, 6 and 7 are configured in particular in the same manner, so that each wheel suspension has the previously described chassis sensor assembly with three translation acceleration sensors 34, 35 and 36, wherein the chassis sensor assembly of the wheel suspension 5 is marked with reference numeral 38, the chassis sensor assembly of the wheel suspension 6 is marked with reference numeral 39, and the chassis sensor assembly of the wheel suspension 7 is marked with reference numeral 40 (see Figure 3 ).

[0070] Furthermore, a height sensor 41 is preferably provided at the joint 17, by means of which the height of the wheel 10 can be detected by measuring the angle α between the vehicle body 2 and the chassis link 16, and a height signal Ser representing the height can be provided (see Figure 3 ). According to a possible alternative, the height sensor is arranged at the joint 15, for example, so that the height can be detected by measuring the angle between the wheel bracket 14 and the chassis link 16. Optionally, a corresponding height sensor is arranged on the wheel suspension 5, by means of which the height of the wheel 11 can be detected and a height signal representing the height can be provided. In this case, these height sensors especially jointly form a height sensor assembly.

[0071] Figure 3 A schematic diagram of a device for determining height according to a first specific embodiment is shown, from which it can be seen that the sensors of sensor assemblies 27 , 37 , 38 , 39 and 40 and height sensor 41 are connected to an evaluation device 42 .

[0072] The acceleration sensors 28, 29 and 30 of the body sensor assembly 27 provide acceleration signals Sx, Sy and Sz that characterize the acceleration occurring on the vehicle body 2. In addition, the rotational speed sensors 31, 32 and 33 of the body sensor assembly 27 provide angular velocity signals Syz, Szx and Sxy that characterize the rotational movement occurring on the vehicle body 2. The acceleration sensors 34, 35 and 36 of the chassis sensor assembly 37 provide acceleration signals Fx, Fy and Fz that characterize the acceleration occurring on the chassis link 16. In addition, the acceleration sensors 34, 35 and 36 of the chassis sensor assembly 38 provide acceleration signals Gx, Gy and Gz that characterize the acceleration occurring on the chassis link of the wheel suspension 5, which is preferably configured as a transverse link. In addition, the acceleration sensors 34, 35 and 36 of the chassis sensor assembly 39 provide acceleration signals Hx, Hy and Hz that characterize the acceleration occurring on the chassis link of the wheel suspension 6, which is preferably configured as a transverse link. Finally, the acceleration sensors 34 , 35 and 36 of the chassis sensor arrangement 40 provide acceleration signals Ix, Iy and Iz which characterize the accelerations occurring at the chassis links of the wheel suspension 7 , which are preferably designed as transverse links.

[0073] The orientation of the vehicle body 2 can be detected by means of the body sensor assembly 27. In particular, the angles θ′ and The plurality of body orientation information in the form of a plurality of body orientation information are provided, and body orientation signals Sθ' and Sθ' representing the body orientation information are provided. Furthermore, the orientation of the chassis links of the wheel suspensions 4 , 5 , 6 and 7 can be detected by means of the chassis sensor assemblies 37 , 38 , 39 and 40 .

[0074] The wheel elevation can be determined from the orientation of the vehicle body 2 and the orientation of the chassis links, which will be referred to Figure 2 and Figure 4 The explanation will be given with respect to the wheel height h of the wheel 10 . Figure 2 The wheel height h of the wheel 10 is shown relative to a reference position 43 which is, in particular, stationary relative to the vehicle body 2 .

[0075] The chassis sensor assembly 37 detects the inclination β of the chassis link 16 in the yz plane. In addition, the body sensor assembly 27 detects the inclination of the vehicle body 2 in the yz plane. The difference between these two angles results in an inclination of the chassis link 16 relative to the vehicle body 2 This can be seen especially from Figure 4As can be seen. If the length of the chassis link 16 between the vehicle body 2 and the wheel support 14 or the wheel 10 is Lq, the relationship is: sin(β)=h / Lq. Therefore, the wheel elevation h of the wheel 10 can be determined as: h=Lq﹡sin(β). The wheel elevations of the wheels 11, 12 and 13 can be determined accordingly. In particular, the relationship between the angle β and the angle α is: β=90°-α.

[0076] The wheel heights of wheels 10, 11, 12 and 13 are determined by means of the analysis device 42, and wheel height signals Sh1, Sh2, Sh3 and Sh4 representing these wheel heights are provided. In this case, the wheel height signal Sh1 represents the wheel height of wheel 10, the wheel height signal Sh2 represents the wheel height of wheel 11, the wheel height signal Sh3 represents the wheel height of wheel 12, and the wheel height signal Sh4 represents the wheel height of wheel 13.

[0077] Since the positional relationship between the vehicle body 2, the chassis link and the wheel carrier and / or the wheel is predetermined by the wheel suspension, the detected orientation of the chassis link, in particular when the influence of the pneumatic tire is neglected, can also determine, for example, the orientation of the ground surface 26. Preferably, the angle θ" and A plurality of ground orientation information in the form of a plurality of ground orientation information, and a ground orientation signal Sθ" and a ground orientation signal Sθ" representing the ground orientation information are provided.

[0078] The vehicle body orientation information θ' and and ground orientation information θ” and The pitch angle θ of the vehicle 1 can be determined, in particular by means of an evaluation device 38 which also provides a pitch angle signal Sθ which is characteristic of the pitch angle θ.

[0079] The vehicle body orientation information θ' and and ground orientation information θ” and The roll angle of the vehicle 1 can also be determined This is done in particular with the aid of an analysis device 38 which preferably provides a characteristic of the roll angle Roll angle signal

[0080] The analysis device 42 comprises in particular a vehicle body evaluator 50, by means of which a plurality of vehicle body orientation signals A1, A2, A3 characterizing the orientation of the vehicle body 2 are determined, in particular based on the signals provided by the vehicle body sensor assembly 27. The signals Sθ′ and Sθ′ can preferably be derived from the signals A1, A2 and A3.

[0081] Furthermore, the analysis device 42 comprises a ground evaluation device 51, by means of which a ground orientation signal Sθ″ and a ground orientation signal Sθ″ characterizing the orientation of the ground 26 are preferably determined, in particular based on the signals provided by the chassis sensor assemblies 37, 38, 39 and 40.

[0082] The analysis device 42 further comprises a wheel height estimator 52, by means of which, in particular, based on the signals provided by the chassis sensor assemblies 37, 38, 39 and 40 and / or based on the signals provided by the body sensor assembly 27 or the body orientation signals A1, A2, A3 and / or based on the ground orientation signal Sθ″ and Preferably, wheel height signals Sh1 , Sh2 , Sh3 and Sh4 which characterize the wheel heights of the wheels can be determined or are determined.

[0083] Furthermore, the analysis device 42 comprises a pitch angle estimator 53, by means of which, in particular, based on the signals provided by the chassis sensor assemblies 37, 38, 39 and 40 and / or based on the signals provided by the body sensor assembly 27 or the body orientation signals A1, A2, A3 and / or based on the ground orientation signal Sθ″ and The pitch angle signal Sθ or at least one pitch angle signal is determined which is characteristic of a pitch angle of the vehicle.

[0084] Furthermore, the evaluation device comprises a roll angle estimator 54, by means of which, in particular, based on the signals provided by the chassis sensor assemblies 37, 38, 39 and 40 and / or based on the signals provided by the body sensor assembly 27 or the body orientation signals A1, A2, A3 and / or based on the ground orientation signal Sθ″ and Determining the roll angle signal indicative of the roll angle of the vehicle Or at least a roll angle signal.

[0085] In particular, the analysis device 42 comprises an optimizer 55 , by means of which, for example, the terrain estimator 51 and / or the wheel height estimator 52 and / or the pitch angle estimator 53 and / or the roll angle estimator 54 can be optimized and / or optimized.

[0086] The ground surface evaluator 51 , the wheel height evaluator 52 , the pitch angle evaluator 53 , the roll angle evaluator 54 and preferably the optimizer 55 together form in particular an evaluator unit 57 , which is also referred to as evaluator. The evaluator unit 57 may also include the vehicle body evaluator 50 , for example.

[0087] Preferably, at least one wheel height, in particular the wheel height h of wheel 10, can be verified based on the height signal Ser, preferably by means of the analysis device 42. In the case of incorrect and / or implausible wheel heights, in particular the analysis device 42 and / or the evaluation unit 57 are calibrated and / or corrected.

