System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls
First Claim
Patent Images
1. A method of controlling a vehicle comprising:
- determining a heave motion wheel loading;
determining an attitude based wheel loading;
determining a vertical motion induced wheel loading;
determining a total wheel normal loading in response to the heave motion wheel loading, the attitude based wheel loading and the vertical motion induced wheel loading; and
controlling a vehicle system in response to the total wheel normal loading.
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Accused Products
Abstract
A vehicle (10) includes a control system (18) that is used to control a vehicle system. The control system determines a wheel normal loading in response to heave motion wheel loading, attitude-based wheel loading, and vertical motion induced wheel loading. The various wheel loadings may be indirectly determined from the sensors of the various dynamic control system outputs.
128 Citations
60 Claims
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1. A method of controlling a vehicle comprising:
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determining a heave motion wheel loading;
determining an attitude based wheel loading;
determining a vertical motion induced wheel loading;
determining a total wheel normal loading in response to the heave motion wheel loading, the attitude based wheel loading and the vertical motion induced wheel loading; and
controlling a vehicle system in response to the total wheel normal loading. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A method of controlling a vehicle comprising:
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for a right front wheel, a left front wheel, a right rear wheel and a left rear wheel performing the steps of determining a respective heave motion wheel loading;
for a right front wheel, a left front wheel, a right rear wheel and a left rear wheel, determining a respective attitude-based wheel loading;
for a right front wheel, a left front wheel, a right rear wheel and a left rear wheel, determining a respective vertical motion induced wheel loading;
determining a right front total wheel normal loading, a left front wheel total normal loading, a right rear wheel total normal loading and a left rear wheel total wheel normal loading in response to the respective heave motion wheel loading, the respective attitude based wheel loading and respective vertical motion induced wheel loading; and
controlling a vehicle system in response to the right front total wheel total normal loading, the left front wheel total normal loading, the right rear wheel total normal loading and the left rear wheel total wheel normal loading. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
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48. A method of controlling a vehicle having a sprung mass, a spring rate, a wheel assembly mass, a suspension, a body and a suspension point where the suspension couples to the body, a half track, a center of gravity, a longitudinal distance between the center of gravity and axle, a vertical distance between the center of gravity and a suspension point, said method comprising:
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determining a relative pitch angle;
determining a relative roll angle;
determining a vertical acceleration;
determining a heave motion wheel loading in response to a the sprung mass and the vertical acceleration;
determining an attitude based wheel loading in response to a spring rate and half track and the longitudinal distance between the center of gravity and axle;
determining a vertical motion induced wheel loading in response to a wheel assembly mass and a vertical acceleration derived from the vertical distance between the center of gravity and the suspension point;
determining a total wheel normal loading in response to the heave motion wheel loading, the attitude based wheel loading and the vertical motion induced wheel loading; and
controlling a vehicle system in response to the total wheel normal loading. - View Dependent Claims (49, 50, 51, 52, 53, 54)
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55. A method of controlling a vehicle comprising:
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determining a relative pitch angle;
determining a relative roll angle;
determining a vertical acceleration;
determining a total wheel normal loading in response to the relative pitch angle, the relative roll angle and the vertical acceleration; and
controlling a vehicle system in response to the total wheel normal loading. - View Dependent Claims (56, 57, 58, 59)
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60. A system for controlling a vehicle having a vehicle system:
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an integrated sensing system generating a plurality of dynamic signals indicative of the dynamic state of the vehicle; and
a controller coupled to the integrated sensing system, said controller determining a relative pitch angle from the plurality of dynamic signals, determining a relative roll angle from the plurality of dynamic signals, determining a vertical acceleration from the plurality of dynamic signals, determining a total wheel normal loading in response to the relative pitch angle, the relative roll angle and the vertical acceleration, and generating a control signal to control the vehicle system in response to the total wheel normal loading.
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Specification