Apparatus and method for simultaneously detecting tangential and normal forces acting at a detection location on a wheel brake caliper or suspension

Abstract

An apparatus is described for simultaneously detecting tangential and normal components of forces acting on a wheel brake caliper or suspension. The detection device 1 comprises a plate-like casing 2 containing a force sensor assembly 3 configured to detect both a normal force component fn and at least one tangential force component ft and to emit one or more electrical signals SA, SB indicative of the detected normal force component fn and at least one tangential force component ft by the piezoresistive effect. The apparatus 1 also comprises an electrical interface 4 integrated into the casing 2 and connected to the two-axis force sensor 3 to provide access to the emitted one or more electrical signals SA, SB. An apparatus and system are also described for determining braking force and / or braking torque due to operation of a vehicle brake caliper, comprising the above-described detection device and a brake caliper system capable of estimating braking force using the above-described device. Corresponding methods are also described for simultaneously detecting the tangential and normal components of the forces acting at the wheel brake calipers or the forces exchanged between the wheel axle and the suspension, so as to determine the braking force and / or braking torque due to the operation of the vehicle brake calipers.

Description

[Technical Field]

[0001] The present invention relates to force sensing devices and related methods based on sensors capable of providing electrical or electronic signals.

[0002] In particular, the present invention is an apparatus and method for simultaneously detecting tangential and normal forces acting at a sensing location on a wheel brake caliper or suspension.

[0003] The present invention relates to a brake caliper system comprising the device described above.

[0004] The present invention also relates to an apparatus, system and method for determining braking force and / or braking torque due to operation of a vehicle brake caliper, which employs the above-described detection device. [Background technology]

[0005] For the control, monitoring and implementation of a braking system, for example an electronically controlled disc brake system, it is useful to know as accurately as possible in real time the value of the braking force or braking torque exerted by the brake calipers of the braking system during a braking operation.

[0006] On the other hand, it is difficult to measure braking force and / or braking torque directly, accurately, and reliably, and therefore such values ​​are generally estimated and / or calculated indirectly, with the drawback that such estimations or calculations do not fully meet the necessary accuracy requirements.

[0007] In this regard, the background art shows a tendency to determine braking torque and / or braking force based on measurements relating to quantities that are indirect, but strictly related to the forces acting at different positions of the brake caliper, for example.

[0008] On the other hand, another need must be taken into account: to use a sensor device that is as small as possible, so that it can be easily integrated into the braking system without causing functional problems.

[0009] In this regard, some compact sensor devices are known which are able to detect and / or measure lateral (shear) or normal forces acting between a brake caliper support and a vehicle hub by using stress sensors.

[0010] On the other hand, this known device is able to determine the braking force and / or braking torque on the basis of measurements of lateral or axial forces carried out with low accuracy and in a relatively limited range of measurable forces.

[0011] Furthermore, in the case of a device for measuring only shear forces, the results provided by this device are completely independent of the tightening torque of the screw used to fasten the two components together: the force is measured between the two components, i.e., the results are independent of the axial force, which constitutes a disturbance to the accuracy of the estimation of the braking force and / or braking torque.

[0012] In view of the above, a strong need is felt to devise an apparatus and method for accurately determining braking torque and / or braking force.

[0013] Closely related to the above-mentioned requirements, there is a need to devise an apparatus and method for simultaneously detecting tangential and normal forces acting at one or more detection locations on a wheel brake caliper and / or suspension that has the characteristics of compactness and accuracy that allow it to be effectively utilized in the context of a braking system.

[0014] Thus, obtaining accurate measurements of tangential and normal forces acting at one or more sensing locations on, for example, a brake caliper is useful in itself for a number of applications in the electronic control of braking systems in general.

[0015] During most useful applications, depending on any of the above needs, the braking force and / or braking torque acting in real time during braking operations can be estimated and / or determined based on the detected normal and tangential force components.

[0016] Other desirable requirements for an apparatus for measuring tangential and normal forces acting at a given location that can be applied in this context are compactness, especially in axial dimensions; robustness to ensure operation in harsh environmental conditions; ease of assembly (e.g., using the fastening system already in place to fasten the brake caliper to the hub holder); versatility for use in situations with fixed or floating caliper disc brakes with axial or radial assembly of the system at multiple locations, joints, and / or junctions; and the ability to provide reliable measurements over a wide temperature range.

[0017] As noted above, the above needs are not fully met by the methods available in the prior art. Summary of the Invention

[0018] The object of the present invention is to provide a device for simultaneously detecting the normal force (or a module of the normal force) and one or more tangential force components acting on a brake caliper or suspension of a wheel, which makes it possible to at least partially obviate the drawbacks mentioned above in relation to the background art and to satisfy the above-mentioned needs, which are particularly felt in the technical field under consideration.

[0019] This and other objects are achieved by a detection device for detecting tangential and normal force components according to claim 1.

[0020] Some advantageous embodiments of this detection device are the subject of dependent claims 2-15.

[0021] Another object of the present invention is to provide a system for detecting tangential and normal force components using the above detection device.

[0022] This and other objects are achieved by a detection device for detecting tangential and normal force components according to claim 16.

[0023] Some advantageous embodiments of this system are the subject matter of dependent claims 17-18.

[0024] Another object of the present invention is to provide a device for determining the braking force and / or braking torque by means of the operation of the brake calipers of a vehicle, using the device as defined in claims 1 to 15.

[0025] This and other objects are achieved by a device for determining a braking force and / or a braking torque according to claim 19.

[0026] Another object of the present invention is to provide a system for determining the braking force and / or braking torque by means of the operation of the brake calipers of a vehicle using the device as defined in claims 1-15.

[0027] This and other objects are achieved by a system for determining braking force and / or braking torque according to claim 20.

[0028] Another object of the present invention is to provide a method for simultaneously detecting the tangential and normal components of the forces acting on the brake caliper of a wheel or the forces exchanged between the wheel axle and the suspension.

[0029] This and other objects are achieved by a method for simultaneously detecting tangential and normal force components according to claim 21.

[0030] Some advantageous embodiments of the method are the subject matter of dependent claims 22-27.

[0031] Another object of the present invention is to provide a method for determining braking force and / or braking torque based on the above-described method for simultaneously detecting tangential and normal force components due to the operation of a vehicle brake caliper.

[0032] This and other objects are achieved by a method for determining a tangential braking force and / or braking torque according to claim 28.

