Handling suspension of a vehicle

Abstract

A computer system (900) comprising processing circuitry (902) configured to handle suspension of a vehicle (1) is provided. The processing circuitry (902) is configured to predict a vehicle motion indicative of a predicted rate of change of a motion parameter. The processing circuitry (902) is configured to, in response to the motion parameter being below a threshold, obtain an indication of a current interval obtained by mapping from a current suspension demand. The processing circuitry (902) is configured to determine a candidate suspension demand based on the predicted vehicle motion. The processing circuitry (902) is configured to map the candidate suspension demand to a candidate interval. The processing circuitry (902) is configured to, when the candidate interval differs from the current interval, and based on the candidate suspension demand, transmit an updated demand request to a suspension arrangement (30) of the vehicle (1).

Description

HANDLING SUSPENSION OF A VEHICLETECHNICAL FIELD

[0001] The disclosure relates generally to suspension management. In particular aspects, the disclosure relates to handling suspension of a vehicle. The disclosure can be applied to heavy-duty vehicles, such as trucks, buses, and construction equipment, among other vehicle types. Although the disclosure may be described with respect to a particular vehicle, the disclosure is not restricted to any particular vehicle.BACKGROUND

[0002] A vehicle comprising an active suspension arrangement can adjust angles of the vehicle such as to level the vehicle, by providing a suspension demand request indicative of a roll angle, pitch angle, and / or heave of the vehicle to the suspension arrangement. The suspension arrangement will then adjust a current suspension demand, i.e., its current roll angle, pitch angle, and / or heave, accordingly. The suspension arrangement may typically be supplied with pressurized air to actuate suspensions such as by use of an electric pump. Continuously adjusting suspensions to level a vehicle in this manner may sometimes cause parts of the suspension arrangement, such as the electric pump, to overheat, as too many suspension demand requests are triggered in a short time frame.

[0003] One solution to the problem involves oversizing the suspension arrangement such as increasing a size of the electric pump. The oversizing may for example be performed to match to a certain application usage. However, oversizing the suspension arrangement such as oversizing the electric pump imply larger and more expensive components in the suspension arrangement, with the associated consequences: increased power consumption and power losses, increased weight, increased need for space, and higher noise.

[0004] Hence, there is a need to improve efficiency of suspension management of vehicles.SUMMARY

[0005] According to a first aspect of the disclosure, a computer system comprising processing circuitry configured to handle suspension of a vehicle comprising a suspensionarrangement is provided. The suspension arrangement is configured to actuate one or more suspensions of the suspension arrangement based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of a pitch angle, roll angle, and a heave of the vehicle.

[0006] The processing circuitry is, as part of a suspension demand updating procedure, configured to obtain vehicle motion information indicative of a current motion and / or steering input of the vehicle.

[0007] The processing circuitry is, as part of the suspension demand updating procedure, configured to predict a future vehicle motion of the vehicle based on the obtained vehicle motion information. The predicted vehicle motion is indicative of a predicted rate of change of at least one motion parameter of the vehicle.

[0008] The processing circuitry is, as part of the suspension demand updating procedure, configured to, in response to the at least one motion parameter being below a first threshold, obtain a first indication associated with a current suspension demand. The first indication indicates a current interval. The current suspension demand is mapped to the current interval according to an interval mapping.

[0009] The processing circuitry is, as part of the suspension demand updating procedure, configured to determine a candidate suspension demand. The candidate suspension demand is determined to account for the predicted future vehicle motion.

[0010] The processing circuitry is, as part of the suspension demand updating procedure, configured to, based on the interval mapping, map the candidate suspension demand to a candidate.

[0011] The processing circuitry is, as part of the suspension demand updating procedure, configured to, when the candidate interval differs from the current interval, and based on the candidate suspension demand, transmit an updated suspension demand request to the suspension arrangement.

[0012] The first aspect of the disclosure may seek to improve efficiency of suspension management of the vehicle without reducing comfort, vehicle control, and / or levelling capabilities of the vehicle.

[0013] A technical benefit may include a more efficient use of the suspension arrangement, this is since when the suspension arrangement is conditioned on when to actuate the one or more suspensions, i.e., by comparing if the current and candidate suspensiondemands map to different intervals, there is less risk of overworking the suspension arrangement such as overheating a pump of the suspension arrangement. This further means that the suspension arrangement may be arranged to be smaller and / or less powerful than a suspension arrangement needing to constantly updating actuation of suspension.

[0014] Since the current and candidate suspension demands are compared whether they map to different intervals, it is implied that the candidate suspension demand relate to a sufficiently large change in the actuation of the one or more suspensions such that it is efficient, e.g., with respect to energy and / or air pressure, to transmit the updated suspension demand request to the suspension arrangement. When the vehicle is an at least partly electrified vehicle, using less energy for handling suspension actuation may lead to an improved range the vehicle can travel or extra energy for any other suitable operation.

[0015] Furthermore, as the suspension demand updating procedure is limited based on the at least one motion parameter being below the first threshold avoids actuating the one or more suspensions for quick lane change and / or quick acceleration or other maneuvers which indicate a rapid or jerky motion. The suspension arrangement may not have sufficient response time to react to such rapid maneuvers, and / or these maneuvers may anyway typically involve a quick reverting to a previous condition, meaning over a short period of time, even if the suspension arrangement would have a quick enough response time, the suspension arrangement would need to change and almost immediately change back actuation, with little improvement to comfort or drivability of the vehicle.

[0016] Optionally in some examples, including in at least one preferred example, the processing circuitry, is as part of the suspension demand updating procedure, further configured to obtain suspension capabilities of the suspension arrangement. In these examples, the suspension capabilities is indicative of a maximum and minimum angle of a suspension demand for any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle. In these examples, the processing circuitry, is as part of the suspension demand updating procedure, further configured to determine the interval mapping based on the suspension capabilities.

[0017] A technical benefit may include a flexible manner of dividing the capabilities of the suspension arrangement into intervals used for ensuring that only sufficiently large suspension demands are requested to the suspension arrangement. Limiting the suspensionarrangement to only update the suspension demand based on the intervals reduces energy and air consumption of the suspension arrangement.

[0018] Optionally in some examples, including in at least one preferred example, the processing circuitry, is as part of the suspension demand updating procedure, further configured to, when the candidate interval and the current interval is the same interval, refrain from transmitting the updated suspension demand request to the suspension arrangement.

[0019] A technical benefit may include improved efficiency of the suspension demand updating procedure. This is since no actuation of suspensions is needed and effectively deferred until a sufficiently large suspension demand is determined.

[0020] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to perform the suspension demand updating procedure periodically and / or iteratively.

[0021] A technical benefit may include a more efficient suspension demand updating procedure. This is since the suspension demand updating procedure can be iterated or periodically performed, and the updated suspension demand request will therefore effectively be delayed until a sufficient difference

[0022] Optionally in some examples, including in at least one preferred example, transmitting the updated suspension demand request to the suspension arrangement is further conditioned on a hysteresis function. In some of these examples, the hysteresis function comprises determining to transmit the updated suspension demand request to the suspension arrangement when a difference between the candidate suspension demand request and an end-point of the current interval is above a second threshold.

[0023] A technical benefit may include that there is no updated suspension demand request as a result of that the candidate suspension demand changes slightly such as to oscillate between end-points of two intervals.

[0024] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to predict the future vehicle motion by predicting a future steering wheel angle of the vehicle based on a prediction model.

[0025] A technical benefit may include more accurate prediction of the predicted vehicle motion. If follows that the candidate suspension demand is more accurately determined. It follows that the updated suspension demand request more accurate levels the vehicle and can be more accurately mapped to the candidate interval.

[0026] Optionally in some examples, including in at least one preferred example, predicting the future steering wheel angle of the vehicle is based on the prediction model and is based on any one or more out of:- a current vehicle motion of the vehicle,- a current steering wheel angle of the vehicle, and / or a change in steering wheel angle of the vehicle,- one or more pedal positions of the vehicle,- sensor data indicative of a state of the driver,- road information of a road travelled by the vehicle, and- location information of the vehicle.

[0027] A technical benefit may include more accurate prediction of the predicted vehicle motion. If follows that the candidate suspension demand is more accurately determined. It follows that the updated suspension demand request more accurate levels the vehicle and can be more accurately mapped to the candidate interval.

[0028] Optionally in some examples, including in at least one preferred example, the at least one motion parameter comprises any one or more out of:- a lateral acceleration of the vehicle,- a longitudinal acceleration of the vehicle,- a lateral speed of the vehicle,- a longitudinal speed of the vehicle, and- a derivative of a lateral acceleration of the vehicle.

[0029] A technical benefit may include a more efficient suspension demand updating procedure. This is since the threshold can in a flexible manner be set to one or more different parameters such as to filter out unwanted quick and jerky maneuvers.

[0030] Optionally in some examples, including in at least one preferred example, the first threshold is associated with a response time of the suspension arrangement.

[0031] A technical benefit may include a more efficient suspension demand updating procedure. This is since when the first threshold is associated with the response time of the suspension arrangement, it is ensured that the suspension arrangement can handle the updated suspension demand request, but it is also ensured that too quick and jerky maneuvers are filtered away.

[0032] According to a second aspect of the disclosure, a vehicle comprising a suspension arrangement is provided. The suspension arrangement is configured to actuate one or more suspensions of the suspension arrangement based on one or more received suspension demand requests of suspension demand associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle. The vehicle comprises the computer system according to the first aspect.

[0033] Technical benefits of the second aspect corresponds to technical benefits of the second aspect, and vice versa.

[0034] According to a third aspect of the disclosure, a computer-implemented method for handling suspension of a vehicle comprising a suspension arrangement is provided. The suspension arrangement is configured to actuate one or more suspensions of the suspension arrangement based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle.

[0035] The method comprises, as part of a suspension demand updating procedure, by processing circuitry of a computer system, obtaining vehicle motion information indicative of a current motion and / or steering input of the vehicle.

[0036] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry, predicting a future vehicle motion of the vehicle based on the obtained vehicle motion information. The predicted vehicle motion is indicative of a predicted rate of change of at least one motion parameter of the vehicle.

[0037] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry, in response to the at least one motion parameter being below a first threshold, obtaining a first indication associated with a current suspension demand. The first indication indicates a current interval. The current suspension demand is mapped to the current interval according to an interval mapping.

[0038] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry, determining a candidate suspension demand. The candidate suspension demand is determined to account for the predicted future vehicle motion.

[0039] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry, mapping the candidate suspension demand to a candidate interval. The mapping is based on the interval mapping.

[0040] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry, when the candidate interval differs from the current interval, based on the candidate suspension demand, transmitting an updated suspension demand request to the suspension arrangement.

[0041] Optionally in some examples, including in at least one preferred example, the method comprises, as part of the suspension demand updating procedure, by the processing circuitry, obtaining suspension capabilities of the suspension arrangement. In these examples, the suspension capabilities are indicative of a maximum and minimum angle of a suspension demand for any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle. In these examples, the method comprises, as part of the suspension demand updating procedure, by the processing circuitry, determine the interval mapping based on the suspension capabilities.

[0042] Optionally in some examples, including in at least one preferred example, the method comprises, as part of the suspension demand updating procedure, by the processing circuitry, when the candidate interval and the current interval is the same interval, refraining from transmitting the updated suspension demand request to the suspension arrangement.

[0043] Optionally in some examples, including in at least one preferred example, the method comprises, by the processing circuitry, performing the suspension demand updating procedure periodically and / or iteratively.

[0044] Optionally in some examples, including in at least one preferred example, transmitting the updated suspension demand request to the suspension arrangement is further conditioned on a hysteresis function. In these examples, the hysteresis function comprises determining to transmit the updated suspension demand request to the suspension arrangement when a difference between the candidate suspension demand and an end-point of the current interval is above a second threshold.

[0045] Optionally in some examples, including in at least one preferred example, predicting the future vehicle motion comprises predicting a future steering wheel angle of the vehicle based on a prediction model.

[0046] Optionally in some examples, including in at least one preferred example, predicting the future vehicle motion comprises predicting a future steering wheel angle of the vehicle based on the prediction model and based on any one or more out of:— a current vehicle motion of the vehicle,- a current steering wheel angle of the vehicle, and / or a change in steering wheel angle of the vehicle,- one or more pedal positions of the vehicle,- sensor data indicative of a state of the driver,- road information of a road travelled by the vehicle, and- location information of the vehicle.

[0047] Optionally in some examples, including in at least one preferred example, the at least one motion parameter comprises any one or more out of:- a lateral acceleration of the vehicle,- a longitudinal acceleration of the vehicle,- a lateral speed of the vehicle,- a longitudinal speed of the vehicle, and- a derivative of a lateral acceleration of the vehicle.

[0048] Technical benefits of the third aspect corresponds to technical benefits of the second aspect, and vice versa.

[0049] The disclosed aspects, examples, and / or accompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

[0050] There are also disclosed herein computer systems, control units, code modules, computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits.BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Examples are described in more detail below with reference to the appended drawings.

[0052] FIG. 1 is an exemplary vehicle according to an example.

[0053] FIG. 2 is a flow chart of an exemplary method according to an example.

[0054] FIG. 3 illustrates an architecture of components and entities according to an examples.

[0055] FIG. 4 illustrates an example scenario.

[0056] FIG. 5A-B are illustrations comparing a use of continuous suspension demand requests as in prior art and suspension demand requests according to an example

[0057] an example scenario illustrating a hysteresis function.

[0058] FIG. 6 is an example scenario illustrating a hysteresis function.

[0059] FIG. 7 is a flow chart of an exemplary method according to an example.

[0060] FIG. 8 is another view of FIG. 1, according to an example.

[0061] FIG. 9 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to an example.DETAILED DESCRIPTION

[0062] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[0063] Examples herein may relate to reducing consumption of air and / or energy in suspension arrangement, while still allowing for sufficient operational performance of the suspension such as for levelling a vehicle.

[0064] FIG. 1 illustrates an exemplary vehicle 1 according to an example.

[0065] While the vehicle 1 is in FIG.l exemplified to be a truck, the vehicle 1 may be any suitable vehicle, e.g., a car , a bus, a truck, or any heavy-duty vehicle. The vehicle 1 may be an electric vehicle, such as an electric bus.

[0066] The vehicle 1 comprises a suspension arrangement 30. The suspension arrangement 30 may be an active suspension arrangement, e.g., a gas-hydraulic active suspension arrangement. An active suspension arrangement as used herein may mean that the suspension arrangement 30 can be controlled to suspend the vehicle in different angles, e.g., to level the vehicle 1. Active as used herein means that the suspension arrangement 30 is configured to receive suspension demand requests as part of examples herein, e.g., pitch angle, roll angle, and / or heave of the vehicle 1, and where the suspension arrangement 30 is arranged to adapt suspensions therein to achieve the received suspension demand requests.

[0067] The suspension arrangement 30 comprises one or more suspensions 31, e.g., attached to any suitable position of the vehicle 1, e.g., one or more axles of the vehicle 1, oneor more wheels end of the vehicle 1 and / or, to a chassis of the vehicle 1. The one or more suspensions 31 may be actuated with different forces 40, i.e., to compress or extend the respective suspension, e.g., to apply a roll angle, pitch angle, and / or heave to the vehicle 1.

[0068] The suspension arrangement 30 may comprise a pump 60, or any other means of actuating the one or more suspensions 31. The pump 60, may pump pressurized air to the one or more suspensions 31, when the one or more suspensions 31 are actuated. The pump 60 may be an electrical air pump. When actuated, the pump 60 may pump air into one or more valves directing the pressurized air towards the one or more suspension 31. If used too often, the pump 60 may overheat, which may be mitigated or completely avoided by examples herein.

[0069] The suspension arrangement 30 is configured to actuate one or more suspensions 31 of the suspension arrangement 30 based on one or more received suspension demand requests of suspension demand associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle 1. A suspension demand as used herein may mean one or more values indicative of a pitch angle, roll angle, and / or a heave of the vehicle 1. A current suspension demand as used herein may mean a current pitch angle, roll angle, and / or a heave of the vehicle 1. A suspension demand request as used herein may mean a suspension demand transmitted to the suspension arrangement 30, e.g., as part of a request for the suspension arrangement 30 to adapt a current suspension demand to the requested suspension demand.

[0070] The vehicle 1 may comprise one or more sensors 20, e.g., for measuring or obtaining sensor data.

[0071] The one or more sensors 20 may comprise sensors for measuring or identifying a state of the driver, e.g., by gaze tracking sensors and / or cameras.

[0072] The one or more sensors 20 may comprise sensors for measuring or identifying a motion of the vehicle 1 and / or any other suitable parameters of the vehicle 1, e.g., speedometers, an Inertial Measurement Unit (IMU) a Global Positioning System (GPS) sensors, suspension sensors for measuring a state of the one or more suspensions 31 and / or the current suspension demand, one or more pedal sensors for measuring pedals of the vehicle 1, a steering wheels sensor, and one or more ground radar sensors.

[0073] Examples herein may be performed by a computer system 900 and / or a processing circuitry 902 therein.

[0074] The computer system 900 and / or the processing circuitry 902 may be comprised in the vehicle 1 or may be remote to the vehicle 1, e.g., in a server or part of a cloud service. The computer system 900 and / or the processing circuitry 902 may be communicatively coupled, e.g., wired or wirelessly, to any of the entities of the vehicle 1, e.g., the one or more sensors 20 and the suspension arrangement 30.

[0075] The computer system 900 and / or the processing circuitry 902 may be able to control the one or more sensors 20 and the suspension arrangement 30.

[0076] In particular, the computer system 900 and / or the processing circuitry 902 may be able to control the one or more suspensions in the suspension arrangement 30 by transmitting suspension demand requests to the suspension arrangement, e.g., by a transmitting unit in the computer system 900.

[0077] In some examples herein, all configurations of the suspension arrangement 30 may be performed as controlled by the processing circuitry 902.

[0078] A suspension demand of examples herein may be mapped to one or more intervals according to an interval mapping. The one or more intervals may be referred to as discretized steps, i.e., they may comprise or correspond to a number which number may indicate an order of the intervals. Each interval may comprise a range of values which are to be mapped to the respective interval. In some examples herein, there may be no overlapping intervals in the one or more intervals. A suspension demand may comprise one or more values, e.g., indicating roll angle, pitch angle and / or heave, that may be mapped to any of the one or more intervals. Suspension capabilities may determine or indicate the number of intervals, or the number of intervals may be predefined. If the suspension demand relates to more than one parameter, e.g., pitch, roll, and heave, then there may be different intervals per parameter.

[0079] As an example, the one or more intervals may comprise any number of intervals, e.g., at least two intervals, such as a first interval 11, a second interval 12, a third interval 13, a fourth interval 14, and a fifth interval 15. The one or more intervals 11, 12, 13, 14, 15 may be continuous and / or ordered, e.g., ascending or descending order of intervals such as from lowest values / angles in the first interval 11, to highest values / angles in the fifth interval 15. In some examples herein, there may be no gaps of values between the one or more intervals 11, 12, 13, 14, 15.

[0080] As an example, a first suspension demand 51, may map to the first interval 11. A second suspension demand 52 may map to the second interval 12.

[0081] Examples herein may ensure that, if the first suspension demand 51 is a current suspension demand, the current suspension demand will not change unless an updated suspension demand maps to a different interval than the current suspension demand, like the second suspension demand 52. This ensures that the current suspension demand of the suspension arrangement 30 only changes if the suspension demand will change sufficiently to at least move between intervals of the one or more intervals 11, 12, 13, 14, 15.

[0082] FIG. 2 is a flow chart of a computer-implemented method for handling suspension of the vehicle 1 comprising the suspension arrangement 30 according to an example. The suspension arrangement 30 is configured to actuate one or more suspensions 31 of the suspension arrangement 30 based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle 1.

[0083] The method may be performed by the computer system 900 and / or the processing circuitry 902 therein. The method may comprise one or more of the following actions 201- 210 in any suitable order. Optional actions may be indicated with dashed boxed in FIG. 2. Actions 201-209 may form a suspension demand updating procedure.

[0084] Action 201

[0085] In some examples, the method comprises obtaining suspension capabilities of the suspension arrangement 30. The suspension capabilities are indicative of a maximum and minimum angle of a suspension demand for any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle 1. As an alternative, the maximum and minimum angle of a suspension demand may be predefined.

[0086] The suspension capabilities may indicate how the one or more suspensions 31 can be extended or compressed such as to achieve minimum and / or maximum pitch angles, roll angles, and / or heave of the vehicle 1.

[0087] Obtaining the suspension capabilities may comprise determining the suspension capabilities and accounting for a current motion of the vehicle 1 and / or a predicted future motion of the vehicle 1, e.g., as will be further described with respect to actions 203-204 below.

[0088] Obtaining the suspension capabilities may comprise determining the minimum and / or maximum pitch angles, roll angles, and / or heave that can currently be achieved. As an alternative, the maximum and minimum angle of a suspension demand may be predefined.

[0089]

[0090] Action 202

[0091] In some examples, the method comprises, determining the interval mapping based on the suspension capabilities. As an alternative, the interval mapping may be predefined.

[0092] The interval mapping may map a respective suspension demand an interval which it belongs to. For example, a value, e.g., angle(s), e.g., pitch and / or heave, of the respective suspension demand may map to an interval of the one or more intervals 11, 12, 13, 14, 15, which interval includes said value.

[0093] In other words, if an example suspension demand is indicative of a first roll angle, a first pitch angle, and / or a first heave would map to the first interval 11, then the first interval 11 comprises a value corresponding to the current suspension demand, i.e., the first interval may comprise a range of angles comprising the first roll angle, the first pitch angle, and / or the first heave.

[0094] Action 203

[0095] The method comprises, obtaining vehicle motion information indicative of a current motion and / or steering input of the vehicle 1. The vehicle motion information may be obtained by the one or more sensors 20, e.g., by using any one or more out of a speedometer, one or more sensors indicative of pedal positions in the vehicle 1, one or more sensors indicative of a steering wheel angle of the vehicle 1.

[0096] The vehicle motion information may be obtained in any suitable manner, e.g., using the one or more sensors 20.

[0097] Action 204

[0098] The method comprises, predicting a future vehicle motion of the vehicle 1 based on the obtained vehicle motion information. The predicted vehicle motion is indicative of a predicted rate of change of at least one motion parameter of the vehicle 1.

[0099] Predicting the future vehicle motion may comprise predicting a vehicle motion in a future time period, e.g., 100 milliseconds ahead in time, or up to 1 second ahead in time, but longer or shorter time periods of predictions may also apply to examples herein.

[0100] The at least one motion parameter comprises any one or more out of- a lateral acceleration of the vehicle 1,- a longitudinal acceleration of the vehicle 1,- a lateral speed of the vehicle 1,a longitudinal speed of the vehicle 1, and a derivative of a lateral acceleration of the vehicle 1.

[0101] In other words the at least one motion parameter may be any suitable parameter which can indicate whether the vehicle 1 will change its movement in a jerky or rapid manner, e.g., in the future time period.

[0102] The at least one motion parameter is indicated by the predicted vehicle motion, e.g., implicitly or explicitly. If implicitly, the method may comprise determining the at least one motion parameter from the predicted vehicle motion. If explicitly, the at least one motion parameter may be used be examples herein as explicitly indicated.

[0103] The predicted vehicle motion may comprise a prediction of only the at least one motion parameter or a prediction of one or more other motion parameters of the future vehicle motion wherein the at least one motion parameter is included or implied by the future vehicle motion.

[0104] In some examples, predicting the future vehicle motion comprises predicting a future steering wheel angle of the vehicle 1 based on a prediction model. In other words, the future steering wheel angle may represent at least part of the future vehicle motion or may be used as a basis for predicting other parameter of the future vehicle motion such as the at least one motion parameter.

[0105] The at least one motion parameter, e.g., at least any of lateral speed, acceleration, and / or derivative thereof, may further be predicted by using the predicted future steering wheel angle of the vehicle 1, e.g., in combination with a vehicle speed of the vehicle 1. This is since a steering wheel angle of the vehicle 1 may indicate that the vehicle 1 is about to, or are currently rapidly changing lanes and / or performing a jerky behavior.

[0106] In some examples, predicting the future vehicle motion comprises predicting the future steering wheel angle of the vehicle 1 based on the prediction model based on any one or more out of the following first parameters:- a current vehicle motion of the vehicle 1,- a current steering wheel angle of the vehicle 1, and / or a change in steering wheel angle of the vehicle 1,- one or more pedal positions of the vehicle 1,- sensor data indicative of a state of the driver,- road information of a road travelled by the vehicle 1, andlocation information of the vehicle 1.

[0107] The current vehicle motion of the vehicle 1 may comprise a vehicle speed or acceleration , e.g., as measured by a speedometer of the one or more sensors 20, e.g., obtained as part of action 203.

[0108] The current steering wheel angle of the vehicle 1, and / or the change in steering wheel angle of the vehicle 1, may be measured by a sensor on the steering wheel of the vehicle 1, e.g., as part of the one or more sensors 20, e.g., obtained as part of action 203.

[0109] The one or more pedal positions of the vehicle 1, may be measured by a sensor of the vehicle 1, e.g., as part of the one or more sensors 20, e.g., obtained as part of action 203.

[0110] The sensor data indicative of a state of the driver, may comprise gaze tracking sensor data of a driver of the vehicle 1 and / or video of the driver, , e.g., as obtained as part of action 203. The sensor data may indicate how the driver may control the vehicle 1, e.g., based on a statistical driver model, such as whether a jerky behavior is to be expected for certain events of the driver.[OHl] The road information of a road travelled by the vehicle 1, e.g., measured by the one or more sensors 20 and / or part of predefined information, e.g., obtained as part of action 203. The road information may be indicative of surface type of a road travelled by the vehicle 1 and / or friction of the road travelled by the vehicle 1.

[0112] The location information of the vehicle 1 may comprise GPS data or other coordinates of the vehicle 1, e.g., obtained as part of action 203.

[0113] The prediction model may comprise any one or more out of: one or more heuristics for predicting the future vehicle motion, e.g., one or more predefined rules for predicting the future vehicle motion of the vehicle 1 and / or the at least one motion parameter based on any one or more out of the above first parameters.

[0114] The prediction model may comprise a statistical driver model and / or a statistical vehicle model.

[0115] The prediction model may be a trained machine learning model, e.g., comprising a neural network or other suitable machine learning model or statistical model.

[0116] The prediction model may be trained to predict future vehicle motion and / or the at least one motion parameter e.g., based on any one or more out of the above first parameters as input.

[0117] The prediction model may be trained using one or more training vehicles, e.g., which may or may not comprise the vehicle 1, using and / or based on any one or more out of the following training parameters:- a vehicle motion of the respective training vehicle,- a steering wheel angle of the respective training vehicle, and / or a change in steering wheel angle of the respective training vehicle,- one or more pedal positions of the respective training vehicle,- sensor data indicative of a state of a driver of the respective training vehicle, the driver may be the driver of the vehicle 1, or a different respective driver,- road information of a road travelled by the respective training vehicle, and- location information of the respective training vehicle.

[0118] The prediction model may further be trained based on a measured vehicle motion and / or a measured parameter corresponding to the at least one motion parameter. The measurement(s) may be performed by a respective training vehicle, e.g., by its associated sensors, and subsequent to obtaining the one or more training parameters.

[0119] The predicted future vehicle motion may be used by action 201, to obtain the suspension capabilities. I.e., the order of the actions herein are not necessarily performed in the order they are presented.

[0120] Action 205

[0121] The method comprises, in response to the at least one motion parameter being below a first threshold, obtaining a first indication associated with a current suspension demand. The first indication indicates a current interval such as any of the one or more intervals 11, 12, 13, 14, 15, e.g., the first interval 11.

[0122] The current suspension demand is mapped to the current interval according to the interval mapping, e.g., as predetermined or as determined as part of action 202. The mapping may have been performed prior to the actuation of the current suspension demand.

[0123] In other words, if the current suspension demand map to the first interval 11, then the first interval 11 comprises a value corresponding to the current suspension demand.

[0124] In case of the current suspension demand being an initial suspension demand when starting the vehicle 1, the interval may be a default interval.

[0125] The first threshold is associated with a response time of the suspension arrangement 30. In other words, the first threshold may be set such that when the at least onemotion parameter is below the first threshold, then the suspension arrangement 30 will be able to actuate the one or more suspensions 31 to level the vehicle 1 with respect to the at least one motion parameter. When the at least one motion parameter comprises a value above the first threshold, then the at least one motion parameter may relate to a motion too quick for the suspension arrangement 30 to be able to respond quickly enough to level the vehicle 1 in response to the at least one motion parameter.

[0126] Action 206

[0127] The method comprises, determining a candidate suspension demand. The candidate suspension demand is determined to account for the predicted future vehicle motion and / or the at least one motion parameter. In other words, the candidate suspension demand may be a candidate suspension demand which is determined to level the vehicle 1 in response to and / or based on the predicted future vehicle motion. The candidate suspension demand may be determined such as the vehicle 1 will be leveled with respect to the at least one motion parameter.

[0128] Determining the candidate suspension demand may be performed based on a predetermined model for leveling the vehicle 1 with respect to vehicle motions.

[0129] Additionally or alternatively, determining the candidate suspension demand may be performed using the predicted future vehicle motion or any associated parameters of the predicted future vehicle motion such as the at least one motion parameter.

[0130] Action 207

[0131] The method comprises, mapping the candidate suspension demand to a candidate interval, based on the interval mapping, e.g., as mentioned with respect to actions 202 and 205.

[0132] The candidate interval may be any one of the one or more intervals 11, 12, 13 ,14, 15, such as the first interval 11 or the second interval 12.

[0133] In other words, if the candidate suspension demand maps to the first interval 11, then the first interval 11 comprises a value corresponding to the candidate suspension demand, e.g., a roll angle, pitch angle, and / or heave.

[0134] Action 208

[0135] The method comprises, when the candidate interval differs from the current interval, based on the candidate suspension demand, transmitting an updated suspension demand request to the suspension arrangement 30.

[0136] In other words, the updated suspension demand request may only be sent when the difference between the candidate suspension demand and the current suspension demand is sufficiently large, as indicated by the differing intervals.

[0137] The updated suspension demand request is typically a suspension demand request which is requesting the candidate suspension demand. However, alternatives may also exist such that for each interval, a predefined value may be assigned to be used for the updated suspension demand request.

[0138] In some examples, transmitting the updated suspension demand request to the suspension arrangement 30 is further conditioned on a hysteresis function. The hysteresis function comprises determining to transmit the updated suspension demand request to the suspension arrangement 30 when a difference between the candidate suspension demand and an end-point of the current interval is above a second threshold.

[0139] Other hysteresis functions may also apply, as long as the hysteresis function ensures that if the candidate suspension demand changes to map to two different intervals between immediately subsequent iterations of the suspension demand updating procedure, there should be no transmitting of the updated suspension demand request, unless a difference between the current and candidate suspension demand is above a threshold or unless the difference is maintained for a set number of iteration or for a set period of time.

[0140] The hysteresis function may also apply to the interval mapping, such as to delay a mapping to a new interval until a suspension demand is sufficiently different from an endpoint of the interval. I.e., as suspension demand changes, an old interval may apply as the mapping for some time or until a sufficient change in suspension demand.

[0141] In some examples herein, when the updated suspension demand request is transmitted to the suspension arrangement 30, the suspension arrangement 30 will actuate the one or more suspensions 31 to achieve the updated suspension demand, e.g., by utilizing the pump 60 to pump air to different suspensions, e.g., to extend or compress said one or more suspensions 31 to attain the updated suspension demand.

[0142] Action 209

[0143] The method comprises, when the candidate interval and the current interval is the same interval, refraining from transmitting the updated suspension demand request to the suspension arrangement 30.

[0144] In this way, updating the current suspension demand can be deferred until the candidate interval and the current interval differs in intervals which would indicate a sufficiently large change to trigger an updated suspension demand request.

[0145] Action 210

[0146] The method comprises performing the suspension demand updating procedure periodically and / or iteratively.

[0147] In other words, the method may iterate the actions 201-209 one or multiple times, e.g., as long as the vehicle 1 is turned on.

[0148] FIG. 3 illustrates an architecture of components and entities according to an examples.

[0149] In some examples herein, a suspension control unit 301 may be provided, e.g., as part of the processing circuitry 902. The suspension control unit 301 may be able to actuate the one or more suspensions 31 of the suspension arrangement 30, e.g., by utilizing the pump 60.

[0150] The suspension control unit 301 may determine the actuations for the one or more suspensions 31 to perform, e.g., based on the updated suspension demand request as in action 208.

[0151] The suspension control unit 301 may also provide the suspension capabilities of the suspension arrangement 30.

[0152] In some examples herein, a Vehicle Motion Management (VMM) unit 302 may be provided, e.g., as part of the processing circuitry 902. The VMM unit 302 may be configured to perform any one or more out of actions 201-210 above.

[0153] FIG. 3 illustrates a schematic of a closed-loop suspension control system where the suspension control unit 301 interface to the VMM unit 302. The suspension control unit 301 may receive requests such as a vehicle roll angle demand, and may send capabilities like the roll angle capability, and / or status signals like the estimates of the roll angle and the normal loads to the VMM unit 302.

[0154] The suspension control unit 301 may trigger suspension actuator 303 in the vehicle 1 to perform an update suspension demand.

[0155] Sensors and / or estimates 304, e.g., from the one or more sensors 20 and / or based on one or more estimation models, may be fed back to the suspension control unit 301, e.g., such as a current vehicle motion of the vehicle 1.

[0156] FIG. 4 illustrates an example of a flow examples herein.

[0157] The suspension demand updating procedure may be triggered periodically based on an event triggering mechanism 401, e.g., as in actions 201-210 ensuring that suspension is not updated continuously.

[0158] For example, a roll-angle based controller 400, e.g., as part of the processing circuitry 902, may receive sensor and / or estimates 404 as input to determine whether or not an updated suspension demand is needed, e.g., as in actions 201-209, and if so, may subsequently transmit a roll angle demand request to a suspension control unit 402, e.g., as part of the suspension arrangement 30, e.g., the suspension control unit 301. The suspension control unit 402 may actuate the one or more suspensions 31 accordingly such as to affect a status of the vehicle 403, e.g., how it is levelled or control. The status of the vehicle 403 may further affect the sensor and / or estimates 404, which will be supplied continuously or periodically to the roll-angle based controller 400, to check whether or when a new suspension updated is needed.

[0159] FIG. 5A-B are illustrations comparing a use of continuous suspension demand requests as in prior art and suspension demand requests according to examples herein.

[0160] FIG. 5A illustrates suspension demand requests 501 as in prior art, if the suspension requests 501 are allowed to continuously be sent to actuate suspension, e.g., every 10 millisecond (ms). This behavior wastes energy and may overheat a suspension arrangement. In contrast, for the same type of application, FIG. 5B, illustrates suspension demand requests 502, e.g., the updated suspension demand request over multiple iterations according to action 210. As seen in FIG. 5B, the number of suspension demand requests can be significantly reduced due to refraining from transmitting suspension demand requests to the suspension arrangement 30, unless the associated suspension demand is mapped to a different interval than a current suspension demand.

[0161] FIG. 6 is an example scenario illustrating a hysteresis function according to an example.

[0162] The X-axis 601 represents a suspension demand, e.g., potential candidate suspension demand.

[0163] The Y-axis 602 represents discretized values representing the one or more intervals.

[0164] The arrows illustrate a shift between intervals based on the suspension demand according to the hysteresis function..

[0165] At point 603, it is illustrated that for a first suspension demand, the mapping of the first suspension demand may change from mapping to the first interval 11, to mapping to the second interval 12, but to change the mapping from mapping to the second interval 12 to mapping to the first interval 11, the first suspension demand needs to decrease to a second suspension interval as illustrated by point 604. At point 604, it is illustrated that for the second suspension demand, the mapping of the second suspension demand may change from mapping to the second interval 12 to mapping to the first interval 11.

[0166] At point 605, it is illustrated that for a third suspension demand, the mapping of the third suspension demand may change from mapping to the first interval 11, to mapping to the second interval 12, but to change the mapping from mapping to the second interval 12 to mapping to the first interval 11, the third suspension demand needs to increase to a second suspension interval as illustrated by point 606. At point 606, it is illustrated that for the fourth suspension demand, the mapping of the fourth suspension demand may change from mapping to the second interval 12 to mapping to the first interval 11.

[0167] While this example of the hysteresis function has only been applied to a few points, the same may apply to all mappings of the interval mapping.

[0168] Further examples and scenarios

[0169] Examples herein may relate to minimizing or reducing a use of the suspension arrangement 30, i.e., to minimize its power consumption and losses, such as by dynamically changing a time instant that the suspension arrangement 30 will generate a new control action. In this way, it is possible to use the suspension arrangement with small components which consume low energy, and which for at least partly electrified vehicles may result in as longer range of operations.

[0170] Examples herein may be seen as an event triggered control that only updates the demand to the suspension arrangement 30 based on an event, i.e., the at least one motion parameter being below the first threshold.

[0171] The suspension demand request to the suspension arrangement may include a roll angle of the vehicle 1 or an axle of the vehicle 1, a pitch angle of the vehicle 1, or a suspension heave of the vehicle 1. One or more control signals have associated capabilities that are discretized in several values or steps as it will explained below.

[0172] The event depends on the vehicle status, e.g., vehicle speed, lateral and / or longitudinal acceleration, a current driver input such as a steering angle, and / or predicted driver future intention, for example using filtering techniques to extrapolate the driver demands like steering angle demand based on steering rate estimate and the longitudinal acceleration demand, or based on map and GPS information, or a camera system.

[0173] The number of discretization steps of the capability of the suspension parameter like roll angle, and equivalently the size of the steps of the roll angle capability may be represented by the one or more intervals 11, 12, 13, 14, 15. For examples, five discretization steps of intervals may be used.

[0174] A discretization step as discussed below may mean an interval as discussed above.

[0175] Examples herein may comprise calculating how fast a maneuver is, for example using the derivative of the lateral acceleration or the steering rate, e.g., to see if the suspension arrangement 30 can sufficiently respond to the maneuver.

[0176] A hysteresis as discussed above could be added from one discretization step to the next one for avoiding transitioning too often in between them, as well a low pass filter may be used to filter out small changes in suspension demand between iterations.

[0177] A new demand may be requested in case of that an event is triggered, i.e., the updated suspension demand may be transmitted as a request to the suspension arrangement as in action 208. An event is triggered when the following two conditions are true, i.e., there may be a logical AND between the conditions:

[0178] (i) a request of the controller changes from the current discretization step to another discretization step, i.e., the current and candidate suspension demand map to different intervals,

[0179] (ii) a predicted motion parameter like ‘lateral acceleration change’, i.e., the at least one motion parameter, is within a threshold which may be a function of the fastest response time of the suspension arrangement, e.g., the first threshold. This condition is to avoid trying to act the suspension system when the driver’s maneuver is too fast for the suspension arrangement 30.

[0180] Example of algorithm for controlling vehicle roll angle

[0181] Below follows an example algorithm which may be used by examples herein. The example is for vehicle roll but can be used for pitch and / or heave as well.Step 1) Calculate a predicted lateral acceleration ay pred,e.g., predicting the future vehicle motion as in action 204,For examplewhere vXfPredis the predicted vehicle longitudinal speed, WB is the wheelbase of the vehicle 1, and 6predis the predicted steering angle.Step 2) Calculate the predicted derivative of the lateral acceleration dy pred, e.g., the at least one motion parameter, 1For examplewhere aXfPred is the predicted vehicle longitudinal acceleration, and 8predis the predicted steering rate.Step 3) Check whether a CONDITION 1 of an EVENT is triggered, e.g., is the at least one motion parameter below the first threshold:| ^y,pred | — 8-y, umttStep 4) Calculate the number of discretization steps nstepsof the roll angle capability based on how fast the maneuver is, and the size of the steps of the roll angle capability ctions 201-202.are the minimum and the maximum roll angles.Step 5) Calculate vehicle roll angle demand <t>demto the active suspension system as a function of the predicted lateral acceleration and / or it may also be a function of the predicted longitudinal acceleration, e.g., as part of actions 206. If needed, low-pass filter the demand signal.Step 6) Check if 4>demcorresponds to a different discretization step of the last demand, i.e., the current suspension demand, requested to the suspension arrangement30, e.g., as in actions 205-208. This may include a hysteresis function between the discretization steps as discussed above. If yes, a CONDITION 2 is considered true, and <t>dem is the new demand computed with nsteps.Step 7) If CONDITION 1 is true AND CONDITION 2 is true, request (])demto the suspension arrangement 30 using a suitable suspension interface.

[0182] Note that Step 1) above may use a predicted value of steering angle of the vehicle 1 in the future time period, e.g., for example 100ms to Is ahead in time, to calculate a demand to the suspension arrangement 30 before the steering maneuver occurs to consider delays in the suspension arrangement 30 and its relatively slow dynamics.

[0183] Step 3) may comprise determining whether the predicted maneuver is too fast to be handled by the suspension arrangement 30, e.g., like in a fast lane change, to not control the roll angle.

[0184] FIG. 7 is a flow chart of a computer-implemented method for handling suspension of the vehicle 1 comprising the suspension arrangement 30 according to an example. The suspension arrangement 30 is configured to actuate the one or more suspensions 31 of the suspension arrangement 30 based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle 1.

[0185] The method comprises the following actions which can be combined with the above actions 201-210, in any suitable manner.

[0186] Action 701

[0187] The method comprises, as part of a suspension demand updating procedure, by processing circuitry 902 of a computer system 900, obtaining vehicle motion information indicative of a current motion and / or steering input of the vehicle 1.

[0188] Action 702

[0189] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry 902, predicting a future vehicle motion of the vehicle 1 based on the obtained vehicle motion information. The predicted vehicle motion is indicative of a predicted rate of change of at least one motion parameter of the vehicle 1.

[0190] Action 703

[0191] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry 902, in response to the at least one motion parameter being below a first threshold, obtaining a first indication associated with a current suspension demand. The first indication indicates a current interval. The current suspension demand is mapped to the current interval according to an interval mapping.

[0192] Action 704

[0193] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry 902, determining a candidate suspension demand. The candidate suspension demand is determined to account for the predicted future vehicle motion.

[0194] Action 705

[0195] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry 902, mapping the candidate suspension demand to a candidate interval, based on the interval mapping.

[0196] Action 706

[0197] The method comprises, as part of the suspension demand updating procedure, by the processing circuitry 902, when the candidate interval differs from the current interval, based on the candidate suspension demand, transmitting an updated suspension demand request to the suspension arrangement 30.

[0198] FIG. 8 is another view of FIG. 1, according to an example.

[0199] The computer system 900 comprising the processing circuitry 902 configured to handle suspension of the vehicle 1 comprising the suspension arrangement 30 is provided. The suspension arrangement 30 is configured to actuate the one or more suspensions 31 of the suspension arrangement 30 based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle 1.

[0200] The processing circuitry 902 is, as part of a suspension demand updating procedure, configured to, obtain vehicle motion information indicative of a current motion and / or steering input of the vehicle 1.

[0201] The processing circuitry 902 is, as part of the suspension demand updating procedure, configured to, predict a future vehicle motion of the vehicle 1 based on the obtained vehicle motion information. The predicted vehicle motion is indicative of a predicted rate of change of at least one motion parameter of the vehicle 1.

[0202] The processing circuitry 902 is, as part of the suspension demand updating procedure, configured to, in response to the at least one motion parameter being below a first threshold, obtain a first indication associated with a current suspension demand. The first indication indicates a current interval. The current suspension demand is mapped to the current interval according to an interval mapping.

[0203] The processing circuitry 902 is, as part of the suspension demand updating procedure, configured to determine a candidate suspension demand. The candidate suspension demand is determined to account for the predicted future vehicle motion.

[0204] The processing circuitry 902 is, as part of the suspension demand updating procedure, configured to, based on the interval mapping, map the candidate suspension demand to a candidate interval.

[0205] The processing circuitry 902 is, as part of the suspension demand updating procedure, configured to, when the candidate interval differs from the current interval, and based on the candidate suspension demand, transmit an updated suspension demand request to the suspension arrangement 30.

[0206] FIG. 9 is a schematic diagram of a computer system 900 for implementing examples disclosed herein. The computer system 900 is adapted to execute instructions from a computer-readable medium to perform these and / or any of the functions or processing described herein. The computer system 900 may be connected (e.g., networked) to other machines in a LAN (Local Area Network), LIN (Local Interconnect Network), automotive network communication protocol (e.g., FlexRay), an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 900 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and / or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or otherdevices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[0207] The computer system 900 may comprise at least one computing device or electronic device capable of including firmware, hardware, and / or executing software instructions to implement the functionality described herein. The computer system 900 may include processing circuitry 902 (e.g., processing circuitry including one or more processor devices or control units), a memory 904, and a system bus 906. The computer system 900 may include at least one computing device having the processing circuitry 902. The system bus 906 provides an interface for system components including, but not limited to, the memory 904 and the processing circuitry 902. The processing circuitry 902 may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory 904. The processing circuitry 902 may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 902 may further include computer executable code that controls operation of the programmable device.

[0208] The system bus 906 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and / or a local bus using any of a variety of bus architectures. The memory 904 may be one or more devices for storing data and / or computer code for completing or facilitating methods described herein. The memory 904 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 904 may be communicably connected to the processing circuitry 902 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 904 may include non-volatile memory 908 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasableprogrammable read-only memory (EEPROM), etc.), and volatile memory 910 (e.g., randomaccess memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 902. A basic input / output system (BIOS) 912 may be stored in the non-volatile memory 908 and can include the basic routines that help to transfer information between elements within the computer system 900.

[0209] The computer system 900 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 914, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 914 and other drives associated with computer-readable media and computer-usable media may provide nonvolatile storage of data, data structures, computer-executable instructions, and the like.

[0210] Computer-code which is hard or soft coded may be provided in the form of one or more modules. The module(s) can be implemented as software and / or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 914 and / or in the volatile memory 910, which may include an operating system 916 and / or one or more program modules 918. All or a portion of the examples disclosed herein may be implemented as a computer program 920 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 914, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processing circuitry 902 to carry out actions described herein. Thus, the computer-readable program code of the computer program 920 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 902. In some examples, the storage device 914 may be a computer program product (e.g., readable storage medium) storing the computer program 920 thereon, where at least a portion of a computer program 920 may be loadable (e.g., into a processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 902. The processing circuitry 902 may serve as a controller or control system for the computer system 900 that is to implement the functionality described herein.

[0211] The computer system 900 may include an input device interface 922 configured to receive input and selections to be communicated to the computer system 900 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processing circuitry 902 through the input device interface 922 coupled to the system bus 906 but can be connected through other interfaces, such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 900 may include an output device interface 924 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube(CRT)). The computer system 900 may include a communications interface 926 suitable for communicating with a network as appropriate or desired.

[0212] The operational actions described in any of the exemplary aspects herein are described to provide examples and discussion. The actions may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of the actions may differ. In addition, two or more actions may be performed concurrently or with partial concurrence.

[0213] Below follow a number of Examples, which may be combined with the above examples in any suitable manner.Example 1. A computer system 900 comprising processing circuitry 902 configured to handle suspension of a vehicle 1 comprising a suspension arrangement 30, the suspension arrangement 30 is configured to actuate one or more suspensions 31 of the suspension arrangement 30 based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle 1, the processing circuitry 902 is, as part of a suspension demand updating procedure, configured to: obtain vehicle motion information indicative of a current motion and / or steering input of the vehicle 1,predict a future vehicle motion of the vehicle 1 based on the obtained vehicle motion information, the predicted vehicle motion being indicative of a predicted rate of change of at least one motion parameter of the vehicle 1, in response to the at least one motion parameter being below a first threshold, obtain a first indication associated with a current suspension demand, and determine a candidate suspension demand, wherein o the first indication indicates a current interval, wherein the current suspension demand is mapped to the current interval according to an interval mapping, and o the candidate suspension demand being determined to account for the predicted future vehicle motion;- based on the interval mapping, map the candidate suspension demand to a candidate interval, and- when the candidate interval differs from the current interval, based on the candidate suspension demand, transmit an updated suspension demand request to the suspension arrangement 30.Example 2, The computer system 900 of Example 1, wherein the processing circuitry 902 is further configured to obtain suspension capabilities of the suspension arrangement 30, the suspension capabilities being indicative of a maximum and minimum angle of a suspension demand for any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle 1, and determine the interval mapping based on the suspension capabilities.Example 3, The computer system 900 of any of Examples 1-2, wherein the processing circuitry 902 is further configured to:- when the candidate interval and the current interval is the same interval, refrain from transmitting the updated suspension demand request to the suspension arrangement 30.Example 4, The computer system 900 of any of Examples 1-3, wherein the processing circuitry 902 is further configured to perform the suspension demand updating procedure periodically and / or iteratively.Example 5, The computer system 900 of any of Examples 1-4, wherein transmitting the updated suspension demand request to the suspension arrangement 30 is further conditioned on a hysteresis function, wherein the hysteresis function comprises determining to transmit the updated suspension demand request to the suspension arrangement 30 when a difference between the candidate suspension demand and an end-point of the current interval is above a second threshold.Example 6, The computer system 900 of any of Examples 1-5, wherein the processing circuitry 902 is further configured to predict the future vehicle motion by predicting a future steering wheel angle of the vehicle 1 based on a prediction model.Example 7, The computer system 900 of Example 6, wherein predicting the future steering wheel angle of the vehicle 1 based on the prediction model is based on any one or more out of: a current vehicle motion of the vehicle 1, a current steering wheel angle of the vehicle 1, and / or a change in steering wheel angle of the vehicle 1, one or more pedal positions of the vehicle 1, sensor data indicative of a state of the driver, road information of a road travelled by the vehicle 1, and location information of the vehicle 1.Example 8, The computer system 900 of any of Examples 1-7, wherein the at least one motion parameter comprises any one or more out of: a lateral acceleration of the vehicle 1, a longitudinal acceleration of the vehicle 1, a lateral speed of the vehicle 1, a longitudinal speed of the vehicle 1, and a derivative of a lateral acceleration of the vehicle 1.Example 9, The computer system 900 of any of Examples 1-8, wherein the first threshold is associated with a response time of the suspension arrangement 30.Example 10. A vehicle 1 comprising a suspension arrangement 30, the suspension arrangement 30 is configured to actuate one or more suspensions 31 of the suspension arrangement 30 based on one or more received suspension demandrequests of suspension demand associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle 1, and wherein the vehicle 1 comprises the computer system 900 of any of Examples 1-9.Example 11. A computer-implemented method for handling suspension of a vehicle 1 comprising a suspension arrangement 30, the suspension arrangement 30 is configured to actuate one or more suspensions 31 of the suspension arrangement 30 based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle 1, and as part of a suspension demand updating procedure, the method comprises:- by processing circuitry 902 of a computer system 900, obtaining 203 vehicle motion information indicative of a current motion and / or steering input of the vehicle 1,- by the processing circuitry 902, predicting 204 a future vehicle motion of the vehicle 1 based on the obtained vehicle motion information, the predicted vehicle motion being indicative of a predicted rate of change of at least one motion parameter of the vehicle 1,- by the processing circuitry 902, in response to the at least one motion parameter being below a first threshold, obtaining 205 a first indication associated with a current suspension demand, and determining 206 a candidate suspension demand, wherein o the first indication indicates a current interval, wherein the current suspension demand is mapped to the current interval according to an interval mapping, and o the candidate suspension demand is determined to account for the predicted future vehicle motion;- by the processing circuitry 902, mapping 207 the candidate suspension demand to a candidate interval, based on the interval mapping, and- by the processing circuitry 902, when the candidate interval differs from the current interval, based on the candidate suspension demand, transmitting 208 an updated suspension demand request to the suspension arrangement 30.Example 12, The method of Example 11, further comprising:- by the processing circuitry 902, obtaining 201 suspension capabilities of the suspension arrangement 30, the suspension capabilities being indicative of a maximum and minimum angle of a suspension demand for any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle 1, and- by the processing circuitry 902, determine 202 the interval mapping based on the suspension capabilities.Example 13, The method of Example 11 or 12, further comprising:- by the processing circuitry 902, when the candidate interval and the current interval is the same interval, refraining 209 from transmitting the updated suspension demand request to the suspension arrangement 30.Example 14, The method of any of Examples 11-13, further comprising:- by the processing circuitry 902, performing 210 the suspension demand updating procedure periodically and / or iteratively.Example 15, The method of any of Examples 11-14, wherein transmitting 208 the updated suspension demand request to the suspension arrangement 30 is further conditioned on a hysteresis function, wherein the hysteresis function comprises determining to transmit the updated suspension demand request to the suspension arrangement 30 when a difference between the candidate suspension demand and an end-point of the current interval is above a second threshold.Example 16, The method of any of Examples 11-15, wherein predicting 204 the future vehicle motion comprises predicting a future steering wheel angle of the vehicle 1 based on a prediction model.Example 17, The method of any of Examples 11-16, wherein predicting 204 the future vehicle motion comprises predicting a future steering wheel angle of the vehicle 1 based on the prediction model based on any one or more out of: a current vehicle motion of the vehicle 1, a current steering wheel angle of the vehicle 1, and / or a change in steering wheel angle of the vehicle 1, one or more pedal positions of the vehicle 1, sensor data indicative of a state of the driver, road information of a road travelled by the vehicle 1, and location information of the vehicle 1.Example 18, The method of any of Examples 11-17, wherein the at least one motion parameter comprises any one or more out of: a lateral acceleration of the vehicle 1, a longitudinal acceleration of the vehicle 1, a lateral speed of the vehicle 1, a longitudinal speed of the vehicle 1, and a derivative of a lateral acceleration of the vehicle 1.Example 19, A computer program product comprising program code for performing, when executed by the processing circuitry 902, the method of any of Examples 11-18.Example 20, A non-transitory computer-readable storage medium comprising instructions, which when executed by the processing circuitry 902, cause the processing circuitry 902 to perform the method of any of Examples 11-18.

