Robust tire forces estimation system
First Claim
1. A tire state estimation system for estimating normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle, comprising:
- the vehicle including a CAN-bus;
a plurality of sensors mounted to the vehicle and in electronic communication with the CAN-bus;
the sensors generating input sensor data, the input sensor data comprising;
acceleration and angular velocities, steering wheel angle measurement, angular wheel speed of the wheel, roll rate, pitch rate, and yaw rate;
a normal force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the normal force estimator being 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;
a lateral force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the lateral force estimator being 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; and
a longitudinal force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the longitudinal force estimator being 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 system is provided for estimating normal force, lateral force and longitudinal forces based on CAN-bus accessible sensor inputs; the 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; the lateral force estimator estimating lateral force using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate; and the 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
10 Claims
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1. A tire state estimation system for estimating normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle, comprising:
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the vehicle including a CAN-bus; a plurality of sensors mounted to the vehicle and in electronic communication with the CAN-bus; the sensors generating input sensor data, the input sensor data comprising;
acceleration and angular velocities, steering wheel angle measurement, angular wheel speed of the wheel, roll rate, pitch rate, and yaw rate;a normal force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the normal force estimator being 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; a lateral force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the lateral force estimator being 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; and a longitudinal force estimator in electronic communication with the CAN-bus and receiving the input sensor data from the sensors, the longitudinal force estimator being 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)
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Specification