Method and device for calculating magnitude of wheel-generated cornering force

• US 7,822,563 B2
• Filed: 07/18/2006
• Issued: 10/26/2010
• Est. Priority Date: 07/19/2005
• Status: Expired due to Fees

• Current Assignee: Yokohama Rubber Company Limited
• Original Assignee: Yokohama Rubber Company Limited
• Inventors: Miyashita, Naoshi, Matsuda, Jun, Kitazaki, Tsuyoshi
• Primary Examiner(s): Tsai; Carol S
• Assistant Examiner(s): Desta; Elias
• Application Number:
  US11/996,249
• Publication Number:
  US 20090043517A1
• Time in Patent Office: 1,561 Days
• Field of Search: 702/41, 702/105, 702/141, 702/150, 702/155, 280/124.107, 307/120, 701/72, 734/88, 180/172, 180/197
• US Class Current: 702/41
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/64 Wheel forces, e.g. on hub, spindle or bearing
• CPC Class Codes: B60G 2400/824 Travel path sensing; Track monitoring
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60T 2240/04 Tire deformation
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60W 40/00 Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
• CPC Class Codes: B60W 40/064 Degree of grip
• CPC Class Codes: B60W 40/101 Side slip angle of tyre

Abstract

A method of calculating a cornering force to be applied to each wheel provided to a vehicle which is cornering, comprising the steps of: obtaining a magnitude of a centrifugal force to the vehicle in a direction substantially orthogonal to a vehicle traveling direction, a contact length of each wheel during the cornering of the vehicle, and an amount of deformation in a wheel width direction at the contact portion of each wheel of the vehicle, calculating a difference between the obtained amount of the deformation and an amount of deformation in the wheel width direction under a straight forward travel condition of the vehicle for each wheel, and calculating a cornering force for each wheel based on the magnitude of the centrifugal force, the contact length, and the difference between amounts of deformation in the wheel width direction.

Claims

1. A computer-implemented method of calculating a magnitude of a cornering force applied to each of a plurality of wheels of a vehicle when the vehicle is cornering, each of the plurality of wheels comprising a tire, and being implemented by a computer programmed to carry out the method steps, the method comprising:

measuring, with an electronic device, a magnitude of a centrifugal force applied to the vehicle when the vehicle is cornering, the centrifugal force being in a direction substantially orthogonal to a vehicle traveling direction;

determining, with a computer, a contact length in a wheel circumferential direction, at a contact portion of each of the plurality of wheels when the vehicle is cornering;

determining, with the computer, an amount of deformation in a wheel width direction when the vehicle is cornering, at the contact portion of each of the plurality of wheels; and

calculating, with the computer, a magnitude of a cornering force applied to each of the plurality of wheels, based on the magnitude of the centrifugal force measured with the electronics device, the contact length, and the amount of the deformation in the wheel width direction when the vehicle is cornering.

2. The computer-implemented method according to claim 1, further comprising calculating, with the computer, prior to the calculating of the magnitude of the cornering force, a difference between the amount of the deformation in the wheel width direction when the vehicle is cornering and an amount of deformation in the wheel width direction when the vehicle is traveling straight, for each of the plurality of wheels, wherein:

the amount of the deformation in the wheel width direction when the vehicle is traveling straight is determined in advance; and

the calculating of the magnitude of the cornering force comprises calculating, with the computer, a magnitude of a cornering force generated in each of the plurality of wheels, respectively, by using the magnitude of the centrifugal force, the contact length, and the difference between the amounts of the deformation in the wheel width direction.

3. The computer-implemented method according to claim 2, wherein the calculating of the magnitude of the cornering force comprises:

determining, with the computer, for each of the plurality of wheels, a deformation area equivalent indicating a deformation area of the contact portion of each of the plurality of wheels during when the vehicle is cornering, the deformation area equivalent being obtained by multiplying the contact length with the difference of the amounts of the deformation in the wheel width direction; and

multiplying each ratio of the deformation area equivalent of each of the plurality of wheels with respect to a sum of the deformation area equivalents of the plurality of wheels, with the magnitude of the centrifugal force to calculate, for each of the plurality of wheels, a magnitude of a cornering force generated in the contact portion of each of the plurality of wheels.

