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 that includes a CAN-bus, comprising:
- equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors which provide 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, and yaw rate;
accessing the CAN-bus to obtain the input sensor data;
deploying a normal force estimator operable to estimate in real time 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 in real time 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 in real time 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; and
outputting the estimation of normal force on the tire, the estimation of lateral force on the tire, and the longitudinal force on the tire to an operating system of the vehicle.
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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.
28 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 that includes a CAN-bus, comprising:
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equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors which provide 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, and yaw rate; accessing the CAN-bus to obtain the input sensor data; deploying a normal force estimator operable to estimate in real time 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 in real time 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 in real time 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; and outputting the estimation of normal force on the tire, the estimation of lateral force on the tire, and the longitudinal force on the tire to an operating system of the vehicle. - 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 that includes a CAN-bus, comprising:
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equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors which provide 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, and yaw rate; accessing the CAN-bus to obtain the input sensor data; 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 in real time 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 in real time 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 in real time 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; and outputting the estimation of normal force on the tire, the estimation of lateral force on the tire, and the longitudinal force on the tire to an operating system of the vehicle. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification