METHOD FOR ESTIMATING TIRE FORCES FROM CAN-BUS ACCESSIBLE SENSOR INPUTS
First Claim
1. A method for estimating a tire state including normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle, comprising:
- accessing a vehicle CAN-bus for vehicle sensor-measured information;
equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors providing by the CAN-bus input sensor data, the input sensor data including acceleration and angular velocities, steering wheel angle measurement, angular wheel speed of the wheel, roll rate, pitch rate, yaw rate;
deploying a normal force estimator operable to estimate a normal force on the tire from a summation of longitudinal load transfer, lateral load transfer and static normal force using as inputs lateral acceleration, longitudinal acceleration and roll angle derived from the input sensor data;
deploying a lateral force estimator operable to estimate a lateral force on the tire from a planar vehicle model using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate derived from the input sensor data;
deploying a longitudinal force estimator operable to estimate a longitudinal force on the tire from a wheel rotational dynamics model using as inputs wheel angular speed and drive/brake torque derived from the input sensor data.
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Abstract
A tire state estimation method is provided for estimating normal force, lateral force and longitudinal forces based on CAN-bus accessible sensor inputs, including deploying a normal force estimator generating the normal force estimation from a summation of longitudinal load transfer, lateral load transfer and static normal force using as inputs lateral acceleration, longitudinal acceleration and roll angle derived from the input sensor data; deploying a lateral force estimator estimating lateral force using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate; and deploying a longitudinal force estimator estimating the longitudinal force using as inputs wheel angular speed and drive/brake torque derived from the input sensor data.
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Citations
20 Claims
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1. A method for estimating a tire state including normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle, comprising:
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accessing a vehicle CAN-bus for vehicle sensor-measured information; equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors providing by the CAN-bus input sensor data, the input sensor data including acceleration and angular velocities, steering wheel angle measurement, angular wheel speed of the wheel, roll rate, pitch rate, yaw rate; deploying a normal force estimator operable to estimate a normal force on the tire from a summation of longitudinal load transfer, lateral load transfer and static normal force using as inputs lateral acceleration, longitudinal acceleration and roll angle derived from the input sensor data; deploying a lateral force estimator operable to estimate a lateral force on the tire from a planar vehicle model using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate derived from the input sensor data; deploying a longitudinal force estimator operable to estimate a longitudinal force on the tire from a wheel rotational dynamics model using as inputs wheel angular speed and drive/brake torque derived from the input sensor data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for estimating a tire state including normal force, lateral force and longitudinal force on a tire mounted to a wheel and supporting a vehicle, comprising:
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accessing a vehicle CAN-bus for vehicle sensor-measured information; equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors providing by the CAN-bus input sensor data, the input sensor data including acceleration and angular velocities;
steering wheel angle measurement;
angular wheel speed of the wheel;
roll rate;
pitch rate;
yaw rate;configuring the input sensor data to exclude use of data from a global positioning system or data from a suspension displacement sensor; deploying a normal force estimator operable to estimate a normal force on the tire from a summation of longitudinal load transfer, lateral load transfer and static normal force using as inputs lateral acceleration, longitudinal acceleration and roll angle derived from the input sensor data; deploying a lateral force estimator operable to estimate a lateral force on the tire from a planar vehicle model using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate derived from the input sensor data; deploying a longitudinal force estimator operable to estimate a longitudinal force on the tire from a wheel rotational dynamics model using as inputs wheel angular speed and drive/brake torque derived from the input sensor data. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification