Ground Plane Detection for Multi-Mode Vehicle Suspension Control

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Solution Overview

Problem

Off-road and military vehicles require advanced suspension systems to maintain vehicle body alignment with gravity for optimal sensor operation and operator comfort, while also enabling terrain-following capabilities to navigate extreme terrain, which existing systems struggle to achieve effectively.

Innovation Solution

A multi-mode extreme travel suspension system that detects the ground plane by combining suspension displacements with body roll and pitch angles, allowing the vehicle to operate in earth level or terrain following modes, with control mechanisms driven by operator inputs and sensor data to adjust vehicle attitude accordingly.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the vehicle maintains earth level orientation (aligned with gravity), then sensor operation and operator comfort are improved, but the vehicle's ability to negotiate extreme terrain is limited

Engineering Contradiction:

Improvesensor operationVSAvoidterrain negotiation capability

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The suspension system dynamically switches between earth level mode and terrain following mode based on operational requirements. The system can transition between these modes to optimize performance for different terrain conditions and operational priorities, allowing the vehicle to maintain earth level orientation when sensors require stability while following terrain contours when negotiating extreme terrain features.

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If the vehicle maintains terrain following orientation, then the vehicle can negotiate extreme terrain effectively, but sensor operation and operator comfort deteriorate

Engineering Contradiction:

Improveterrain negotiation capabilityVSAvoidsensor operation

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The suspension system dynamically switches between terrain following mode and earth level mode based on operational requirements. The system can transition between these modes to optimize performance for different terrain conditions and operational priorities, allowing the vehicle to follow terrain contours when negotiating extreme terrain features while maintaining earth level orientation when sensors require stability.

Inventive Principle:

Principle #15Dynamics

3Adaptability or versatility

If conventional suspension systems with 12 inches or less of travel are used, then the vehicle follows terrain roll and pitch angles, but the vehicle cannot maintain level orientation with respect to gravity in extreme terrain

Engineering Contradiction:

Improveterrain following capabilityVSAvoidlevel orientation control

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The active suspension system with extended travel capability dynamically adjusts between terrain following and level orientation modes. The system uses active control to maintain precise level orientation with respect to gravity when required, while leveraging the extended suspension travel to follow terrain contours when terrain negotiation is the priority, overcoming the limitations of conventional suspension systems.

Inventive Principle:

Principle #15Dynamics

4Ease of operation

If the vehicle chassis approximates terrain contour, then operator comfort and terrain negotiation are improved, but vehicle body alignment with gravity deteriorates

Engineering Contradiction:

Improveoperator comfortVSAvoidvehicle body alignment

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The suspension system dynamically switches between terrain following mode and earth level mode based on operational requirements. The system can transition between these modes to optimize performance for different terrain conditions and operational priorities, allowing the vehicle to follow terrain contours when operator comfort is prioritized while maintaining precise alignment with gravity when sensor operation or weapon aiming requires it.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS11833875B2Motor-vehicle with multi-mode extreme travel suspension—ground plane detection and control

Publication Date: 2023.12.05 PRATT & MILLER ENG & FABRICATION LLC

AI summary

A ground plane detection system for a motor vehicle and a motor vehicle with enhanced maneuverability characteristics of a type including a frame structure, a pair of front road engaging wheels, a pair of rear road engaging wheels. The detection system includes, a body controller configured for determining a ground plane including receiving at least one of a GPS signal and an inertial navigation system signal. The body controller is further configured for providing a roll and a pitch signal with respect to the ground plane; and the body controller combining the signals with inputs from one or more sensors detecting displacement of the front and rear road engaging wheels. The body controller is also configured to determine a terrain plane reference to the ground plane, and providing control signals to cause the vehicle to undertake an earth level orientation mode or a terrain following orientation mode.