4. The computer-implemented method according to claim 1, further comprising acquiring, with an electrical device, time series acceleration data at a predetermined portion of the tire, the time series acceleration data being generated due to an external force applied from the road surface to the tire in rotation, wherein

the determining of the contact length comprises using the time series acceleration data.

5. The computer-implemented method according to claim 4, wherein the determining of the contact length comprises:

determining, with the computer, displacement data by extracting, from the time series acceleration data, time series acceleration data due to deformation of a tire and by subjecting the time series acceleration data due to deformation of a tire to time integration of second order, to calculate an amount of deformation at a predetermined portion of the tire; and

calculating, with the computer, the contact length, by using the amount of deformation at the predetermined portion of the tire.

6. The computer-implemented method according to claim 4, wherein:

the time series acceleration data includes acceleration data in a radial direction which is orthogonal to a circumferential direction of the tire; and

the amount of deformation at the predetermined portion of the tire includes an amount of deformation in the radial direction of the tire.

7. The computer-implemented method according to claim 1, further comprising acquiring time series acceleration data in the wheel width direction at a predetermined portion of the tire, the time series acceleration data being generated due to an external force applied from the road surface to the tire in rotation,

wherein

the determining of the amount of deformation in the wheel width direction comprises using the time series acceleration data of the tire.

8. The computer-implemented method according to claim 7, wherein the determining of the amount of deformation in the wheel width direction comprises:

determining, with the computer, displacement data by extracting, from the time series acceleration data, time series acceleration data due to deformation of a tire and by subjecting the time series acceleration data due to deformation of a tire to time integration of second order, to calculate the amount of the deformation in the wheel width direction of the tire.

9. The computer-implemented method according to claim 1, further comprising measuring, through a vehicle acceleration sensor, a magnitude of acceleration of the vehicle in a direction substantially orthogonal to the vehicle travelling direction during when the vehicle is cornering,

wherein the magnitude of the centrifugal force is based on the measured magnitude of acceleration of the vehicle and a weight of the vehicle which is determined in advance.

10. A cornering force calculating device for calculating a magnitude of a cornering force to be applied to each of a plurality of wheels provided to a vehicle when the vehicle is cornering, the plurality of wheels being each assembled with a tire, the cornering force calculating device comprising:

a centrifugal force measuring means for measuring a magnitude of a centrifugal force to be applied to the vehicle which is cornering, the centrifugal force being in a direction substantially orthogonal to a vehicle traveling direction;

a contact length deriving means for determining a contact length in a wheel circumferential direction, at a contact portion of each of the plurality of wheels of the vehicle which is cornering;

a width direction deformation amount deriving means for determining an amount of deformation in a wheel width direction, at the contact portion of each of the plurality of wheels of the vehicle which is cornering; and

a cornering force calculating means for calculating a magnitude of a cornering force generated in each of the plurality of wheels provided to the vehicle, based on the measured magnitude of the centrifugal force, the derived contact length, and the amount of the deformation in the wheel width direction.

11. A cornering force calculating device for calculating a magnitude of a cornering force applied to each of a plurality of wheels of a vehicle when the vehicle is cornering, each of the plurality of wheels comprising a tire, the cornering force calculating device comprising:

a sensor configured to measure a magnitude of a centrifugal force applied to the vehicle when the vehicle is cornering, the centrifugal force being in a direction substantially orthogonal to a vehicle traveling direction; and

a processor configured to

determine a contact length in a wheel circumferential direction, at a contact portion of each of the plurality of wheels when the vehicle is cornering,

determine an amount of deformation in a wheel width direction when the vehicle is cornering, at the contact portion of each of the plurality of wheels, and

calculate a magnitude of a cornering force applied to each of the plurality of wheels provided to the vehicle, based on the measured magnitude of the centrifugal force, the derived contact length, and the amount of the deformation in the wheel width direction when the vehicle is cornering.