[0088] The vehicle 1 has a headlight device 44, which has two headlights 45, two headlight holders 46, the headlights 45 being pivotably mounted on the headlight holders 46, and the headlight device also has two headlight adjustment drives 47, by means of which the inclination of the headlights 45 can be adjusted, in particular in the zx plane, as a function of the pitch angle θ. For this purpose, the headlight device 44 connected to the evaluation device 42 is provided, in particular, with a pitch angle signal Sθ, which can be obtained from Figure 1 see.

[0089] Refer to the following Figure 5 and Figure 6 Explain the pitch angle θ and roll angle of determination.

[0090] exist Figure 5 On the left side marked with a), the unloaded, stationary vehicle 1 is schematically shown in the design position on a non-sloping ground 26. The pitch angle and the roll angle are thus zero.

[0091] In addition, Figure 5 On the right side marked with b), a vehicle 1 is schematically shown, which is located on an inclined ground 26 and is preferably additionally loaded at the rear end, so that a pitching of the vehicle 1 occurs. The orientation of the vehicle body 2 in the zx plane is detected with the aid of a body sensor assembly 27, wherein the orientation is represented by an angle θ'. In addition, the orientation of the ground 26 in the zx plane is detected with the aid of chassis sensor assemblies 37, 38, 39 and 40, wherein the orientation is represented by an angle θ". The angle θ' here characterizes the orientation of the vehicle body 2 and thus in particular forms a body orientation information or one of a plurality of body orientation information. The angle θ" characterizes the orientation of the chassis 3 or the ground 26 and thus in particular forms a chassis orientation information or one of a plurality of chassis orientation information or a ground orientation information or one of a plurality of ground orientation information.

[0092] The pitch angle θ is therefore given by the difference between the ascertained angles θ′ and θ″: θ=θ′−θ″.

[0093] exist Figure 5 , reference symbol g represents the acting gravitational acceleration, F represents “front” and R represents “rear”.

[0094] according to Figure 6 , schematically shows a vehicle 1 located on an inclined ground surface 26, so that the vehicle 1 rolls. The orientation of the vehicle body 2 in the yz plane is detected by means of a body sensor assembly 27, wherein the orientation is determined by the angle Furthermore, the orientation of the ground surface 26 in the yz plane is detected by means of chassis sensor assemblies 37, 38, 39 and 40, wherein the orientation is represented by the angle Indicates. Angle The orientation of the vehicle body 2 is characterized here and thus in particular forms a further body orientation information or a further body orientation information from a plurality of body orientation information. The orientation of chassis 3 or of ground 26 is characterized and thus in particular further chassis orientation information or further chassis orientation information from a plurality of chassis orientation information or further ground orientation information or further ground orientation information from a plurality of ground orientation information is formed.

[0095] Therefore, the roll angle From the angle sought and The difference between gives:

[0096] exist Figure 6 , reference symbol g represents the acting gravitational acceleration, FR represents “right front” and FL represents “left front”.

[0097] Figure 7 A schematic diagram of a wheel suspension 4 of a vehicle according to a second embodiment is shown, wherein identical or similar features to those of the first embodiment are denoted by the same reference numerals as in the first embodiment.

[0098] In the second embodiment, a height sensor 41 is also provided at the joint 17, by means of which the height of the wheel 10 can be detected by measuring the angle α between the vehicle body 2 and the chassis link 16, and a height signal Ser representing the height can be provided (see Figure 8 ). According to a possible alternative, the height sensor is arranged at the joint 15, for example, so that the height can be detected by measuring the angle between the wheel bracket 14 and the chassis link 16. In addition, a corresponding height sensor 48 is arranged in the wheel suspension 5, by means of which the height of the wheel 11 can be detected and a height signal Sel representing the height can be provided (see Figure 8 ). The height sensors 41 and 48 together form a height sensor assembly 49 (see Figure 8 ).

[0099] In line with the first embodiment, chassis sensor assemblies 39 and 40 are provided at the chassis linkage of the rear axle 9. Unlike the first embodiment, no chassis sensor assemblies and / or acceleration sensors are provided at the chassis linkage of the front axle 8.

[0100] Figure 8A schematic diagram of a device for determining height according to a second specific embodiment is shown, from which it can be seen that the sensors of sensor arrangements 27 , 39 and 40 and height sensors 41 and 48 of height sensor arrangement 49 are connected to an evaluation device 42 .