[0033] Some advantageous embodiments of the method are the subject matter of dependent claims 29-30.

[0034] Finally, it is an object of the present invention to provide a brake caliper system with brake force estimation capabilities.

[0035] This and other objects are achieved by a brake caliper system with brake force estimation as set forth in claim 31.

[0036] An advantageous embodiment of this system is the subject of dependent claim 32. [Brief explanation of the drawings]

[0037] Further features and advantages of the apparatus, method and system according to the present invention will become apparent from the following description of preferred embodiments, given by way of illustration and not limitation, with reference to the accompanying drawings. [Figure 1] FIG. 1 is a perspective view of an apparatus for simultaneously detecting tangential and normal force components, according to an embodiment included in the present invention. [Figure 2] FIG. 2 shows a plan view of the device of FIG. [Figure 3] FIG. 3 shows an exploded perspective view of the device of FIG. [Figure 4A] FIG. 4A shows a perspective view of an embodiment of a force sensor assembly included in the described sensing device of the present invention. [Figure 4B] FIG. 4B shows a partial cross-sectional view of an embodiment of a force sensor assembly included in the described sensing device of the present invention. [Figure 5] FIG. 5 shows a functional diagram of an embodiment of a force sensor assembly included in a detection device according to the present invention. [Figure 6] FIG. 6 shows a plan view of another embodiment of an apparatus for simultaneously detecting tangential and normal force components in accordance with the present invention. [Figure 7] FIG. 7 shows the apparatus of FIG. 1 near the mounting location of a brake caliper to be fastened in accordance with an embodiment of the present invention. [Figure 8] FIG. 8 shows a simplified block diagram of an embodiment of a system for simultaneously detecting tangential and normal force components in accordance with the present invention. [Figure 9] FIG. 9 shows an embodiment of a method for simultaneously detecting the tangential and normal components of the force acting on the brake caliper of a wheel, and an embodiment of a brake caliper system 101 with braking force estimation included in the present invention. [Figure 10] FIG. 10 shows an embodiment of a method for simultaneously detecting the tangential and normal components of the force acting on the brake caliper of a wheel and an embodiment of a brake caliper system 101 with brake force estimation included in the present invention. [Figure 11] FIG. 11 shows an embodiment of a method for simultaneously detecting the tangential and normal components of the force acting on the brake caliper of a wheel and an embodiment of a brake caliper system 101 with brake force estimation included in the present invention. [Figure 12] FIG. 12 shows an embodiment of a method for simultaneously detecting the tangential and normal components of the force acting on the brake caliper of a wheel and an embodiment of a brake caliper system 101 with brake force estimation included in the present invention. [Figure 13] FIG. 13 shows an embodiment of a method for simultaneously detecting the tangential and normal force components exchanged between a wheel axle and a suspension in accordance with the present invention. [Figure 14A] FIG. 14A shows a detailed perspective view of the brake caliper system of FIG. [Figure 14B]FIG. 14B shows a detailed cross-sectional view of the brake caliper system of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0038] 1 to 7, a detection device 1 is shown for simultaneously detecting the tangential and normal components of a force acting on a detection portion Z of a brake caliper 100 or suspension 200 of a wheel.

[0039] The device 1 comprises a plate-shaped casing 2 , a force sensor assembly 3 and an electrical interface 4 .

[0040] The plate-like casing 2 extends mainly along a reference plane P (shown in FIG. 2 as a plane showing a top view of the device, and in which plane P there are tangential forces which arise, as will be shown below).

[0041] The casing 2 is formed by two parts that are fastened and / or welded to one another. The first part 20 has a first plane facing the outside of the casing, parallel to the reference plane P and configured to be arranged close to and in contact with the detection element Z (for example, on the brake caliper or at the mounting point of the brake caliper to a support). The second part 21 has a second plane facing the outside of the casing, parallel to the reference plane P and configured to be arranged close to and in contact with the fastening means 5.

[0042] The force sensor assembly 3 is housed in the casing 2 and is mechanically constrained and / or welded to the first and second portions 20 and 21 of the casing 2 .

[0043] The force sensor assembly 3 is configured to detect both a normal force component fn transmitted to the sensor due to contact and pressure by the casing 2 along a direction perpendicular to the reference plane P, and at least one tangential force component ft transmitted due to contact and pressure by the casing 2 along at least one respective tangential direction defined (or provided) by the reference plane P.

[0044] The above-mentioned normal force components fn are the respective normal forces Fn acting on the casing 2 (for example, the normal forces experienced by the first and second planes of the casing 2).

[0045] The at least one tangential force component ft is a respective lateral force Ft acting on the casing 2 (for example, a tangential force experienced by the first plane and the second plane of the casing 2).

[0046] That is, the normal and tangential forces acting on the casing 2 determine the deformation of this casing, which determines the components of the normal force (pressure) and tangential or lateral force (shear force) acting on the sensor, due to the mechanical constraints or welding that connect the sensors to the respective faces of the casing 2.

[0047] The force sensor assembly 3 is configured to emit one or more electrical signals SA, SB indicative of the detected normal force component fn and at least one tangential force component ft by the piezoresistive effect.

[0048] An electrical interface 4 is integrated in the casing 2 and is connected to the force sensor assembly 3 in order to make available one or more of the emitted electrical signals SA, SB.

[0049] As will be explained in more detail below and as shown in FIGS. 1-3, it should be noted that the term "force sensor assembly" (hereinafter referred to as "force sensor") may be used broadly to refer to an assembly comprising multiple groups of sensor elements arranged at multiple locations on a device. Each group of sensor elements may comprise one or more sensor elements. Similarly, the electrical interface 4 may comprise multiple interface terminals 4, e.g., one interface terminal for each sensor assembly or one interface terminal for each sensor element.

[0050] A single integrated group of sensor elements 3 (shown in FIG. 4A) is formed as a “two-axis force sensor” in that it can detect a component of force along the normal direction n and any tangential force component along the tangential direction t (as determined by the position and / or orientation of the two-axis sensor 3).

[0051] According to an embodiment (e.g., as shown in FIG. 6 , but including the cases shown in FIGS. 1 and 2 ), the device 1 includes at least two sensor element assemblies 3, 3′ arranged perpendicular to each other (e.g., at the positions indicated by the symbols “S” and “E” in FIG. 6 ). (Other combinations are also possible, such as positions N and E, positions N and O, and positions S and O.) In this case, the force sensor 3 as a whole includes at least two of the sensor assemblies and can detect two tangential force components acting along two mutually perpendicular tangential directions ta and tb on the plane P, in addition to a normal force component acting along the normal direction n. In this regard, the force sensor assembly 3 can be formed as a “three-axis force sensor” such that the device 1 can determine the normal force Fn and the tangential force Ft acting on the device 1 based on the normal force component fn detected by the two sensor assemblies and the detected first tangential force component fta and second tangential force component ftb.

[0052] 1-3, the force sensor assembly 3 includes four sensor assemblies 3 each connected to a respective interface terminal 4. Each interface terminal 4 is configured to transmit a pair of signals emitted by a respective sensor element 3 (denoted in FIG. 1 as SA1 and SB1, SA2 and SB2, SA3 and SB3, and SA4 and SB4, respectively).

[0053] Depending on the implementation options, the device 1 comprises at least one opening 6 provided in the plate-like casing 2. The opening 6 is configured to engage with an external fastening means 5 to ensure that the device 1 is fastened under pressure towards the vehicle wheel, the brake caliper 100 and / or part of the suspension 200. The casing 2 is therefore subjected to the above-mentioned normal and tangential force actions which may vary relative to the remaining values, for example during braking.

[0054] According to an embodiment of the device 1, it is a disk-shaped, plate-like and / or washer-like casing 2 provided with at least one opening 6 adapted to be traversed by an external screw-like fastening means 5.

[0055] Depending on the implementation option, the device 1 comprises coupling elements 7 configured to couple with the respective components of the fastening area of ​​the brake, suspension or other wheel component to which the device is attached in order to determine the correct mutual fastening position.

[0056] As shown in Figure 1, this coupling element comprises, for example, a pin 7 which can be fitted into a corresponding opening (in Figure 7, indicated by reference numeral 90) obtained at the point of attachment to the caliper body, so as to ensure a correct angular attachment position of the device. Alternatively, this coupling element is obtained by the geometry of the coupling between the casing 2 and the brake caliper 100 and / or the fastening means 5.

[0057] As will be explained below, fastening and load transfer from the caliper body to the washer arrangement is advantageously obtained, for example, by tightening screws already provided for normal fastening to the respective support of the brake or caliper body.

[0058] In several possible implementation options, the casing 2 is made of a different material if it is configured to sufficiently resist and transmit forces acting on the casing towards the inside of the casing itself, and the force sensor is housed in the casing itself.

[0059] Depending on the implementation option, the casing 2 is metallic.

[0060] According to a particularly preferred implementation option, the above-mentioned casing 2 is a stainless steel casing.

[0061] Depending on the implementation options of the device, different types of sensors (known per se) may be used to perform the above mentioned functions.

[0062] In a preferred embodiment, the above-mentioned sensors, sensor assemblies or elements of the sensor assemblies are piezoresistive sensors formed by Micro-Electro-Mechanical Systems (MEMS) technology.

[0063] 3 shows one of the sensor assemblies 3 in an exploded view. This exploded view shows the different components 30 of the sensor 3 (which together form, for example, a normal force sensor, a tangential force sensor, and a temperature sensor), which may be placed on the seat of the device and electrically connected to an interface 4 in the form of an "interface card" and associated wiring 4 protruding from the casing 2.

[0064] According to several possible implementation options, the detection device 1 may consist of different parts that are constrained to one another and / or that can be detached from one another and reconnected to one another. In particular, the casing 2 of the device may consist of different parts that are constrained to one another and / or that can be detached from one another and reconnected to one another.

[0065] In accordance with an implementation of the device 1, the sensor 3 is mechanically constrained to both the upper 20 and lower 21 portions of the device's casing 2 (eg, as shown in FIG. 4B).

[0066] 4 and 5, further details will be described for the two-axis force sensor assembly 3, or each element included in the two-axis force sensor 3 described above.

[0067] 4B shows an embodiment in which the dual-axis sensor assembly 3 is fastened by brazing or gluing 42 to the first part 20 and by gluing 43 to the second part 21 of the casing 2, and connected by wire bonding 41 to an interface card 44 (e.g., a PCB) and to terminals 4 of the electrical interface (e.g., a cable soldered to the interface card). The dual-axis sensor unit 3 responds to the locally acting tangential and normal components of the force ft and fn, which are responsive to the components of the normal and tangential forces Fn and Ft acting in the plane of the casing 2, in a known manner. The casing mechanically transmits the components of the normal and tangential forces Fn and Ft to the dual-axis sensor 3. In the embodiment shown in FIG. 4B, the dual-axis sensor assembly produces electrical signals SA and SB available at the interface terminals 4.

[0068] According to an embodiment of the device 1, the force sensor assembly 3 comprises at least one two-axis force sensor assembly 3. The two-axis force sensor assembly 3 comprises at least one first normal force sensor element 31 and one second tangential force sensor element 32.

[0069] The at least one first normal force sensor element 31 is configured to detect the above-mentioned normal force component fn and to emit at least one first electrical signal SA.

[0070] The at least one second tangential force sensor element 32 is configured to detect the above-mentioned tangential force component ft and to emit at least one second electrical signal SB. The collection of the at least one first electrical signal SA and the at least one second electrical signal SB is indicative of each detected force component, i.e., both the detected normal force component fn and the detected tangential force component ft.

[0071] According to an embodiment, the sensor assembly 3 comprises a first chip 38 and a second chip 39 operatively connected to the at least one first sensor element 31 and the at least one second sensor element 32, respectively. The first chip 38 is fastened by brazing or bonding 42 to the first portion 20 of the casing 2, and the second chip 39 is fastened by bonding 43 to the second portion 21 of the casing 2. Both the first chip and the second chip are mechanically constrained to the sensor elements.

[0072] According to a particular implementation option, the sensor assembly 3 comprises two second sensor elements (designated 32a, 32b in FIG. 4B).

[0073] According to an implementation option of the device (shown in the functional diagram of FIG. 5), the at least one first electrical signal SA is an electrical signal Sn indicative of a detected normal force component fn, and the at least one second electrical signal SB is an electrical signal St indicative of a detected tangential force component ft. Thus, in this case, there is a correspondence between the respective emitted signals and the respective force components.

