Tire pressure estimation

• US 7,240,542 B2
• Filed: 04/12/2001
• Issued: 07/10/2007
• Est. Priority Date: 04/12/2000
• Status: Expired due to Term

• Current Assignee: Nira Dynamics AB
• Original Assignee: Nira Dynamics AB
• Inventors: Gustafsson, Fredrik, Persson, Niclas, Drevo, Marcus
• Primary Examiner(s): Lefkowitz; Edward
• Assistant Examiner(s): JENKINS, JERMAINE L
• Application Number:
  US10/257,598
• Publication Number:
  US 20030172728A1
• Time in Patent Office: 2,280 Days
• Field of Search: 73146-1468, 73700-756, 340444-447, 701/36, 702/96, 702/98
• US Class Current: 73/146
• CPC Class Codes: B60C 23/061 by monitoring wheel speed measuring distance traversed on the ground by vehicles G01C22/00
• CPC Class Codes: B60C 23/062 Frequency spectrum analysis of wheel speed signals, e.g. using Fourier transformation
• CPC Class Codes: B60T 2240/03 Tire sensors
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 8/1725 Using tyre sensors, e.g. Sidewall Torsion sensors [SWT] for tyre pressure and temperature detection B60C23/00
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02

Abstract

A method, computer program product and apparatus for estimating the pneumatic pressure of a tire on a vehicle, comprising the steps of: receiving as an input a vehicle status sensor signal; estimating first parameter values of an adaptive filter based on a predetermined model on the vehicle status dependent on the vehicle status sensor signal; calculating, dependent on said first model parameter values, a first tire pressure indication value (δ) being dependent on and indicative of the pneumatic pressure of the tire. Specifically, the vehicle status signal may be an input a wheel angular velocity signal (1) and a lateral movement indication signal; the adaptive filter is based on a predetermined model on lateral vehicle dynamics dependent on the angular velocity of said wheel and the lateral movement of said vehicle.

Claims

1. A method for estimating the pneumatic pressure of a tire on a wheel of a vehicle, comprising the steps of:

receiving into data processing means an input of data from a vehicle status sensor signal from a sensor of said vehicle, said sensor signal representing a vehicle status dependent on the pneumatic pressure of said tire;

calculating, by means of a data processing software implemented filter algorithm, an estimate of first parameter values of a model-based adaptive filter based on a predetermined model on the vehicle status dependent on the vehicle status sensor signal and on the offset for said sensor signal, wherein the offset is estimated by the model-based adaptive filter;

calculating, dependent on said first parameter values, a first tire pressure indication value being dependent on and indicative of the pneumatic pressure of the tire;

generating a tire pressure indication signal dependent on said tire pressure indication value; and

outputting said tire pressure indication signal.

2. The method as recited in claim 1, further comprising the steps of:

receiving said first vehicle status signal representing the wheel angular velocity of said wheel,

calculating said first tire pressure indication value based on a predetermined model of the frequency spectrum of vibrations in the tire of said wheel.

3. The method as recited in claim 2, further comprising the steps of:

calculating a second tire pressure indication value based on a predetermined model of longitudinal dynamics comprising a rolling radius analysis and dependent on said first vehicle status sensor signal representing wheel angular velocity;

evaluating said first and second tire pressure indication values;

calculating a resulting tire pressure indication value dependent on said first and second tire pressure indication values;

generating said tire pressure indication signal dependent on said resulting tire pressure indication value.

4. The method as recited in claim 2, further comprising the steps of:

receiving a second vehicle status signal representing the lateral movement of said vehicle;

calculating a second tire pressure indication value based on a predetermined a model of lateral vehicle dynamics dependent on the first vehicle status sensor signal representing the angular velocity of said wheel and on the second vehicle status sensor signal representing the lateral movement of said vehicle;

evaluating said first and second tire pressure indication values;

calculating a resulting tire pressure indication value dependent on said first and second tire pressure indication values;

generating said tire pressure indication signal dependent on said resulting tire pressure indication value.

5. The method as recited in claim 1, further comprising the steps of:

receiving said first vehicle status signal representing the wheel angular velocity of said wheel and a second vehicle status signal representing the lateral movement of said vehicle;

calculating said first tire pressure indication value based on a predetermined model of longitudinal dynamics comprising a rolling radius analysis and dependent on said first vehicle status sensor signal representing wheel angular velocity;

calculating a second tire pressure indication value based on a predetermined model of lateral vehicle dynamics dependent on the first vehicle status sensor signal representing the angular velocity of said wheel and on the second vehicle status sensor signal representing the lateral movement of said vehicle;

evaluating said first and second tire pressure indication values;

calculating a resulting tire pressure indication value dependent on said first and second tire pressure indication values;

generating said tire pressure indication signal dependent on said resulting tire pressure indication value.

