阅读说明：本技术 用于基于加速度计的轮胎法向力估计的方法和设备 (Method and apparatus for accelerometer-based tire normal force estimation ) 是由 S-K·陈 B·B·利特库西 V·派力普查克 于 2019-05-20 设计创作，主要内容包括：一种用于通过针对估计的道路角度校正测量的加速度来计算地估计用于车辆防抱死制动、自适应巡航控制以及牵引和稳定性控制的轮胎法向力的系统和方法。所述系统和方法可操作以测量车辆的簧载质量上的三个点处的加速度,并且响应于所述三个加速度测量值作为车辆控制器的输入而估计轮胎的轮胎法向力。(A system and method for computationally estimating tire normal forces for vehicle antilock braking, adaptive cruise control, and traction and stability control by correcting measured acceleration for estimated road angles. The system and method are operable to measure acceleration at three points on the sprung mass of the vehicle, and estimate a tire normal force of the tire in response to the three acceleration measurements as inputs to a vehicle controller.)

1. A vehicle control system, comprising:

-a first accelerometer for measuring a first acceleration at a first point;

-a second accelerometer for measuring a second acceleration at a second point;

-a third accelerometer for measuring a third acceleration at a third point;

-a processor for estimating a tire normal force in response to the first acceleration, the second acceleration and the third acceleration; and

-a controller for controlling the vehicle in response to the tire normal force.

2. The vehicle control system of claim 1, wherein the controller is part of an adaptive cruise control system.

3. The vehicle control system of claim 1, wherein the controller is part of an anti-lock braking system.

4. The vehicle control system of claim 1, wherein the first, second, and third accelerometers are mounted on sprung masses on a vehicle.

5. The vehicle control system of claim 1, wherein the processor is further operable to estimate a sprung mass force at corners of a vehicle and a sprung mass moment at a center of gravity of the vehicle, and wherein the tire normal force is estimated in response to the sprung mass force and the sprung mass moment.

6. The vehicle control system of claim 1, wherein the estimation of the tire normal force involves estimating a first normal tire force at a first tire location and estimating a second normal tire force at a second tire location.

7. The vehicle control system of claim 1, wherein a first vertical component of the first acceleration and a second vertical component of the second acceleration are used to estimate the tire normal force at a first tire location.

8. A method for controlling a vehicle, comprising:

-activating a vehicle control system;

-measuring a first acceleration at a first point, a second acceleration at a second point and a third acceleration at a third point, wherein the first point, the second point and the third point are positions on a sprung mass of the vehicle;

-estimating a vertical acceleration at a fourth point in response to the first, second, and third accelerations, wherein the fourth point is located on an unsprung mass of the vehicle;

-generating a control signal in response to said vertical acceleration; and

-controlling the vehicle control system in response to the control signal.

9. An apparatus, comprising:

-a first accelerometer for measuring a first acceleration of a first position on a sprung mass of the vehicle;

-a second accelerometer for measuring a second acceleration of a second position on the sprung mass of the vehicle;

-a third accelerometer for measuring a third acceleration of a third position on the sprung mass of the vehicle;

-a processor for estimating a tire normal force of a tire of the vehicle in response to the first acceleration, the second acceleration and the third acceleration; and

-a controller for controlling the vehicle in response to the tire normal force.

10. The apparatus of claim 9, wherein the processor is further operable to estimate a sprung mass force at corners of a vehicle and a sprung mass moment at a center of gravity of the vehicle, and wherein the tire normal force is estimated in response to the sprung mass force and the sprung mass moment.

Technical Field

The present invention generally relates to a system and method for estimating vertical force of a tire in a vehicle. More particularly, the present invention relates to a system and method for computationally estimating tire normal forces for vehicle antilock braking, adaptive cruise control, and traction and stability control in real time using chassis mounted accelerometers for vehicles in different configurations and road conditions.

Background

Accurate tire normal force determination is critical to the reliable performance of many vehicle control systems. Tire normal or vertical tire force is a vehicle dynamic variable used by vehicle control systems such as adaptive cruise control, traction and stability control, and anti-lock braking systems. The tire normal force indicates a vertical force acting downward between the tire and the road surface. Tire normal force is the product of vehicle weight, road surface grade, and cornering force. Wheel sidewall deformation is caused by tire normal forces. Tire normal force is typically estimated via suspension displacement sensors and/or simple load transfer algorithms. Such sensors must typically be calibrated for sensor offset or sensors with high accuracy must be utilized.

Tire normal forces at each corner can be measured, but their cost impact, calibration and maintenance are major drawbacks for their use in producing vehicles. If tire normal force calculations typically employ expensive sensors or complex algorithms to determine tire normal forces in real time, it is desirable to establish a reliable and computationally efficient algorithm that is robust to road conditions and uncertainties and does not require expensive sensors in order to improve the performance of chassis control and active safety systems. An ideal system would provide reliable tire normal force estimation at each corner and be robust to the road conditions of the vehicle's active safety control system.

Disclosure of Invention

According to an aspect of the present invention, a vehicle control system is disclosed, the vehicle control system including: a first accelerometer for measuring a first acceleration at a first point; a second accelerometer for measuring a second acceleration at a second point; a third accelerometer for measuring a third acceleration at a third point; a processor for estimating a tire normal force in response to the first acceleration, the second acceleration, and the third acceleration; and a controller for controlling the vehicle in response to the tire normal force.

According to another aspect of the invention, an apparatus is disclosed, the apparatus comprising: a first accelerometer for measuring a first acceleration of a first position on a sprung mass of the vehicle; a second accelerometer for measuring a second acceleration of a second location on the sprung mass of the vehicle; a third accelerometer for measuring a third acceleration of a third position on the sprung mass of the vehicle; a processor for estimating a tire normal force of a tire of the vehicle in response to the first acceleration, the second acceleration, and the third acceleration; and a controller for controlling the vehicle in response to the tire normal force.

According to another aspect of the present invention, a method for controlling a vehicle is disclosed, the method comprising: starting a vehicle control system; measuring a first acceleration at a first point, a second acceleration at a second point, and a third acceleration at a third point, wherein the first point, the second point, and the third point are locations on a sprung mass of the vehicle; estimating a vertical acceleration at a fourth point in response to the first, second, and third accelerations, wherein the fourth point is located on an unsprung mass of the vehicle; generating a control signal in response to the vertical acceleration; and controlling the vehicle control system in response to the control signal.

Drawings

The above-mentioned and other features and advantages of this invention, and the manner of attaining them, will become more apparent and the invention will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a diagram illustrating an exemplary environment for practicing the present invention.

FIG. 2 is a schematic diagram of an active vehicle dynamics control system on a vehicle according to an exemplary embodiment of the present invention.

Fig. 3 illustrates an exemplary system 300 for implementing the methods and systems according to the present invention.

Fig. 4 shows an exemplary three-dimensional force diagram of the sprung mass force.

Fig. 5 shows an exemplary two-dimensional force diagram of suspension kinematics and dynamics.

Fig. 6 is a flowchart of a method for estimating a normal force of a tire according to an exemplary embodiment of the present invention.

The exemplifications set out herein illustrate preferred embodiments of the invention, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

Detailed Description