[0101] According to the second embodiment, the wheel heights of the wheels 10 and 11 of the front axle 8 are determined from the height signals Ser and Sel provided by the height sensors 41 and 48 and provided in the form of wheel height signals Sh1 and Sh2 characterizing the wheel heights of the wheels 10 and 11 of the front axle 8 by means of the evaluation device 42. In addition, according to the first alternative, the roll angle of the vehicle can also be determined from the provided height signals Ser and Sel by means of the evaluation device 42. And to characterize the roll angle Roll angle signal provided in the form of.

[0102] According to a second alternative, the roll angle of the vehicle is determined by means of the analysis device 42 but based on the signals provided by the sensor assemblies 27, 39 and 40. In this case, the height signals Ser and Sel provided by the height sensors 41 and 48 are preferably additionally taken into account. In particular, the evaluation device 42 provides a characteristic of the roll angle Roll angle signal

[0103] Vehicle orientation information θ' and Ground orientation information θ” and The wheel elevations of the wheels 12 and 13 of the rear axle 9 and the pitch angle θ of the vehicle are determined in particular by means of the evaluation device 42 based on the signals provided by the sensor assemblies 27, 39 and 40, wherein preferably the height signals Ser and Sel provided by the height sensors 41 and 48 are additionally taken into account. In addition, the evaluation device 42 provides information θ′ and θ′ that characterize the vehicle body orientation. The vehicle body orientation signal Sθ' and Characterizes the ground orientation information θ” and The ground orientation signal Sθ” and Wheel elevation signals Sh3 and Sh4 representing the wheel elevations of wheels 12 and 13 of the rear axle 9 and a pitch angle signal Sθ representing the pitch angle θ.

[0104] Apart from these differences, the second embodiment is particularly consistent with the first embodiment, so for further description of the second embodiment, please refer to the description of the first embodiment. Figure 1 and its description.

[0105] Fig. 9A schematic diagram of a wheel suspension 4 of a vehicle according to a third embodiment is shown, wherein identical or similar features to those of the first embodiment are denoted by the same reference numerals as in the first embodiment.

[0106] Unlike the first embodiment, the wheel suspension 4 according to the third embodiment has two transverse links 16 and 56 arranged one above the other in the vehicle height direction z, which are articulated by joints 15 at the wheel support 14 and joints 17 at the vehicle body 2. In this case, the chassis sensor assembly 37 is arranged at the upper transverse link 56. Accordingly, the chassis sensor assemblies 38, 39 and 40 are arranged at the upper transverse links of their corresponding wheel suspensions 5, 6 or 7.

[0107] Apart from these differences, the third embodiment is particularly consistent with the first embodiment, so for further description of the third embodiment, please refer to the description of the first embodiment. Figure 1 and Figures 3 to 6 and its description.

[0108] Fig.10 A schematic diagram of a wheel suspension 4 of a vehicle according to a fourth embodiment is shown, wherein identical or similar features to those of the first embodiment are denoted by the same reference numerals as in the first embodiment.

[0109] Unlike the first embodiment, the wheel suspension 4 according to the third embodiment has two transverse links 16 and 56 arranged one above the other in the vehicle height direction z, which are articulated by joints 15 at the wheel support 14 and joints 17 at the vehicle body 2, respectively. In this case, the chassis sensor assembly 37 is arranged at the upper transverse link 56. Accordingly, the chassis sensor assemblies 38, 39 and 40 are arranged at the upper transverse links of their corresponding wheel suspensions 5, 6 or 7. However, according to possible variations, each chassis sensor assembly can also be arranged at the corresponding lower transverse link or at the wheel support.

[0110] Furthermore, in contrast to the first embodiment, each chassis sensor assembly 37, 38, 39 and 40 is designed as an inertial measurement unit (IMU), in particular in the form of a microsystem, for detecting six kinematic degrees of freedom, which is Fig.10 In particular, the abbreviation "6DoF" (6 Degrees of Freedom) for "six degrees of freedom" and the symbolically marked rotation angles are indicated, wherein "Roll" stands for roll, "Pitch" stands for pitch and "Yaw" stands for yaw. By additionally taking into account the rotational degrees of freedom in the chassis sensor arrangement, the accuracy can be increased in particular compared to the first embodiment.

[0111] Apart from these differences, the fourth embodiment is particularly consistent with the first embodiment, so for further description of the fourth embodiment, please refer to the description of the first embodiment. Figure 1 and Figures 3 to 6 However, for Figure 3 In particular, three rotational speed sensors are additionally considered for each chassis sensor assembly 37 , 38 , 39 and 40 .

