System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls
First Claim
1. A method of controlling a vehicle having a sprung mass, a spring rate, a wheel assembly mass, a suspension, a body and a suspension point where the suspension couples to the body, a half track, a center of gravity, a longitudinal distance between the center of gravity and an axle, a vertical distance between the center of gravity and a suspension point, said method comprising:
- determining a relative pitch angle;
determining a relative roll angle;
determining a vertical acceleration using the vertical distance between the center of gravity and the suspension point;
determining a heave motion wheel loading in response to the sprung mass and the vertical acceleration;
determining an attitude based wheel loading in response to the spring rate and the half track and the longitudinal distance between the center of gravity and the axle;
determining a vertical motion induced wheel loading in response to the wheel assembly mass and the vertical acceleration;
determining a total wheel normal loading in response to the heave motion wheel loading, the attitude based wheel loading and the vertical motion induced wheel loading; and
controlling a vehicle system in response to the total wheel normal loading.
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Accused Products
Abstract
A vehicle (10) includes a control system (18) that is used to control a vehicle system. The control system determines a wheel normal loading in response to heave motion wheel loading, attitude-based wheel loading, and vertical motion induced wheel loading. The various wheel loadings may be indirectly determined from the sensors of the various dynamic control system outputs.
302 Citations
18 Claims
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1. A method of controlling a vehicle having a sprung mass, a spring rate, a wheel assembly mass, a suspension, a body and a suspension point where the suspension couples to the body, a half track, a center of gravity, a longitudinal distance between the center of gravity and an axle, a vertical distance between the center of gravity and a suspension point, said method comprising:
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determining a relative pitch angle; determining a relative roll angle; determining a vertical acceleration using the vertical distance between the center of gravity and the suspension point; determining a heave motion wheel loading in response to the sprung mass and the vertical acceleration; determining an attitude based wheel loading in response to the spring rate and the half track and the longitudinal distance between the center of gravity and the axle; determining a vertical motion induced wheel loading in response to the wheel assembly mass and the vertical acceleration; determining a total wheel normal loading in response to the heave motion wheel loading, the attitude based wheel loading and the vertical motion induced wheel loading; and controlling a vehicle system in response to the total wheel normal loading. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of controlling a vehicle comprising:
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determining a relative pitch angle; determining a relative roll angle; determining a vertical acceleration; determining a heave motion generated wheel loading, a body attitude based wheel loading and a vertical motion induced wheel loading in response to the relative pitch angle, the relative roll angle and the vertical acceleration; determining a total wheel normal loading in response to the heave motion generated wheel loading, the body attitude based wheel loading and the vertical motion induced wheel loading; and controlling a vehicle system in response to the total wheel normal loading. - View Dependent Claims (8, 9, 10, 11)
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12. An apparatus for controlling a vehicle system comprising:
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an integrated sensing system generating a plurality of dynamic signals indicative of a dynamic state of the vehicle; a controller coupled to the integrated sensing system and using the plurality of dynamic signals to determine a relative pitch angle, a relative roll angle, a vertical acceleration;
whereina heave motion wheel loading is determined by the controller in response to the relative pitch angle, the relative roll angle, and the vertical acceleration; a body attitude based wheel loading is determined by the controller in response to the relative pitch angle, the relative roll angle, and the vertical acceleration; a vertical motion induced wheel loading is determined by the controller in response to a the relative pitch angle, the relative roll angle and the vertical acceleration; a total wheel normal loading determined by the controller in response to the heave motion wheel loading, the body attitude based wheel loading and the vertical motion induced wheel loading; and a control signal to control the vehicle system is determined by the controller in response to the total wheel normal loading. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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Specification