VEHICLE DYNAMIC LOAD ESTIMATION SYSTEM AND METHOD

• US 20140278040A1
• Filed: 03/12/2013
• Published: 09/18/2014
• Est. Priority Date: 03/12/2013
• Status: Active Grant

• Current Assignee: Goodyear Tire & Rubber Company
• Original Assignee: Goodyear Tire & Rubber Company
• Inventors: Singh, Kanwar Bharat, Parsons, Anthony William, Engel, Marc
• Granted Patent: US 9,222,854 B2
• Time in Patent Office: Days
• US Class Current: 701/124
• CPC Class Codes: B60T 2240/06 Wheel load; Wheel lift
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 2040/1307 Load distribution on each wheel suspension
• CPC Class Codes: B60W 2040/1315 Location of the centre of gravity
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: G01G 19/086 wherein the vehicle mass is dynamically estimated
• CPC Class Codes: G01M 17/06 Steering behaviour; Rolling behaviour

Abstract

A dynamic load estimation system and method is provided, the system including a tire supporting a vehicle; a vehicle-mounted acceleration sensor for determining a vehicle lateral acceleration and a vehicle longitudinal acceleration; a roll angle calculating model for determining a vehicle roll angle; a roll rate calculating model for determining a vehicle roll rate; a static normal load calculation model for calculating a measured static normal load; and a dynamic tire load estimation model for calculating an estimated dynamic load on the tire from the measured static normal load, the vehicle roll angle, the vehicle roll rate, the vehicle lateral acceleration and the vehicle longitudinal acceleration.

Claims

1. A dynamic load estimation system for estimating a vehicle load comprising:

at least one tire supporting a vehicle;

acceleration sensor means for determining a vehicle lateral acceleration and a vehicle longitudinal acceleration;

roll angle calculating means for determining a vehicle roll angle;

roll rate calculating means for determining a vehicle roll rate;

static normal load calculation means for calculating a measured static normal load; and

dynamic tire load estimation means for calculating an estimated dynamic load on the tire from the measured static normal load, the vehicle roll angle, the vehicle roll rate, the vehicle lateral acceleration and the vehicle longitudinal acceleration.

2. The dynamic load estimation system of claim 1, wherein further comprising:

tire sensor means for determining a measured load transfer force on the one tire;

adaptive load transfer ratio estimation means for determining an adaptive load transfer ratio estimation based on the vehicle lateral acceleration and the vehicle longitudinal acceleration;

load transfer ratio generating means for determining a load transfer ratio from the measured load transfer force and the adaptive load transfer ratio estimation;

roll angle estimation means for generating a roll angle estimation based on the load transfer ratio.

3. The dynamic load estimation system of claim 2, wherein further comprising parameter adaptation means for generating a parameter adaptation adjustment;

and wherein the roll angle estimation means generates the roll angle estimation based on the load transfer ratio as adjusted by the parameter adaptation adjustment.

4. The dynamic load estimation system of claim 3, wherein further comprising:

roll rate sensor means for determining a measured roll rate; and

filter means for determining the vehicle roll angle and the vehicle roll rate from the measured roll rate and the roll angle estimation.

5. The dynamic load estimation system of claim 3, wherein further comprising filter means for determining the vehicle roll angle and the vehicle roll rate from the roll angle estimation and the vehicle lateral acceleration.

6. The dynamic load estimation system of claim 5, wherein the filter means operably determines the vehicle roll angle and the vehicle roll rate from the roll angle estimation and the vehicle lateral acceleration as adjusted by the parameter adaptation adjustment.

7. The dynamic load estimation system of claim 6, wherein the filter means comprises a lateral model-based roll state estimator.

8. The dynamic load estimation system of claim 7, wherein the lateral model-based roll state estimator comprises a Luenberger Observer model.

12. The dynamic load estimation system of claim 3, wherein further comprising:

determining a measured roll rate from roll sensor means mounted to the vehicle; and

deploying filter means for determining the vehicle roll angle and the vehicle roll rate from the measured roll rate and the roll angle estimation.

13. The dynamic load estimation system of claim 12, wherein further comprising determining by the filter means the vehicle roll angle and the vehicle roll rate from the roll angle estimation and the vehicle lateral acceleration.

14. The dynamic load estimation system of claim 13, wherein further comprising determining by the filter means the vehicle roll angle and the vehicle roll rate from the roll angle estimation and the vehicle longitudinal acceleration as adjusted by the parameter adaptation adjustment.

15. The dynamic load estimation system of claim 14, wherein further comprising utilizing a lateral model-based roll state estimator as the filter means.

16. The dynamic load estimation system of claim 15, wherein further comprising utilizing a Luenberger Observer model as the lateral model-based roll state estimator model.

9. A dynamic load estimation method for estimating a load on a tire supporting a vehicle, comprising:

mounting acceleration sensor means to the vehicle for measuring a vehicle lateral acceleration and a vehicle longitudinal acceleration;

determining a vehicle roll angle;

determining a vehicle roll rate;

determining a static normal load on the tire; and

applying the static normal load, the vehicle roll angle, the vehicle roll rate, the vehicle lateral acceleration and the vehicle longitudinal acceleration to a dynamic tire load estimation algorithm to yield a load estimation.

10. The dynamic load estimation method of claim 9, wherein further comprising:

determining a measured load transfer force on the tire;

determining an adaptive load transfer ratio estimation based on the vehicle lateral acceleration and the vehicle longitudinal acceleration;

determining a load transfer ratio from the measured load transfer force and the adaptive load transfer ratio estimation;

generating a roll angle estimation based on the load transfer ratio.

11. The dynamic load estimation method of claim 10, wherein further comprising generating a parameter adaptation adjustment;

and generating from the roll angle estimation means the roll angle estimation based on the load transfer ratio as adjusted by the parameter adaptation adjustment.