[0074] In other implementation options, this correspondence may not exist. Both the normal and tangential components of the force acting on the sensor or sensor assembly may be obtained simultaneously from the signal emitted by the sensor or sensor assembly, in a known manner. There may therefore be more than one emitted signal. Alternatively, instead of different signals or other types of signals, there may be a single-ended signal, depending on the particular type of signal emitted by the sensor assembly used and by the readout circuit diagram (which may be used in a known manner).

[0075] Also, in this embodiment, the above-mentioned at least one first sensor element 31 and at least one second sensor element 32 (of each of the one or more sensor assemblies 3) are, for example, piezoresistive sensors formed by microelectromechanical systems (MEMS) technology.

[0076] According to the embodiment, the apparatus 1 includes the above-mentioned plurality of two-axis force sensor assemblies 3. The plurality of two-axis force sensor assemblies 3 are arranged at different positions of the apparatus 1 to detect respective plurality of normal forces and tangential forces at the respective positions and to emit respective plurality of first electrical signals (Sn1) to (Sn4) and respective plurality of second electrical signals (St1) to (St4).

[0077] Thus, according to several possible implementations, a "sensor" or "sensor assembly" generally comprises a group of N sensors, each of which comprises one or more M sensor elements that emit M electrical signals (conventionally, there are at least two sensor elements, each of which emits at least two corresponding electrical signals Sn). M ,St M ) As will be explained in more detail below, the device is able both to determine (based on the M electrical signals emitted by each sensor element) the normal and tangential components of the force acting at each location where the sensor elements are located, and to estimate (e.g. the values ​​resulting from) the normal and tangential components of the total force acting on the casing 2 of the device based on said plurality of M×N electrical signals.

[0078] In the embodiment shown in Figures 1-3, the number N of sensor assemblies for each washer device is four. (Each sensor assembly is a MEMS sensor assembly having two or more MEMS sensor elements.) In the embodiment of Figures 1-3, the four sensor assemblies and associated interfaces are arranged in an outer circumferential region of the casing 2 and are equally angularly spaced (in this case, 90° apart).

[0079] According to several implementation options, the number of assemblies may be 1, 2, 3, 4 or more.

[0080] According to another embodiment, the device comprises a single electrical interface 4 connected to each of the sensor assemblies 3 by means of interconnections obtained inside the device 1 and configured to transmit and make available all the electrical signals emitted by the sensor elements of all the sensor assemblies included in the device 1.

[0081] In the embodiment shown in Figure 6, the device 1 comprises two sensor assemblies 3, 3' and a single interface 4 which is locally connected to one sensor assembly 3 and to the other sensor assembly 3' by an integrated interconnect 35.

[0082] According to an implementation option of the device 1, each sensor element 31, 32 of the sensor assembly 3 is mechanically constrained, directly or indirectly, to both the upper surface 20 and the lower surface 21 of the casing 2 of the device (i.e., constrained relative to the casing of the device by constraining with other elements).

[0083] According to an implementation option, each second sensor element 32 of the sensor assembly is mechanically constrained to a non-deformable column 22 having a base on the upper surface 20 of the casing 2 and on the lower surface of the casing 21 .

[0084] According to another implementation option, each second sensor element 32 of the sensor assembly is mechanically constrained to a non-deformable column having a base at the upper surface of the casing.

[0085] According to another implementation option, each second sensor element 32 of the sensor assembly is mechanically constrained to a first non-deformable column having a base at the lower surface of the casing and a second non-deformable column having a base at the upper surface of the casing.

[0086] According to an embodiment, the device 1 also comprises electronic processing means 8 connected to the aforementioned electrical interface 4 for receiving one or more electrical signals (SA), (SB) transmitted by the force sensor assembly 3 and configured to determine the normal force component fn and the tangential force component ft in each one or more detection zones Z based on the aforementioned received one or more electrical signals (SA), (SB) or electrical signals (Sn), (St).

[0087] In an alternative embodiment in which the device 1 comprises four sensor assemblies 3 (e.g., at positions N, O, S, E in Fig. 2), the processing means 8 is configured to determine a normal force Fn acting on the device based on normal components fn detected from the four sensor assemblies (e.g., on average), and the processing means 8 is configured to determine a tangential force Ft acting on the device as a result of a tangential component acting along a first tangential direction ta (as detected by the two sensor assemblies at positions O, E) and a tangential component acting along a second tangential direction tb (as detected by the two sensor assemblies at positions S, N).

[0088] According to an implementation option, the electronic processing means 8 are integrated into the device 1 .

[0089] According to several implementation options (corresponding to the respective implementation options described above with regard to the signals emitted by the sensors), the processing means 8 is configured to determine the normal force component fn and the tangential force component ft based on the at least one first electrical signal Sn and at least one second electrical signal St described above (as shown in FIG. 5) or based on a plurality of first electrical signals (Sn1) to (Sn4) and a plurality of second electrical signals (St1) to (St4) emitted by sensor elements of different sensor assemblies comprised in the device.

[0090] According to an implementation option (shown in FIG. 5), the device 1 also comprises a third sensor element 33 integrated in the device 1 and configured to detect the temperature value at the detection portion and to emit at least one third electrical signal Sc indicative of the detected temperature.

[0091] In this case, the electronic processing means 8 are configured to determine at least one normal force component fn and at least one tangential force component ft based on the at least one first electrical signal Sn, the at least one second electrical signal St and the at least one third electrical signal Sc.

[0092] According to an embodiment of the device, the first plane of the first part 20 of the casing 2 and the second plane of the second part 21 of the casing 2 have a surface modification configured to increase the friction of the first and second planes against the sensing part of the brake caliper and against the fastening means, respectively, said first and second planes being in contact in the operating state.

[0093] According to an implementation option of the above-mentioned embodiment, the above-mentioned planar surface modification is obtained by known "mechanical" surface treatments, for example knurling.

[0094] According to another implementation option of the above-mentioned embodiment, the above-mentioned planar surface modification is obtained by texturing the surface by laser techniques or by known methods applicable to the surface of any metal, for example steel, titanium or aluminium.

[0095] According to another implementation option of the above-mentioned embodiment, the above-mentioned planar surface modification is obtained by coating, for which different known processes can be used, for example deposition of diamond particles, or silicon carbide SiC embedded in electrolytic nickel, or tungsten carbide, Stellite®, or electrospark deposition (ESD) of aluminum oxide when the substrate is aluminum, or other known methods.

[0096] According to several possible implementation options, the above-mentioned planar surface modification can be obtained by several possible coating techniques, such as surface treatment by mechanical removal, or by surface treatment by local material deformation (tracing, knurling), or by laser removal (or surface treatment) which can result in vaporization, melting or burning of the material, or based on nanotechnology, i.e. high-hardness nanopowders which create contact points, hard inclusions which locally form surfaces which create "holding areas" or other parts, due to the exchange of high forces and high friction.

[0097] It should be noted that the above-described embodiment increases the friction between the sensor and the caliper body or suspension, which may be particularly advantageous in the context of the present invention, where, as described above, the normal and tangential forces acting on the casing 2 determine the deformation of this casing, which determines the components of the normal force (pressure) and the tangential or lateral force (shear force) acting on the sensor.

[0098] In particular, an advantage of this embodiment is that it eliminates or greatly reduces the occurrence of local changes in stress due to vehicle motion reversals. That is, the resulting measurements increase the coefficient of friction of the interface surfaces. Therefore, it is possible to avoid or greatly reduce the fine adjustments that change the local friction conditions and stress distribution on the casing surface (i.e., the washer, for example) when changing between forward and reverse. This is very important because the washer deforms differently when the local conditions change with each change in the vehicle's direction, and the sensor output characteristics are non-repeatable and non-linear. Instead, due to the above-described characteristics of this embodiment, the effect caused by the brake torque on the sensitive element between forward and reverse conditions is unified and deterministic, thereby improving the repeatability and linearity of the sensor output characteristics.

[0099] A system 10 is described for simultaneously detecting the normal component fn and the tangential component ft of a force acting at a detection point Z in a brake caliper 100 or suspension 200 of a wheel.

[0100] The system comprises a detection device 1 for simultaneously detecting a normal force component and a tangential force component as described in any of the above-mentioned embodiments, and electronic processing means 8. The electronic processing means 8 is operatively connected to the electrical interface 4 of the detection device 1 for receiving one or more electrical signals SA, SB emitted by the force sensor assembly 3, and is configured to determine the normal force component fn and at least one tangential force component ft in the detection area based on said one or more electrical signals SA, SB emitted by the sensor elements of the force sensor assembly 3.

[0101] This system differs from the above-described embodiment of the device comprising electronic processing means 8. In this case, this electronic processing means 8 is not integrated into the device, but is external to the device and operably and physically connected to it.

[0102] For example, in several possible implementation options, the electronic processing means 8 are housed in or attached to the brake caliper 100, joint and / or harness of the wheel.

[0103] In all the above cases, the electronic processing means 8 comprises, for example, one or more known processors and associated memory configured to execute software stored in the memory and to perform the process steps described above.

[0104] According to an embodiment of the system (particularly shown in the block diagram of FIG. 8), the detection device 1 comprises a plurality of sensor assemblies 3. The plurality of sensor assemblies 3 comprise one or more sensor elements capable of emitting respective electrical signals (e.g. two electrical signals St, Sn). The electronic processing means 8 are configured to determine a normal force component fn and at least one tangential force component ft in respective detection areas corresponding to the positions of the sensor elements based on the plurality of electrical signals (St1)-(St4), (Sn1)-(Sn4) emitted by each of the plurality of sensor elements.

[0105] According to an implementation option (not explicitly shown but easily deducible from FIG. 3), the aforementioned electrical signals provided by the force sensor 3 and used by the electronic processing means 8 to determine the normal force component fn and at least one tangential force component ft in each detection area comprise respective electrical signals indicative of the temperatures detected by the temperature sensor element 33 in the force sensor assembly 3.

[0106] An apparatus for determining the braking force and / or braking torque from the operation of a vehicle brake caliper is described, the apparatus comprising a detection device 1 for simultaneously detecting tangential and normal force components, the detection device including electronic processing means 8.

[0107] In this case, the electronic processing means 8 is also configured to determine the aforementioned braking force and / or braking torque based on the normal force component fn and the tangential force component ft detected by the force sensor assembly 3 at at least one detection location.

[0108] A system for determining braking force and / or braking torque from the operation of a vehicle brake caliper is described, comprising a detection system 10 for simultaneously detecting normal and tangential force components according to any of the above-described embodiments.

[0109] In this case, the electronic processing means 8 is also configured to determine the aforementioned braking force and / or braking torque based on the normal force component fn and at least one tangential force component ft detected by the force sensor assembly 3 at at least one detection location.

[0110] The above-mentioned system and device relate to a particularly advantageous application of the technical solution for simultaneously determining the normal and tangential force components acting on a sensor, as described above, which application consists in determining the braking force and / or braking torque acting on the brake caliper during braking based on the above-mentioned "local" force components (detected, for example, at the mounting position of the brake caliper relative to the respective support).

[0111] According to an implementation option, the above-mentioned step of determining the braking force and / or braking torque is based on a predetermined relationship between the force components acting on the device and the forces and / or torques acting on the brake calipers that produce said force components.

[0112] This relationship may be established, for example, in an initial characterization step of the brake caliper system with the sensing device under conditions similar to the expected operating conditions.

[0113] The above-mentioned empirical relationships result from the characterization of the casing and are stored in the electronic processing means 8, for example in the form of a look-up table or in the form of one or more mathematical relationships using the parameters determined in the characterization step.

[0114] 9-13, 14A and 14B, a method is described for simultaneously detecting normal and tangential components of forces acting at a wheel brake caliper or forces exchanged between a wheel axle and a suspension.

[0115] The method first comprises a step of fastening at least one detection device 1 to a detection part Z of the brake caliper 100, the suspension 200 or the joint between the suspension and the axle, respectively, by means of a support and fastening means 5. According to any of the above-mentioned embodiments, the at least one detection device 1 is a detection device for simultaneously detecting normal and tangential force components.

[0116] The method also comprises detecting, by means of a force sensor assembly 3 provided on the device 1, a normal force component fn indicative of a normal force Fn acting on the casing 2 of the device 1 due to contact and pressure provided by the support and fastening means 5 and the detection element Z. The device 1 is fastened between the support and fastening means 5 and the detection element Z. The method also comprises detecting, by means of said force sensor assembly 3 itself, at least one tangential force component ft indicative of a lateral or shear force Ft acting on the casing 2 of the device 1 due to contact and pressure provided by the support and fastening means 5 and the detection element Z. The device is fastened between the support and fastening means 5 and the detection element Z.

[0117] Finally, the method includes a step of determining, by electronic processing means 8 operatively connected to the device 1, the tangential force Ft and normal force Fn acting at the detection point Z of the brake caliper or the forces exchanged between the axle and the suspension based on the tangential force component ft and the normal force component fn detected by the device 1.

[0118] According to an embodiment, the method uses an apparatus 1 comprising at least one first force sensor assembly 3 and a second force sensor assembly 3' arranged at right angles to each other.

[0119] The method comprises detecting, by a first force sensor assembly 3, a component of each normal force along a direction n that is perpendicular to a reference plane P, and detecting a component fta of each first tangential force along a first tangential direction ta of the reference plane P.

[0120] The method also includes detecting, by a second force sensor assembly 3′, a component of each normal force along a direction n that is perpendicular to the reference plane P, and detecting a component ftb of each second tangential force along a second tangent direction tb of the reference plane P that is orthogonal to the first tangential direction ta.

[0121] The method includes determining the normal force Fn and the tangential force Ft acting on the detection device 1 based on both the normal force component fn detected by the two sensor assemblies and the detected first tangential force component fta and second tangential force component ftb.

[0122] According to an alternative implementation of the method, the aforementioned determining step is based on a predetermined relationship between the force components acting on the casing and the local force components acting on the sensor in the casing, which relationship depends on the mechanical properties and deformation characteristics of the casing itself, which can therefore be determined in an initial characterization step of the casing itself and the system comprising the brake caliper and device in conditions similar to the expected operating conditions.

[0123] The above-mentioned empirical relationships result from the characterization of the casing and are stored in the electronic processing means 8, for example in the form of a look-up table or in the form of one or more mathematical relationships using the parameters determined in the characterization step.

[0124] According to an embodiment (for example shown in the simplified drawing of FIG. 9 ), the method aims at simultaneously detecting tangential and normal components of forces acting on a brake caliper 100 of a wheel. In this case, the aforementioned support and fastening means 5 comprise a brake caliper support 51 and at least one thread-like fastening element 52. The fastening step also comprises tightening the aforementioned at least one device 1 between a flat surface 53 of the brake caliper support and a respective at least one mounting position 54 of the detection portion Z of the brake caliper body by means of the at least one thread-like fastening element 52. Thus, a first flat surface of a first part 20 of the device abuts near the mounting position 54 of the brake caliper body. A second flat surface of a second part 21 of the device abuts near the flat surface 53 of the brake caliper support.

[0125] According to an embodiment of the method, the fastening step comprises fastening a plurality of detection devices 1 at respective fastening positions in the respective detection areas, and the determining step comprises determining tangential and normal components of the forces acting in the respective detection areas based on the tangential and normal force components detected by the devices at the respective positions.

[0126] According to an embodiment of the method (e.g., as shown in the simplified drawing of FIG. 10 and in the detailed perspective view of FIG. 14A), the fastening step comprises fastening the first detection device 1a by a first threaded fastening element 52a at a first mounting location 54a of the brake caliper body, and fastening the second detection device 1b by a second threaded fastening element 52b at a second mounting location 54b of the brake caliper body.

[0127] According to an embodiment of the method (e.g., as shown in the simplified drawing of Figure 11), the fastening step comprises fastening the first sensing device 1a by means of a threaded fastening element 52a between the mounting position 54a of the brake caliper body and a first flat portion 53a of the brake caliper support, and fastening the second sensing device 1c between a second flat portion 53c of the brake caliper support and one end of the threaded fastening element 52a.

[0128] According to another embodiment of the method (shown, for example, in the simplified drawing of Figure 12), the fastening step comprises fastening the first sensing device 1a and the second sensing device 1c by means of a first threaded fastening element 52a at a first mounting location 54a of the brake caliper body, and fastening the third sensing device 1b and the fourth sensing device 1d by means of a second threaded fastening element 52b at a second mounting location 54b of the brake caliper body.

[0129] According to an embodiment (shown for example in the simplified drawing of FIG. 13 ), the method aims at simultaneously detecting tangential and normal forces exchanged between the axle 60 of the wheel W and the suspension 200. The support and fastening means 5 comprise means 61 for attaching the suspension to the axle with at least one fastening element 62. The fastening step comprises tightening the at least one detection device 1 mentioned above by means of the at least one fastening element 62 in the means 61 for attaching the suspension to the axle mentioned above.

[0130] A method is described for determining a braking force and / or braking torque due to operation of a brake caliper of a vehicle, the method comprising the steps of: performing, by a detection device according to any of the above-mentioned embodiments, a method for simultaneously detecting tangential and normal force components according to any of the above-mentioned embodiments; and determining, by electronic processing means, at at least one detection location, the braking force and / or braking torque based on the normal and tangential force components detected by the detection device.

[0131] According to an embodiment, the method comprises detecting tangential and normal components of a plurality of forces acting at a plurality of detection areas of a brake caliper of a wheel or forces exchanged between an axle and a suspension of the wheel.

[0132] In this case, the determining step comprises determining the braking force and / or braking torque based on normal and tangential components of a plurality of forces detected by the detection device in said plurality of detection regions.

[0133] As mentioned above, the implementation options of this method are provided: the step of determining the braking force and / or braking torque mentioned above is based on a predetermined relationship between the force components acting on the device and the forces and / or torques acting on the brake calipers that produce the force components.

[0134] This relationship may be established, for example, in an initial characterization step of the brake caliper system with the sensing device under conditions similar to the expected operating conditions.

[0135] The above-mentioned empirical relationships result from the characterization of the casing and are stored in the electronic processing means 8, for example in the form of a look-up table or in the form of one or more mathematical relationships using the parameters determined in the characterization step.

[0136] According to an embodiment of the method, the determining step comprises estimating an approximate braking force or braking torque value based on the detected at least one tangential force component ft or two orthogonal tangential force components fta, ftb, and calibrating and / or adjusting the approximate braking force or braking torque value based on the normal component fn to obtain the braking force or braking torque.

[0137] 1, 9 to 13, 14a and 14b, a brake caliper system 101 with braking force estimation capability is described. The brake caliper system comprises a brake caliper 100, a brake caliper support 51, fastening means 52, at least one detection device 1 and electronic processing means 8.