[0112] List of reference numerals:

[0113] 1 Vehicle

[0114] 2 Vehicle body

[0115] 3 Chassis

[0116] 4 wheel suspension

[0117] 5 wheel suspension

[0118] 6 wheel suspension

[0119] 7 wheel suspension

[0120] 8 Front axle

[0121] 9 Rear axle

[0122] 10. Wheels

[0123] 11. Wheel

[0124] 12 Wheels

[0125] 13. Wheel

[0126] 14 Wheel bracket

[0127] 15 Joints / Ball and Socket Joints

[0128] 16 Chassis link / transverse link

[0129] 17 Joints / Rubber Bearings

[0130] 18 Spring support

[0131] 19 Spring support bracket

[0132] 20 Vehicle Springs

[0133] 21 Damper

[0134] 22 Wheel bearings

[0135] 23 Wheel rotation axis

[0136] 24 Steering tie rod

[0137] 25 Joints / Ball and Socket Joints

[0138] 26 Ground

[0139] 27 Body sensor components

[0140] 28 Acceleration sensor

[0141] 29 Accelerometer

[0142] 30 Accelerometer

[0143] 31 Speed ​​sensor

[0144] 32 Speed ​​sensor

[0145] 33 Speed ​​sensor

[0146] 34 Acceleration sensor

[0147] 35 Acceleration sensor

[0148] 36 Acceleration sensor

[0149] 37 Chassis sensor assembly

[0150] 38 Chassis sensor assembly

[0151] 39 Chassis sensor assembly

[0152] 40 Chassis sensor assembly

[0153] 41 Height sensor

[0154] 42 Analytical device

[0155] 43 Reference position

[0156] 44 Headlight equipment

[0157] 45 headlamp

[0158] 46 Headlamp retaining device

[0159] 47 Headlamp adjustment driver

[0160] 48 Height sensor

[0161] 49 Height sensor assembly

[0162] 50 Car Body Evaluator

[0163] 51 Ground Evaluator

[0164] 52 Wheel Elevation Estimator

[0165] 53 Pitch angle estimator

[0166] 54 Roll Angle Estimator

[0167] 55 Optimizer

[0168] 56 Upper transverse link

[0169] 57 Evaluator Unit

[0170] Roll Angle

[0171] θ Pitch angle

[0172] Sx acceleration signal

[0173] Sy acceleration signal

[0174] Sz acceleration signal

[0175] Syz angular velocity signal

[0176] Szx angular velocity signal

[0177] Sxy angular velocity signal

[0178] Fx acceleration signal

[0179] Fy acceleration signal

[0180] Fz acceleration signal

[0181] Gx acceleration signal

[0182] Gy acceleration signal

[0183] Gz acceleration signal

[0184] Hx acceleration signal

[0185] Hy acceleration signal

[0186] Hz acceleration signal

[0187] Ix acceleration signal

[0188] Iy acceleration signal

[0189] Iz acceleration signal.

Claims

1. A device for determining height in a vehicle, the vehicle having: A chassis (3) having a plurality of wheels (10, 11, 12, 13) which stand upright or roll on a ground surface (26); a vehicle body (2) carried by the chassis (3), the vehicle body being connected to an unsprung component of the chassis (3) via a vehicle spring (20), the component comprising the wheels (10, 11, 12, 13), the wheels being articulated to the vehicle body (2) via a chassis link (16); A plurality of sensor assemblies (27, 37, 38, 39, 40), wherein at least one body sensor assembly (27) is arranged on the vehicle body (2), and one or more chassis sensor assemblies (37, 38, 39, 40) are arranged on unsprung components of the chassis (3) and / or the chassis links, wherein: Each sensor assembly comprises at least one acceleration sensor or a plurality of acceleration sensors (28, 29, 30; 34, 35, 36), by means of which one or more of the acceleration sensors can detect translational accelerations along different spatial directions (x, y, z) and can provide acceleration signals (Sx, Sy, Sz; Fx, Fy, Fz) characterizing the accelerations; and an analysis device (42) connected to the sensor assembly (27, 37, 38, 39, 40), It is characterized in that the vehicle body sensor assembly (27) includes at least one rotational motion sensor or multiple rotational motion sensors (31, 32, 33), and with the help of one or more of the rotational motion sensors, rotational motion around different rotation axes can be detected and vehicle body rotational motion signals (Syz, Szx, Sxy) representing the rotational motion can be provided, wherein with the help of the analysis device (42), one or more wheel elevations (h) of the wheels can be determined from the acceleration signals (Sx, Sy, Sz; Fx, Fy, Fz) and the vehicle body rotational motion signals (Syz, Szx, Sxy).

2. The device according to claim 1, characterized in that At least one rotary motion sensor or a plurality of rotary motion sensors (31, 32, 33) of the vehicle body sensor assembly is designed as a rotational speed sensor or a plurality of rotational speed sensors, by means of which the rotary motion can be detected in the form of an angular velocity.

3. The device according to claim 1 or 2, characterized in that: The body sensor assembly (27) is designed to detect six kinematic degrees of freedom.

4. A device according to any one of the preceding claims, characterised in that Each chassis sensor assembly (34) is designed to detect at least three kinematic degrees of freedom.

5. A device according to any one of the preceding claims, characterised in that The chassis (3) is provided with a plurality of axles (8, 9), each of which comprises at least two wheels, wherein at least one height sensor (41) connected to the analysis device is provided on one of the axles (8), by means of which the height of the axle (8) can be detected and at least one height signal (Ser) characterizing the height can be provided, wherein the analysis device (42) can verify a wheel height of the wheel or at least one wheel height of a plurality of wheel heights based on the height signal (Ser).

6. A device according to any one of the preceding claims, characterised in that The evaluation device (42) can be used to determine a pitch angle (θ) of the vehicle based on the signals provided by the sensor components (27, 37, 38, 39, 40).

7. A device according to any one of the preceding claims, characterised in that The evaluation device (42) can be used to determine a roll angle (φ) of the vehicle based on the signals provided by the sensor components (27, 37, 38, 39, 40).

8. A device according to any one of the preceding claims, characterised in that The analysis device (42) comprises at least one evaluator, by means of which one or more wheel heights (h) of the wheels can be determined by estimation.

9. A method for determining height in a vehicle, the vehicle having: A chassis (3) having a plurality of wheels (10, 11, 12, 13) which stand upright or roll on the ground (26); A vehicle body (2) supported by the chassis (3), the vehicle body being connected to unsprung parts of the chassis (3) via vehicle springs (20), the parts comprising the wheels (10, 11, 12, 13), the wheels being articulated to the vehicle body (2) via chassis links (16); A plurality of sensor assemblies (27, 37, 38, 39, 40), wherein at least one body sensor assembly (27) is arranged on the vehicle body (2) and one or more chassis sensor assemblies (37, 38, 39, 40) are arranged on unsprung components of the chassis (3) and / or on the chassis links, wherein: Each sensor assembly (27, 37, 38, 39, 40) comprises at least one acceleration sensor or a plurality of acceleration sensors (28, 29, 30; 34, 35, 36), by means of which one or more of the acceleration sensors detects translational accelerations in different spatial directions (x, y, z) and provides acceleration signals (Sx, Sz, Sy; Fx, Fy, Fz) characterizing the accelerations, It is characterized in that the vehicle body sensor component (27) includes at least one rotational motion sensor or multiple rotational motion sensors (31, 32, 33), which detects rotational motion around different rotation axes with the help of one or more of the rotational motion sensors and provides vehicle body rotational motion signals (Syz, Szx, Sxy) representing the rotational motion, wherein one or more wheel elevations (h) of the wheels are determined by the acceleration signals (Sx, Sy, Sz; Fx, Fy, Fz) and the vehicle body rotational motion signals (Syz, Szx, Sxy).

10. The method according to claim 9, characterized in that The chassis (3) is provided with a plurality of axles (8, 9), each of which includes at least two wheels, wherein at least one height sensor (41) is provided on one of the axles (8), and the height of the axle (8) is detected by means of the height sensor and at least one height signal (Ser) representing the height is provided, wherein a wheel height of the wheel or at least one wheel height of a plurality of wheel heights is verified according to the height signal (Ser).

11. The method according to claim 9 or 10, characterized in that: The pitch angle (θ) of the vehicle is determined based on the signals provided by the sensor assembly (27, 37, 38, 39, 40).

12. The method according to any one of claims 9 to 11, characterized in that The roll angle (φ) of the vehicle is determined based on the signals provided by the sensor assembly (27, 37, 38, 39, 40).

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