Method for estimating tyre normal force

US12285986B2 · kind B2 · utility

Assignee

• Volvo Truck Corporation · SE

Inventors

• Mats Jonasson · Partille, SE
• Leo Laine · Rauma, FI
• Bengt Jacobson · Mölnlycke, SE

Key dates

• Filing date: Oct 23, 2019
• Grant date: Apr 29, 2025
• Expiry date: Sep 25, 2040

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60T2240/06
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A method for determining a tyre normal force range (Fz,min, Fz,max) of a tyre force (Fz) acting on a vehicle (100), the method comprising; obtaining (S1) suspension data (310) associated with a suspension system of the vehicle (100); obtaining (S2) inertial measurement unit, IMU, data (320) associated with the vehicle (100); estimating (S3), by a suspension-based estimator (330) a first tyre normal force range (Fz1,min, Fz1,max) based on the suspension data (310); estimating (S4), by an inertial force-based estimator (340), a second tyre normal force range (Fz2,min, Fz2,max) based on the IMU data (320); and determining (S5) the tyre normal force range (Fz,min, Fz,max) based on the first tyre normal force range (Fz1,min, Fz2,max) and on the second tyre normal force range (Fz2,min, Fz2,max).