TIRE SENSOR-BASED VEHICLE STATE ESTIMATION SYSTEM AND METHOD
First Claim
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1. A vehicle state estimation system comprising:
- a vehicle supported by at least one tire, the vehicle operating in transient maneuver states or non-transient maneuver states throughout operational maneuvers of the vehicle;
at least one tire-based sensor mounted to the at least one tire and operative to generate tire-based sensor data;
at least one vehicle-based sensor mounted to the vehicle and operative to generate vehicle-based sensor data;
an observer model operative to make cornering stiffness estimates from the tire-based sensor data and the vehicle-based sensor data throughout the operational maneuvers of the vehicle; and
a cornering stiffness identifier operative to extract and output transient-state cornering stiffness estimates from the observer model cornering stiffness estimates throughout the operational maneuvers of the vehicle.
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Abstract
A vehicle state estimation system and method uses an observer model to make cornering stiffness estimates from tire-based sensor data and vehicle-based sensor data throughout transient and non-transient operational maneuvers of a vehicle. A cornering stiffness identifier extracts transient-state cornering stiffness estimates from the cornering stiffness estimates made by the observer model and extracts from the transient-state cornering stiffness estimates an optimal transient-state cornering stiffness estimate having a substantially highest confidence measure for use by a vehicle control system.
28 Citations
20 Claims
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1. A vehicle state estimation system comprising:
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a vehicle supported by at least one tire, the vehicle operating in transient maneuver states or non-transient maneuver states throughout operational maneuvers of the vehicle; at least one tire-based sensor mounted to the at least one tire and operative to generate tire-based sensor data; at least one vehicle-based sensor mounted to the vehicle and operative to generate vehicle-based sensor data; an observer model operative to make cornering stiffness estimates from the tire-based sensor data and the vehicle-based sensor data throughout the operational maneuvers of the vehicle; and a cornering stiffness identifier operative to extract and output transient-state cornering stiffness estimates from the observer model cornering stiffness estimates throughout the operational maneuvers of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vehicle state estimation system comprising:
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a vehicle supported by at least one tire mounted to an axle, the vehicle operating in transient maneuver states or non-transient maneuver states throughout operational maneuvers of the vehicle; at least one tire-based sensor mounted to the at least one tire and operative to generate tire-based sensor data; at least one vehicle-based sensor mounted to the vehicle and operative to generate vehicle-based sensor data; a tire load estimator for operatively estimating a vertical force estimation on the at least one tire from the tire-based sensor data; an inertial parameter generator operative to output a substantially real-time update of vehicle inertial parameters derived from the vertical force estimation; an axle force estimator operative to estimate from the vehicle inertial parameters and the vehicle-based sensor data an axle lateral force estimation on the axle; an observer model operative to make cornering stiffness estimates from the vehicle-based sensor data, the vehicle inertial parameters, and the axle lateral force estimation on the axle throughout the operational maneuvers of the vehicle; and a cornering stiffness identifier operative to extract and output transient-state cornering stiffness estimates from the observer model cornering stiffness estimates throughout the operational maneuvers of the vehicle and wherein the cornering stiffness identifier is further operative to extract from the transient-state cornering stiffness estimates an optimal transient-state cornering stiffness estimate having a substantially highest confidence measure. - View Dependent Claims (12, 13, 14, 15)
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16. A vehicle state estimation method comprising:
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supporting a vehicle by at least one tire, the vehicle operating in transient maneuver states or non-transient maneuver states throughout operational maneuvers of the vehicle; mounting at least one tire-based sensor to the at least one tire operative to generate tire-based sensor data; mounting at least one vehicle-based sensor to the vehicle operative to generate vehicle-based sensor data; generating cornering stiffness estimates from an observer model based upon the tire-based sensor data and the vehicle-based sensor data throughout the operational maneuvers of the vehicle; and extracting a plurality of extracted output transient-state cornering stiffness estimates from the observer model through a cornering stiffness identifier throughout the operational maneuvers of the vehicle. - View Dependent Claims (17, 18, 19, 20)
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Specification