[0138] The brake caliper 100 includes a brake caliper body and at least one location 54 of attachment to a support.

[0139] The fastening means 52 is configured to attach the brake caliper body 100 to the brake caliper support 51 at the above-mentioned at least one attachment position 54, and is configured to fasten at least one detection device 1 at the at least one attachment position 54. Therefore, the detection device 1 detects a normal component fn and at least one tangential component ft (or two orthogonal tangential components fta, ftb) of a force acting at the at least one attachment position 54.

[0140] According to any of the above-described embodiments, at least one detection device 1 is a detection device for simultaneously detecting a normal force component and a tangential force component.

[0141] The electronic processing means 8 is operatively connected to the electrical interface 4 of the detection device 1 for receiving one or more electrical signals SA, SB emitted by the force sensor 3 and is configured to determine the braking force, normal force Fn and / or tangential force Ft acting on each at least one detection device 1 based on said one or more electrical signals SA, SB emitted by the sensor elements of the force sensor assembly 3. The electrical signals SA, SB are indicative of said normal force component fn and at least one tangential force component ft (or two orthogonal tangential force components fta, ftb) detected by the detection device 1.

[0142] According to several implementation options, the brake caliper system 101 is configured to perform the method for determining the braking force and / or braking torque as described in any of the above-mentioned embodiments.

[0143] In particular, according to an embodiment of a brake caliper system 101 (for example shown in the simplified drawing of FIG. 9 ), the brake caliper system 101 comprises a single detection device 1. In this case, the above-mentioned support and fastening means 5 comprise a brake caliper support part 51 and a threaded fastening element 52, which are configured to fasten the device 1 by means of the at least one threaded fastening element 52 between a flat part 53 of the brake caliper support part and a respective at least one mounting position 54 of the detection part Z of the brake caliper body. Thus, a first flat surface of a first part 20 of the device abuts near the mounting position 54 of the brake caliper body, and a second flat surface of a second part 21 of the device abuts near the flat part 53 of the brake caliper support part.

[0144] According to an embodiment of the brake caliper system 101, the brake caliper system 101 comprises a plurality of detection devices 1 fastened in respective fastening positions in respective detection areas.

[0145] According to an implementation option (shown, for example, in the simplified drawing of Figure 10 and in the detailed perspective views of Figures 14A and 14B), the brake caliper system 101 comprises two detection devices: a first detection device 1a at a first mounting position 54a of the brake caliper body fastened by a first threaded fastening element 52a, and a second detection device 1b at a second mounting position 54b of the brake caliper body fastened by a second threaded fastening element 52b.

[0146] According to another implementation option (shown, for example, in the simplified drawing of Figure 11), the brake caliper system 101 comprises two detection devices: a first detection device 1a fastened by a threaded fastening element 52a between the mounting position 54a of the brake caliper body and a first flat portion 53a of the brake caliper support, and a second detection device 1c fastened between a second flat portion 53c of the brake caliper support and one end of the threaded fastening element 52a.

[0147] According to an embodiment option (shown, for example, in the simplified drawing of Figure 12), the brake caliper system 101 comprises four detection devices: a first detection device 1a and a second detection device 1c fastened by a first threaded fastening element 52a at a first mounting position 54a of the brake caliper body, and a third detection device 1c and a fourth detection device 1d fastened by a second threaded fastening element 52b at a second mounting position 54b of the brake caliper body.

[0148] According to another implementation option, the brake caliper system 101 comprises three detection devices: two detection devices fastened to a first mounting location of the brake caliper support and one detection device fastened to a second mounting location of the brake caliper support.

[0149] According to another embodiment, the brake caliper system 101 comprises one or more detection devices 1 arranged and fastened at other positions on the brake caliper, for example a detection device arranged between the fastening pin of the pad and the brake caliper body.

[0150] As can be seen, the objectives of the present invention can be achieved by the above-described devices, systems, and methods through their functional and structural features.

[0151] In other words, the above-described detection device can simultaneously detect tangential and normal forces acting at one or more detection locations on a wheel brake caliper or suspension by having a force sensor assembly housed in a compact, robust casing / package with good precision, which can transmit the acting forces to the sensors contained in the casing / package.

[0152] Therefore, the detection device can be effectively used in certain environmental conditions, such as when it is exposed to a range of high temperature thermal cycles (the device can operate at temperatures as high as 250°C), and when it is exposed to moisture, water, and other adverse weather conditions.

[0153] Furthermore, due to the small size and "washer" shape of the detection device, it can be advantageously and easily inserted between the wheel device and the vehicle axle using fastening means already present (e.g., screws already present at the attachment of the brake caliper to the support, i.e., at one or more attachment points).

[0154] As mentioned above, there may be multiple possible device configurations for the brake calipers, suspensions, other components, or joints of the connecting means between the wheel braking system and the vehicle axle. On the one hand, this allows for versatility of use, with a wide range of structural options. On the other hand, this allows for flexibility, such as a method including multiple devices arranged in multiple locations and with multiple sensor assemblies, to obtain different levels of precision according to the requirements of providing multiple detections and respective electrical signals to the control system, allowing for accurate processing and estimation.

[0155] Furthermore, due to both the properties of the force sensor assembly and the structural features described above, the detection device described above can provide highly accurate force measurements over a wide dynamic range, from large forces (e.g., due to large braking torques such as emergency braking) to small forces (e.g., due to residual torques acting in the braking system).

[0156] The device can also independently detect axial force (e.g., to measure the tightening force of a screw used to fasten two vehicle components, such as a brake caliper and a support), relative mechanical fluctuations, and lateral force (e.g., used to indirectly measure braking torque).

[0157] Other advantages of the device for measuring tangential and normal forces according to the present invention are that it is compact, robust, easy to assemble (e.g. using fastening systems already provided for fastening brake calipers), and versatile in case of fixed or floating caliper disc brakes at different positions, joints and junctions of the system.

[0158] Similar advantages are obtained by the systems and methods for detecting tangential and normal forces, and by the brake caliper system with brake caliper braking force estimation described above.

[0159] The above-described features allow, for example, accurate measurements of tangential and normal forces acting at one or more sensing locations on a brake caliper, which as such is generally useful for a number of applications in electronic control of braking systems.

[0160] As mentioned above, one useful application is to estimate and / or determine braking force and / or braking torque applied in real time during a braking operation based on detected normal and tangential force components, which results can be obtained by the above-described devices, systems, and / or methods for determining braking force and / or braking torque.