[0214] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and / or groups thereof.

[0215] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[0216] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being"connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0217] Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0218] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.

Claims

ClaimsWhat is claimed is:

1. A computer system (900) comprising processing circuitry (902) configured to handle suspension of a vehicle (1) comprising a suspension arrangement (30), the suspension arrangement (30) is configured to actuate one or more suspensions (31) of the suspension arrangement (30) based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle (1), the processing circuitry (902) is, as part of a suspension demand updating procedure, configured to: obtain vehicle motion information indicative of a current motion and / or steering input of the vehicle (1), predict a future vehicle motion of the vehicle (1) based on the obtained vehicle motion information, the predicted vehicle motion being indicative of a predicted rate of change of at least one motion parameter of the vehicle (1), in response to the at least one motion parameter being below a first threshold, obtain a first indication associated with a current suspension demand, and determine a candidate suspension demand, wherein o the first indication indicates a current interval, wherein the current suspension demand is mapped to the current interval according to an interval mapping, and o the candidate suspension demand being determined to account for the predicted future vehicle motion;- based on the interval mapping, map the candidate suspension demand to a candidate interval, and- when the candidate interval differs from the current interval, based on the candidate suspension demand, transmit an updated suspension demand request to the suspension arrangement (30).

2. The computer system (900) of claim 1, wherein the processing circuitry (902) is further configured to:obtain suspension capabilities of the suspension arrangement (30), the suspension capabilities being indicative of a maximum and minimum angle of a suspension demand for any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle (1), and determine the interval mapping based on the suspension capabilities.

3. The computer system (900) of any of claims 1-2, wherein the processing circuitry (902) is further configured to:- when the candidate interval and the current interval is the same interval, refrain from transmitting the updated suspension demand request to the suspension arrangement (30).

4. The computer system (900) of any of claims 1-3, wherein the processing circuitry (902) is further configured to perform the suspension demand updating procedure periodically and / or iteratively.

5. The computer system (900) of any of claims 1-4, wherein transmitting the updated suspension demand request to the suspension arrangement (30) is further conditioned on a hysteresis function, wherein the hysteresis function comprises determining to transmit the updated suspension demand request to the suspension arrangement (30) when a difference between the candidate suspension demand and an end-point of the current interval is above a second threshold.

6. The computer system (900) of any of claims 1-5, wherein the processing circuitry (902) is further configured to predict the future vehicle motion by predicting a future steering wheel angle of the vehicle (1) based on a prediction model.

7. The computer system (900) of claim 6, wherein predicting the future steering wheel angle of the vehicle (1) based on the prediction model is based on any one or more out of: a current vehicle motion of the vehicle (1),a current steering wheel angle of the vehicle (1), and / or a change in steering wheel angle of the vehicle (1), one or more pedal positions of the vehicle (1), sensor data indicative of a state of the driver, road information of a road travelled by the vehicle (1), and location information of the vehicle (1).

8. The computer system (900) of any of claims 1-7, wherein the at least one motion parameter comprises any one or more out of: a lateral acceleration of the vehicle (1), a longitudinal acceleration of the vehicle (1), a lateral speed of the vehicle (1), a longitudinal speed of the vehicle (1), and a derivative of a lateral acceleration of the vehicle (1).

9. The computer system (900) of any of claims 1-8, wherein the first threshold is associated with a response time of the suspension arrangement (30).

10. A vehicle (1) comprising a suspension arrangement (30), the suspension arrangement (30) is configured to actuate one or more suspensions (31) of the suspension arrangement (30) based on one or more received suspension demand requests of suspension demand associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle (1), and wherein the vehicle (1) comprises the computer system (900) of any of claims 1-9.

11. A computer-implemented method for handling suspension of a vehicle (1) comprising a suspension arrangement (30), the suspension arrangement (30) is configured to actuate one or more suspensions (31) of the suspension arrangement (30) based on one or more received suspension demand requests indicative of respective suspension demands associated with any one or more out of: a pitch angle, roll angle, and / or a heave of the vehicle (1), as part of a suspension demand updating procedure, the method comprises:- by processing circuitry (902) of a computer system (900), obtaining (203, 701) vehicle motion information indicative of a current motion and / or steering input of the vehicle (1),- by the processing circuitry (902), predicting (204, 702) a future vehicle motion of the vehicle (1) based on the obtained vehicle motion information, the predicted vehicle motion being indicative of a predicted rate of change of at least one motion parameter of the vehicle (1),- by the processing circuitry (902), in response to the at least one motion parameter being below a first threshold, obtaining (205, 703) a first indication associated with a current suspension demand, and determining (206, 704) a candidate suspension demand, wherein o the first indication indicates a current interval, wherein the current suspension demand is mapped to the current interval according to an interval mapping, and o the candidate suspension demand is determined to account for the predicted future vehicle motion;- by the processing circuitry (902), mapping (207, 705) the candidate suspension demand to a candidate interval, based on the interval mapping, and- by the processing circuitry (902), when the candidate interval differs from the current interval, based on the candidate suspension demand, transmitting (208, 706) an updated suspension demand request to the suspension arrangement (30).

12. The method of claim 11, further comprising:- by the processing circuitry (902), obtaining (201) suspension capabilities of the suspension arrangement (30), the suspension capabilities being indicative of a maximum and minimum angle of a suspension demand for any one or more out of a pitch angle, roll angle, and / or a heave of the vehicle (1), and- by the processing circuitry (902), determine (202) the interval mapping based on the suspension capabilities.

13. The method of claim 11 or 12, further comprising:by the processing circuitry (902), when the candidate interval and the current interval is the same interval, refraining (209) from transmitting the updated suspension demand request to the suspension arrangement (30).

14. The method of any of claims 11-13, further comprising:- by the processing circuitry (902), performing (210) the suspension demand updating procedure periodically and / or iteratively.

15. The method of any of claims 11-14, wherein transmitting (208) the updated suspension demand request to the suspension arrangement (30) is further conditioned on a hysteresis function, wherein the hysteresis function comprises determining to transmit the updated suspension demand request to the suspension arrangement (30) when a difference between the candidate suspension demand and an end-point of the current interval is above a second threshold.

16. The method of any of claims 11-15, wherein predicting (204) the future vehicle motion comprises predicting a future steering wheel angle of the vehicle (1) based on a prediction model.

17. The method of any of claims 11-16, wherein predicting (204) the future vehicle motion comprises predicting a future steering wheel angle of the vehicle (1) based on the prediction model based on any one or more out of: a current vehicle motion of the vehicle (1), a current steering wheel angle of the vehicle (1), and / or a change in steering wheel angle of the vehicle (1), one or more pedal positions of the vehicle (1), sensor data indicative of a state of the driver, road information of a road travelled by the vehicle (1), and location information of the vehicle (1).

18. The method of any of claims 11-17, wherein the at least one motion parameter comprises any one or more out of:a lateral acceleration of the vehicle (1), a longitudinal acceleration of the vehicle (1), a lateral speed of the vehicle (1), a longitudinal speed of the vehicle (1), and - a derivative of a lateral acceleration of the vehicle (1).

19. A computer program product comprising program code for performing, when executed by the processing circuitry (902), the method of any of claims 11-18.

20. A non-transitory computer-readable storage medium comprising instructions, which when executed by the processing circuitry (902), cause the processing circuitry (902)to perform the method of any of claims 11-18.

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