Dynamic estimation of vehicle inertial parameters and tire forces from tire sensors
First Claim
1. A method of estimating vehicle inertial parameters for use in a vehicle stability control system, the method comprising the steps of:
- obtaining measurements of tire normal forces;
calculating an estimated total vehicle mass;
calculating an estimated mass proportioned between axles, comprising an estimated front mass and an estimated rear mass; and
performing a vehicle stability control calculation using an estimated vehicle inertial parameter selected from a group consisting of said estimated total vehicle mass, said estimated mass proportioned between axles, said estimated front mass, and said estimated rear mass.
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Abstract
A method of estimating vehicle inertial parameters for use in a vehicle stability control system including the steps of obtaining measurements of tire normal forces, calculating an estimated total vehicle mass, calculating an estimated mass proportioned between axles, and performing a vehicle stability control calculation using an estimated vehicle inertial parameter. In a second aspect of the method, a method of estimating vehicle inertial parameters using measurements of tire lateral forces. In a third aspect, a method of predicting tire forces including the steps of obtaining measurements of tire normal or tire lateral forces, calculating a corresponding set of expected tire forces, blending the measured tire forces and said corresponding set of expected tire forces to produce a set of blended tire forces, calculating a second set of expected tire forces of the other kind, combining the set of blended tire forces and second set of expected tire forces to produce a set of predicted tire lateral forces for each tire of the vehicle, and performing a vehicle control calculation using the set of predicted tire lateral forces.
24 Citations
20 Claims
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1. A method of estimating vehicle inertial parameters for use in a vehicle stability control system, the method comprising the steps of:
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obtaining measurements of tire normal forces; calculating an estimated total vehicle mass; calculating an estimated mass proportioned between axles, comprising an estimated front mass and an estimated rear mass; and performing a vehicle stability control calculation using an estimated vehicle inertial parameter selected from a group consisting of said estimated total vehicle mass, said estimated mass proportioned between axles, said estimated front mass, and said estimated rear mass. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of estimating vehicle inertial parameters for use in a vehicle stability control system, the method comprising the steps of:
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obtaining measurements of tire lateral forces, vehicle lateral acceleration, and vehicle yaw rate; calculating an estimated mass proportioned between axles, comprising an estimated front mass and an estimated rear mass; and performing a vehicle stability control calculation using an estimated vehicle inertial parameter selected from a group consisting of said estimated mass proportioned between axles, said estimated front mass, and said estimated rear mass, or a vehicle parameter incorporating an estimated vehicle inertial parameter selected from said group. - View Dependent Claims (10, 11, 12, 13)
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14. A method of predicting tire lateral forces for use in a vehicle chassis control system, the method comprising the steps of:
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obtaining measurements of tire forces, the measured forces being selected from one of group consisting of tire normal forces and tire lateral forces; calculating a first set of expected tire forces, corresponding to the selected one of the aforesaid group, using an estimated vehicle inertial parameter and a measurement of acceleration; blending said measured tire forces and said first set of expected tire forces to produce a set of blended tire forces; calculating a second set of expected tire forces, corresponding to the other of the aforesaid group, using an estimated vehicle mass parameter and a measurement of acceleration; combining said set of blended tire forces and said second set of expected tire forces to produce a set of predicted tire lateral forces for each tire of the vehicle; and performing a vehicle control calculation using said set of predicted tire lateral forces. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification