×

Real-time determination of tire normal forces

  • US 9,371,073 B1
  • Filed: 06/19/2015
  • Issued: 06/21/2016
  • Est. Priority Date: 06/19/2015
  • Status: Active Grant
First Claim
Patent Images

1. A device comprising:

  • a plurality of tires;

    a suspension system operatively connected to the plurality of tires;

    at least one suspension sensor operatively connected to the suspension system and configured to provide suspension data (S);

    a controller operatively connected to the at least one suspension sensor and having a processor and tangible, non-transitory memory on which is recorded instructions for executing a method for determining respective tire normal forces (Fzi(t), i=1 . . . n) for one or more of the plurality of tires, based at least partially on the suspension data (S), the respective tire normal forces being operative to adjust operation of the wheeled device;

    wherein execution of the instructions by the processor causes the controller to determine a transformation matrix (T) based on a plurality of predefined parameters;

    wherein the suspension data (S) includes respective real-time suspension forces (Si(t), i=1 . . . n) for each of the plurality of tires;

    wherein the controller is configured to obtain the respective tire normal forces (Fzi(t), i=1 . . . n) by multiplying the suspension data (S) with the transformation matrix (T) such that;

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×