Chassis control for an active chassis of a motor vehicle

Abstract

A chassis control system (10) for an active chassis (12) of a motor vehicle is provided, comprising at least one stored chassis profile (22) for a historical chassis different from the active chassis (12), wherein the stored chassis profile (22) has, for mapping the historical driving behavior of the historical chassis, a plurality of measurement points for chassis parameters of the historical chassis at different vehicle parameters in the measured driving situation, an AI (20) for determining chassis parameters (28) on the basis of determined vehicle parameters (26), wherein the AI (20) is trained by determining chassis parameters (28) for the historical chassis of the chassis profile (22) in driving situations different from the stored measurement points and by correcting the chassis parameters (28) of the historical chassis determined by the AI (20) using measured chassis parameters of the historical chassis,and the AI (20) simulates the driving behavior of the historical chassis of the chassis profile (22) based on the current vehicle parameters (26) and certain chassis parameters (28). This enables good comfort and a good driving experience when driving a motor vehicle.

Description

The invention relates to a chassis control with the aid of which an active chassis of a motor vehicle can be activated, and to a motor vehicle with such a chassis control.CN 112078318 A discloses an active chassis for a motor vehicle, in which driving parameters are measured and used for training an AI in order to be able to control the active chassis better for uniform driving with the aid of the trained AI.DE 10 2018 204 796 A1 discloses a chassis control for an active chassis of a motor vehicle, in which current vehicle parameters of a host vehicle are read in via an input port, the vehicle parameters are processed on the basis of a chassis profile stored in a database for a target vehicle, for example an old timer, and the active chassis is controlled via an output port in such a way that the driving behavior of the target vehicle is simulated in the host vehicle.There is a constant need to improve the comfort and / or the driving experience when driving a motor vehicle with the aid of an active chassis.It is the object of the invention to show measures which make possible good comfort and a good driving experience when driving a motor vehicle.The object is achieved according to the invention by a chassis controller having the features of claim 1 and a motor vehicle having the features of claim 8.One aspect of the invention relates to a chassis controller for an active chassis of a motor vehicle, having an input port for reading in current vehicle parameters, a database having at least one stored chassis profile for a historical chassis different from the active chassis, wherein the stored chassis profile has a plurality of measurement points for chassis parameters of the historical chassis at different vehicle parameters in the measured driving situation for mapping the historical driving behavior of the historical chassis, and a AI for determining chassis parameters on the basis of determined vehicle parameters, wherein the AI is trained by determining chassis parameters for the historical chassis of the chassis profile in driving situations different from the stored measurement points and correcting the chassis parameters of the historical chassis determined by the AI by measured chassis parameters of the historical chassis, an output port for controlling the active chassis with chassis parameters determined by the AI on the basis of the current vehicle parameters for simulating the driving behavior of the historical chassis of the chassis profile.With the aid of the stored chassis profiles, the chassis controller can control the driving behavior of various motor vehicles having a chassis, steering behavior, motorization and driving feel that is different from the present motor vehicle. This makes it possible for the driver or the driver to feel different driving sensations possible, for example in order to make possible a particularly sporty and performanceful driving behavior in one situation and a particularly comfortable driving behavior in another situation depending on the current preference. This enables good comfort and a good driving experience when driving the motor vehicle.In this case, the realization is utilized that, despite a plurality of vehicle parameters relevant to the driving behavior and a plurality of chassis parameters to be set, a comparatively small number of measurement points to be mapped for the driving behavior of the historical chassis to be simulated are sufficient. For the determination of the chassis parameters in a driving situation different from the measurement points, chassis parameters can generally be interpolated from the available measurement points. However, since this determination of the chassis parameters is not calculated analytically, but rather is determined stochastically with the aid of the AI, it is possible to avoid or at least reduce inaccuracies in the chassis parameters determined by interpolation, caused by the plurality of influence variables and multiple dependencies, by the AI in the historical motor vehicle being trained with the historical chassis. Automated machine learning without human training interventions is possible here. All chassis parameters automatically arising during the travel of the historical motor vehicle during the historical chassis can be measured, as is provided anyway for the data of the stored measurement points. The measured chassis parameters may be compared to the chassis parameters determined by the AI to train the AI. In this case, it is even possible to take into account the extent of the deviation during the training of the AI by means of the difference between the chassis parameter determined by the AI and the measured chassis parameter. For example, a weighting factor of an associated node in a neural network of the AI can be adapted to a greater or lesser extent in the training phase as a function of the deviation. This enables a very rapid and very effective training of the AI. The AI trained on the historical chassis can be used to achieve a simulation of the historical chassis quickly, economically and accurately with the aid of the active chassis of the existing motor vehicle, as a result of which good comfort and a good driving experience when driving a motor vehicle are made possible.The chassis controller can be used in a motor vehicle to actuate the active chassis of the motor vehicle. The motor vehicle is designed in particular as an electrically drivable motor vehicle, in particular a hybrid or BEV motor vehicle, having a battery of correspondingly large dimensions for providing electrical energy.The active chassis to be used for the present motor vehicle may have wheel suspensions and / or shock absorbers which can be actively controlled, for example in order to be able to damp unevenness in the road. In particular, it is possible, by suitable control of the active chassis with the aid of the chassis control, to avoid or reduce undesired rolling, yawing and / or pitching or to intentionally intentionally bring about desired rolling, yawing and / or pitching. In a regular standard operation of the motor vehicle, the chassis control system can aim a particularly comfortable operation optimized for driving as the control target, wherein this standard operation can be intentionally left in order to be able to specify the simulation of a historical chassis as the control target of the chassis control system.The vehicle parameters which are to be processed in the chassis controller can be provided by measured values of a measurement system which can be used, for example, to determine a travel speed of the motor vehicle in the X, Y and / or Z direction, an acceleration in the X, Y and / or Z direction, a steering wheel angle, a steering wheel torque, a road topography in the X, Y and / or Z direction, an angular speed of the respective drive wheels, an angular speed of the motor vehicle about an axis of rotation running in the X, Y and / or Z direction, a spring travel in a wheel suspension and / or in a shock absorber, a currently retrieved drive power for driving the motor vehicle, a total weight of the motor vehicle and / or a weight distribution within the motor vehicle and / or further measured values relevant to the driving behavior. In particular, the time profile of the vehicle parameters is also taken into account in the chassis control, in particular when determining the chassis parameters with the aid of the AI. With the aid of the vehicle parameters and in particular their temporal profile, a specific driving situation can be mapped and described with sufficient accuracy.An X direction is understood to mean a coordinate direction along a longitudinal axis of a motor vehicle when the chassis controller is installed in the motor vehicle. The X direction runs substantially horizontally when the motor vehicle is placed on a planar, horizontally running underlying surface. A Y direction is understood to mean a coordinate direction along a transverse axis of a motor vehicle when the chassis controller is installed in the motor vehicle. The Y direction runs substantially horizontally when the motor vehicle is placed on a planar, horizontally running underlying surface. A Z direction is understood to mean a coordinate direction along a vertical axis of a motor vehicle when the chassis controller is installed in the motor vehicle. The Z direction runs substantially vertically when the motor vehicle is placed on a planar, horizontally running underlying surface. The X direction, the Y direction and the Z direction are oriented orthogonally to one another.The AI can be a commercially available artificial intelligence which is based, for example, on a neural network and has been trained in particular in a motor vehicle with the historical chassis to be simulated. The AI is preferably designed as a "generative adversarial network" (GAN). In the GAN, two artificial neural networks may be provided to generate opposing networks, one of which is called a generator and generates candidates that are evaluated by the other of which is called a discriminator. In this case, the discriminator can particularly reliably evaluate the evaluation of the candidates generated by the generator on the basis of the measurement data. If particularly many different driving situations are covered with the measurement data and if particularly many different driving situations are brought about during the training of the AI, a good convergence without mode collapse of the GAN is to be assumed. The AI and the associated chassis controller may be integrated in an operating system for operating the motor vehicle, wherein in particular the operating system may be designed for fully and / or semi-autonomous operation of the motor vehicle.In particular, the AI is configured to determine chassis parameters for regular driving-optimized operation of the active chassis on the basis of the current vehicle parameters. The AI provided in any case in the chassis control for simulating the historical chassis can thereby also be used for controlling the active chassis during regular operation of the active chassis, if no historical chassis is to be simulated. The intended standard operation of the active chassis can thereby be improved and further optimized, so that a particularly comfortable driving style of the motor vehicle can be made possible.Preferably, the at least one chassis profile is linked in each case to a stored sound profile for simulating a noise behavior, based on driving parameters, of a historical drive motor assigned to the historical chassis. This makes it possible not only to simulate the driving style of another historical motor vehicle via the simulation of the chassis, but also to simulate the noise behavior of the associated drive motor, in particular an internal combustion engine drive motor. With the aid of the data stored under the sound profile, it is possible, for example, to actuate a loudspeaker of the motor vehicle, in particular a sound system of an entertainment system of the motor vehicle. The feeling of driving other than the existing motor vehicle can thereby be assisted not only haptically but also acoustically, whereby the driving experience can be further enhanced.Particularly preferably, the sound profile for mapping the historical noise behavior of the historical drive motor has a plurality of sound measurement points for noise parameters of the historical drive motor at different vehicle parameters in the measured driving situation, a sound AI for determining noise parameters on the basis of determined vehicle parameters is provided, wherein the sound AI is trained by determining noise parameters for the historical drive motor of the sound profile in driving situations different from the stored sound measurement points and correcting the noise parameters of the historical drive motor determined by the sound AI by measured noise parameters of the historical drive motor. Analogously to the simulation of the historical chassis with the aid of the AI provided for this purpose, the noise behavior of the historical drive motor can be simulated with the aid of the sound AI. In this case, the noise parameters and the chassis parameters can be based on the identical vehicle parameters and / or identical driving situations, so that the noise parameters can be synchronized with the chassis parameters. The sound AI can be provided separately or can be configured as a further subsystem of the AI, which subsystem can be activated and deactivated optionally, for simulating the chassis. In particular, in an independent embodiment, it is possible to provide the sound AI configured in this way without the AI introduced above for actuating the chassis in the motor vehicle.In particular, the stored chassis profile for mapping the historical steering behavior of a historical steering system for the associated historical chassis has a plurality of measurement points for steering parameters of the historical steering system at different vehicle parameters in the measured driving situation. This makes it possible not only to simulate the driving style of another historical motor vehicle via the simulation of the chassis, but also to simulate the steering behavior of the associated motor vehicle. With the aid of the steering parameters stored under the chassis profile, it is possible, for example, to actuate a steering motor which can provide a suitable resisting torque for the steering system. The feeling of driving other than the existing motor vehicle can thereby be improved, whereby the driving experience can be further enhanced.Preferably, a steering AI is provided for determining steering parameters on the basis of determined vehicle parameters, wherein the steering AI is trained by determining steering parameters for the historical steering of the chassis profile in driving situations different from the stored measurement points and correcting the steering parameters of the historical steering determined by the steering AI by measured steering parameters of the historical steering, and the steering AI is connected to a steering motor for providing a steering resistance torque, wherein the steering AI is configured to actuate the steering motor with steering parameters determined on the basis of the current vehicle parameters for simulating the driving behavior of the historical steering of the chassis profile assigned to the historical chassis. Analogously to the simulation of the historical chassis with the aid of the AI provided for this purpose, the steering behavior of the historical steering can be simulated with the aid of the steering AI. In this case, the steering parameters and the chassis parameters can be based on the identical vehicle parameters and / or identical driving situations, with the result that the steering parameters can be synchronized with the chassis parameters. The steering AI can be provided separately or can be configured as a further subsystem of the AI, which subsystem can be activated and deactivated optionally, for simulating the chassis. In particular, in an independent embodiment, it is possible to provide the steering AI without the AI introduced above for driving the chassis in the motor vehicle and / or without the sound AI introduced above.Particularly preferably, a safety filter is provided for limiting the chassis parameters determined by the AI to chassis parameters lying within a safety window, wherein the safety filter corrects chassis parameters lying outside the safety window to a chassis parameter lying within and / or at the edge of the safety window and / or deactivates the use of the current chassis profile. As a result, a dangerous driving situation occurring as a result of the simulation of the historical chassis can be avoided, wherein this driving situation would possibly be harmless in the regular standard operation of the active chassis. The simulation of another historical chassis is thus not performed at the expense of driving safety.A further aspect relates to a motor vehicle having an active chassis, a chassis controller, which can be configured and further developed as described above, for operating the active chassis, and a measurement system for measuring vehicle parameters required for the chassis controller. The AI trained on the historical chassis can be used to achieve a simulation of the historical chassis quickly, economically and accurately with the aid of the active chassis of the existing motor vehicle, as a result of which good comfort and a good driving experience when driving a motor vehicle are made possible.In particular, the active chassis has damper cylinders of a respective wheel suspension that can be actively operated, in particular configured as an air spring, wherein the damper cylinders can be controlled by the AI for setting a roll, yaw and / or pitch. The active chassis can be designed in particular as an active aircraft chassis. The damper cylinder can react quickly to a control signal derived via the output port of the chassis controller, so that a stable and precise control of the chassis is ensured due to the rapid response even when simulating a historical chassis with the active chassis of the existing motor vehicle.Preferably, an operating unit for manually selecting and / or deselecting a chassis profile is provided for the chassis control. A driver or a driver can thereby individually change the operating mode of the active chassis in order to individually configure the driving experience with the motor vehicle.The invention is explained below by way of example with reference to the attached drawing on the basis of a preferred exemplary embodiment, wherein the features illustrated below can each represent an aspect of the invention both individually and in combination, wherein the scope of protection is determined by the claims. It shows: FIG. 1 : a schematic basic illustration of a chassis control.The chassis controller 10 shown in FIG. 1 can be used to control an active chassis 12 of a motor vehicle. The active chassis 12 can have a wheel suspension for a wheel 14, wherein the wheel suspension has a cylinder 18 which can be activated actively with the aid of an actuator 16. The actuator 18 can be controlled by an AI 20, which, in addition to a standard operation, can also simulate a historical chassis on the basis of one of a plurality of stored chassis profiles 22. For this purpose, vehicle parameters 26 currently measured by a measurement system 24 can be read in in order to be able to record the current driving situation of the motor vehicle and, on the basis of these vehicle parameters 26, to determine, with the aid of the selected or deselected chassis profile 22, chassis parameters 28 in the AI 20, with which the actuator 16 is actuated in order to actuate the actuatable cylinder 18 of the active chassis 12 in such a way that the driver or the driver is provided with the driving feel of the historical chassis circumscribed in the chassis profile 22 for the motor vehicle. With the aid of a safety filter 30, chassis parameters 28 that are dangerous in the current driving situation can be corrected or the application of the selected chassis profile 22 can be ended.

Claims

Chassis controller (10) for an active chassis (12) of a motor vehicle, having an input port for reading in current vehicle parameters (26), a database having at least one stored chassis profile (22) for a historical chassis different from the active chassis (12), wherein the stored chassis profile (22) has a plurality of measurement points for chassis parameters of the historical chassis at different vehicle parameters in the measured driving situation for mapping the historical driving behavior of the historical chassis, and an AI (20) for determining chassis parameters (28) on the basis of determined vehicle parameters (26), wherein the AI (20) is trained by determining chassis parameters (28) for the historical chassis of the chassis profile (22) in driving situations different from the stored measurement points and correcting the chassis parameters (28) of the historical chassis determined by the AI (20) by measured chassis parameters of the historical chassis, and an output port for controlling the active chassis (12) with chassis parameters (28) determined by the AI (20) on the basis of the current vehicle parameters (26) for simulating the driving behavior of the historical chassis of the chassis profile (22).The chassis controller (10) according to claim 1, wherein the AI (20) is configured to determine chassis parameters (28) for regular travel-optimized operation of the active chassis (12) on the basis of the current vehicle parameters (26).The chassis controller (10) according to claim 1 or 2, wherein the at least one chassis profile (22) is respectively linked to a stored sound profile for simulating a noise behavior of a historical drive motor assigned to the historical chassis based on driving parameters (26).Chassis controller (10) according to Claim 3, wherein the sound profile for mapping the historical noise behavior of the historical drive motor has a plurality of sound measurement points for noise parameters of the historical drive motor at different vehicle parameters in the measured driving situation, a sound AI for determining noise parameters on the basis of determined vehicle parameters (26) is provided, wherein the sound AI is trained by determining noise parameters for the historical drive motor of the sound profile in driving situations different from the stored sound measurement points and by correcting the noise parameters of the historical drive motor determined by the sound AI by means of measured noise parameters of the historical drive motor.Chassis controller (10) according to one of Claims 1 to 4, wherein the stored chassis profile (22) for mapping the historical steering behavior of a historical steering system for the associated historical chassis has a plurality of measurement points for steering parameters of the historical steering system at different vehicle parameters (26) in the measured driving situation.Chassis controller (10) according to Claim 5, wherein a steering AI is provided for determining steering parameters on the basis of determined vehicle parameters (26), wherein the steering AI is trained by determining steering parameters for the historical steering of the chassis profile (22) in driving situations different from the stored measurement points and correcting the steering parameters of the historical steering determined by the steering AI by measured steering parameters of the historical steering, and the steering AI is connected to a steering motor for providing a steering resistance torque, wherein the steering AI is designed to actuate the steering motor with steering parameters determined on the basis of the current vehicle parameters (26) for simulating the driving behavior of the historical steering of the chassis profile (22) assigned to the historical chassis.The chassis controller (10) according to any one of claims 1 to 6, wherein a safety filter (30) is provided for limiting the chassis parameters (28) determined by the AI (20) to chassis parameters (28) lying within a safety window, wherein the safety filter (30) corrects chassis parameters (28) lying outside the safety window to a chassis parameter (28) lying within and / or at the edge of the safety window and / or deactivates the use of the current chassis profile (22).Motor vehicle having an active chassis (12), a chassis controller (10) according to one of Claims 1 to 7 for operating the active chassis (12), and a measurement system (24) for measuring vehicle parameters (26) required for the chassis controller (10).Motor vehicle according to Claim 8, wherein the active chassis (12) has actively operable damper cylinders (18) of a respective wheel suspension, wherein the damper cylinders (18) can be controlled by the AI (20) for setting a roll, yaw and / or pitch.Motor vehicle according to claim 8 or 9, wherein an operating unit for manually selecting and / or deselecting a chassis profile (22) is provided for the chassis controller (10).

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