6. The method as recited in claim 1, further comprising the steps of:

receiving said first vehicle status signal representing the wheel angular velocity of said wheel and a second vehicle status signal representing the lateral movement of said vehicle;

calculating said first tire pressure indication value based on a predetermined model of the frequency spectrum of vibrations in the tire of said wheel dependent on said first vehicle status sensor signal representing wheel angular velocity;

calculating a second tire pressure indication value based on a predetermined model of longitudinal dynamics comprising a rolling radius analysis and dependent on said first vehicle status sensor signal representing wheel angular velocity;

calculating a third tire pressure indication value based on a predetermined model of lateral vehicle dynamics dependent on the first vehicle status sensor signal representing the angular velocity of said wheel and on the second vehicle status sensor signal representing the lateral movement of said vehicle;

evaluating said first, second and third tire pressure indication values;

calculating a resulting tire pressure indication value dependent on said first, second and third tire pressure indication values;

generating a tire pressure indication signal dependent on said resulting tire pressure indication value.

7. The method as recited in claim 1, further comprising the steps of:

receiving said first vehicle status signal representing the wheel angular velocity of said wheel and a second vehicle status signal representing the lateral movement of said vehicle;

calculating said first tire pressure indication value based on a predetermined model of lateral vehicle dynamics dependent on the first vehicle status sensor signal representing the angular velocity of said wheel and on the second vehicle status sensor signal representing the lateral movement of said vehicle;

evaluating said first and second tire pressure indication values;

calculating a resulting tire pressure indication value dependent on said first and second tire pressure indication values;

generating said tire pressure indication signal dependent on said resulting tire pressure indication value.

8. The method as recited in claim 1, wherein said vehicle status sensor signal represents the angular velocity of said wheel.

9. The method as recited in claim 1, wherein said vehicle status sensor signal represents the lateral movement of said vehicle.

10. The method as recited in claim 9, wherein said vehicle status sensor signal representing the lateral movement is a signal indicating the yaw rate of said vehicle.

11. The method as recited in claim 9, wherein said vehicle status sensor signal representing the lateral movement is a signal indicating the lateral acceleration of said vehicle.

12. The method as recited in claim 1, further comprising the steps of:

integrating, in an adaptive filter, parameters relating to lateral dynamics and parameters relating to rolling radius phenomena;

estimating the values of said integrated parameters dependent on said first vehicle status signal of a wheel angular velocity sensor and on said second vehicle status signal of a lateral movement indication sensor;

calculating an improved lateral movement indication signal dependent on said integrated parameter values.

13. The method as recited in claim 1, further comprising the steps of:

integrating, in said adaptive filter, parameters relating to lateral dynamics and parameters relating to longitudinal dynamics of said vehicle;

estimating the values of said integrated parameters dependent on a lateral movement indication signal and on a road friction indication signal derived from a wheel angular velocity signal, a motor torque signal and a gear indicator signal;

calculating an improved tire pressure indication signal for an identified tire, and possibly also a confidence indication, dependent on said integrated parameter values.

14. The method as recited in claim 13, further comprising the step of interpolating non-equidistant data in said corrected wheel angular velocity signal.

15. The method as recited in claim 1, further being adapted for tire pressure estimation in a motorcycle having two wheels by comprising in said adaptive filter front and rear wheel angular velocity parameters.

16. The method as recited in claim 1, further being adapted for tire pressure estimation in a motorcycle having two wheels by comprising in said adaptive filter a roll angle parameter, the value of which is represented by a roll angle sensor signal.

17. The method as recited in claim 1, wherein said adaptive filter is based on a predetermined model of vibrations in a tire, and said first tire pressure indication value is a resonance frequency.

18. The method as recited in claim 1, wherein the adaptive filter of said predetermined model is a recursive least squares algorithm.

19. The method as recited in claim 18, further comprising the steps of:

establishing or creating a linear regression model;

estimating parameter values by means of a Recursive Least Square process, transforming parameters to a resonance frequency.

20. The method as recited in claim 1, wherein the adaptive filter of said predetermined model is a Kalman filter representing a state space model algorithm.

21. The method as recited in claim 20, further comprising the steps of:

establishing or creating a state space model;

estimating parameter values by means of a Kalman filtering process;

transforming parameters to a resonance frequency.

22. The method as recited in claim 1, further comprising the step of pre-processing a vehicle status signal in the shape of a wheel angular velocity signal derived from a toothed wheel sensor with respect to correction of toothed-wheel errors.

23. The method as recited in claim 1, further comprising the step of reducing the sampling frequency of a sampled sensor signal by re-sampling and band pass filtering the input sensor signals into a first and a second frequency band, and by modulating said first and second frequency bands with modulating signals dependent on the lower frequency of each frequency band.

24. The method as recited in claim 1, further comprising the step of:

integrating, in an adaptive filter, parameters relating to different groups of vehicle status parameters;

estimating the values of said integrated parameters dependent on a sensor signals representing entities related to said groups of vehicle status parameters;

calculating a tire pressure indication signal dependent on said integrated parameter values, and possibly also calculating secondary indication signals derived from the values of said integrated parameters.

25. The method as recited in claim 1, further comprising the step of:

calculating a first estimate of a tire air pressure value dependent on said first tire pressure indication value and a predetermined mapping function or mapping table.

26. The method as recited in claim 1, devised for a plurality of tires on wheels of a vehicle and further comprising the steps of:

detecting the angular velocity of each wheel by means of wheel speed sensors;

pre-processing the signal from each wheel speed sensor by means of sensor signal pre-processing means adapted to enhance said signals;

estimating said first parameter values for each said wheel speed sensor signal;

carrying out a frequency analysis on each set of said first parameter values by means of frequency analysis means;

generating for each wheel a calculated tire pressure indication signal;

processing said tire pressure indication signals in a first logical processing unit dependent on pre-determined rules;

generating an output signal dependent on said tire pressure indication signals.

27. The method as recited in claim 26, wherein the output signal is a tire pressure indication signal for each wheel.

28. The method as recited in claim 26, wherein the output signal is a warning signal.

29. The method as recited in claim 26, further comprising the steps of:

receiving the tire pressure indication signals in a second logical unit;

evaluating and estimating the tire pressures of each wheel;

generating a second set of improved tire pressure indication signals dependent on predetermined rules.

30. The method as recited in claim 26, further comprising the steps of:

receiving the tire pressure indication signals in a second logical unit;

evaluating and estimating the tire pressures of each wheel dependent on said tire pressure indication signals;

generating a warning signal dependent on predetermined rules.

31. The method as recited in claim 26, further comprising the steps of:

determining, for each wheel, an estimated slip-offset value dependent on the respective angular velocity signals from the wheel speed sensors;

evaluating and estimating the tire pressures of each wheel also on said estimated slip-offset value.

32. The method as recited in claim 26, further comprising the steps of:

determining, for each wheel, an estimated a wheel radius offset value dependent on the respective angular velocity signals from the wheel speed sensors;

evaluating and estimating the tire pressures of each wheel also on said estimated wheel radius offset value.

33. The method as recited in claim 26, further comprising the steps of:

analysing, for each wheel, the wheel radius dependent on the respective angular velocity signals from the wheel speed sensors;

evaluating and estimating the tire pressures of each wheel also on said wheel radius analysis.

34. The method as recited in claim 1, wherein said tire pressure indication signal is used as a tire pressure estimate.

35. The method as recited in claim 1, further comprising the steps of:

detecting changes in said tire pressure indication signal;

generating an alarm signal in response to detected changes according to predetermined rules.

36. The method as recited in claim 1, wherein said tire pressure indication signal is an analogue signal, a sampled signal or data representing a tire pressure indication.

37. A computer program product for estimating the pneumatic pressure of a tire on a wheel of a vehicle, comprising program code adapted to direct a data processing system of a digital computer, the computer program code comprising sets of instructions adapted to:

receiving into data processing means an input of data from a vehicle status sensor signal from a sensor of said vehicle, said sensor signal representing a vehicle status dependent on the pneumatic pressure of said tire;

calculating, by means of a data processing software implemented filter algorithm, an estimate of first parameter values of a model-based adaptive filter based on a predetermined model on the vehicle status dependent on the vehicle status sensor signal and on the offset for said sensor signal, wherein the offset is estimated by the model-based adaptive filter;

calculating, dependent on said first parameter values, a first tire pressure indication value being dependent on and indicative of the pneumatic pressure of the tire;

generating a tire pressure indication signal dependent on said tire pressure indication value; and

outputting said tire pressure indication signal.

38. The computer program product as recited in claim 37, further comprising program code instructions adapted to direct said data processing system.

39. An apparatus for estimating the pneumatic pressure of a tire on a wheel of a vehicle, comprising:

an input interface adapted for receiving into data processing means an input of data from a vehicle status sensor signal from a sensor of said vehicle, said sensor signal representing a vehicle status dependent on the pneumatic pressure of said tire;

a data processing apparatus adapted for;

calculating, by means of a data processing software implemented filter algorithm, an estimate of first parameter values of a model-based adaptive filter based on a predetermined model on the vehicle status dependent on the vehicle status sensor signal and on the offset for said sensor signal, wherein the offset is estimated by the model-based adaptive filter;

calculating, dependent on said first parameter values, a first tire pressure indication value being dependent on and indicative of the pneumatic pressure of the tire;

generating a tire pressure indication signal dependent on said tire pressure indication value; and

an output interface adapted for outputting said tire pressure indication signal.

40. The apparatus as recited in claim 39, further comprising functional components adapted to perform the steps and functions of the claimed invention.