[0161] Those skilled in the art may modify, adapt, or substitute other functionally equivalent elements of the above-described embodiments to meet their particular needs without departing from the scope of the claims. Each feature described as belonging to a possible embodiment may be obtained regardless of the other embodiments described above.

Claims

1. A detection device (1) for simultaneously detecting normal and tangential components of a force acting on a detection portion (Z) of a brake caliper (100) or suspension (200) of a wheel, comprising: The device has a plate-shaped casing (2) that extends mainly along a reference plane (P), the casing (2) is formed by two parts that are constrained and / or welded together, The first portion (20) has a first plane facing the outside of the casing, the first plane being parallel to the reference plane (P) and configured to be positioned close to and in contact with the detection portion (Z); the second part (21) has a second plane facing the outside of the casing, parallel to the reference plane (P) and adapted to be placed close to and in contact with the fastening means (5); The detection device (1) a force sensor assembly (3) housed in the casing (2) and mechanically constrained and / or welded to the first and second portions (20, 21) of the casing (2); The force sensor assembly (3) comprises: a normal force component (fn) transmitted to the force sensor assembly (3) by contact and pressure from the casing (2), representing a normal force (Fn) acting on the casing (2) in a direction perpendicular to the reference plane (P); and configured to detect both a contact and a pressure by the casing (2) and at least one tangential force component (ft) transmitted to the force sensor assembly (3) indicative of a lateral force (Ft) acting on the casing (2) in each of at least one tangential direction defined by the reference plane (P), the force sensor assembly (3) is configured to emit, by piezoresistive effect, one or more electrical signals (SA, SB) indicative of the detected normal force component (fn) and at least one tangential force component (ft); The detection device (1) A detection device (1), characterized in that it comprises an electrical interface (4) integrated in the casing (2) and connected to the force sensor assembly (3) in order to make available one or more of the emitted electrical signals (SA, SB).

2. The detection device (1) has at least one opening (6) provided in the plate-shaped casing (2), 2. The detection device (1) according to claim 1, characterized in that the opening (6) is configured to engage with an external fastening means (5) to ensure that the detection device (1) is fastened under pressure towards a wheel, a brake caliper (100) and / or a part of a suspension (200) of a vehicle.

3. the casing (2) is a disk-shaped plate-like and / or washer-like casing with at least one opening (6) adapted to be traversed by an external screw-like fastening means (5); Detecting device (1) according to claim 1 or 2, characterized in that the casing (2) is formed by two parts that can be detached from one another and reconnected to one another.

4. 4. The detection device (1) according to claim 2 or claim 3, characterized in that the detection device (1) comprises a coupling element (7) configured to couple with the respective component of the fastening area of ​​the brake, suspension or other wheel component to which the detection device (1) is attached in order to determine the correct mutual fastening position.

5. The force sensor assembly (3) comprises at least one two-axis force sensor assembly (3), The two-axis force sensor assembly (3) comprises: at least one first normal force sensor element (31) configured to detect said normal force component (fn) and to emit at least one first electrical signal (SA); and at least one second tangential force sensor element (32) configured to detect the tangential force component (ft) and to emit at least one second electrical signal (SB); 5. A detection device (1) according to any one of claims 1 to 4, characterized in that the set of at least one first electrical signal (SA) and at least one second electrical signal (SB) is indicative of a respective component of the detected force, i.e. both a component of the detected normal force (fn) and a component of the detected tangential force (ft).

6. the at least one first electrical signal (SA) is an electrical signal (Sn) indicative of a component (fn) of the detected normal force; 6. The detection device (1) according to claim 5, characterized in that at least one second said electrical signal (SB) is an electrical signal (St) representative of a component (ft) of the detected tangential force.

7. 7. A detection device (1) according to any one of claims 1 to 6, characterized in that the group of sensors (3), the force sensor assembly (3), and / or the at least one first sensor element (31) and the at least one second sensor element (32) comprise piezoresistive sensors formed by Micro-Electro-Mechanical Systems (MEMS) technology.

8. the detection device (1) comprises at least one first two-axis force sensor assembly (3) and at least one second two-axis force sensor assembly (3') arranged to detect tangential force components along mutually perpendicular tangential directions; the first two-axis force sensor assembly (3) is configured to detect respective normal force components along a direction (n) perpendicular to the reference plane (P) and to detect respective first tangential force components (fta) along a first tangent direction (ta) to the reference plane (P); The second two-axis force sensor assembly (3') is configured to detect respective normal force components along a direction (n) perpendicular to the reference plane (P), and to detect respective second tangential force components (ftb) along a second tangential direction (tb) of the reference plane (P) perpendicular to the first tangential direction (ta), 8. The detection device (1) according to any one of claims 5 to 7, characterized in that the detection device (1) is capable of determining the normal force (Fn) and the tangential force (Ft) acting on the detection device (1) based on both the normal force component (fn) detected by two sensor assemblies and the first tangential force component (fta) and the second tangential force component (ftb) detected.

9. The detection device (1) comprises a plurality of the two-axis force sensor assemblies (3), The detection device (1) according to any one of claims 5 to 8, characterized in that the plurality of two-axis force sensor assemblies (3) are arranged at different positions of the detection device (1) to detect the respective plurality of normal force components (fn) and the respective plurality of tangential force components (ft) at the respective positions and to emit the respective plurality of first electrical signals (Sn1) to (Sn4) and the respective plurality of second electrical signals (St1) to (St4).

10. each sensor element (31), (32) of the force sensor assembly (3) is mechanically constrained, directly or indirectly, to both the upper surface (20) and the lower surface (21) of the casing (2) of the detection device (1); 10. The detection device (1) according to any one of claims 6 to 9, characterized in that the force sensor assembly (3) comprises a first chip (38) and a second chip (39) operatively connected to at least one first sensor element (31) and at least one second sensor element (32), respectively.

11. The detection device (1) comprises electronic processing means (8), The electronic processing means (8) connected to the electrical interface (4) to receive one or more of the first and second electrical signals (SA, SB) emitted by the force sensor assembly (3); and configured to determine the normal force component (fn) and the tangential force component (ft) in each of the one or more detection zones (Z) based on the received one or more first electrical signals (SA) and second electrical signals (SB); Detection device (1) according to any of the preceding claims, characterized in that the electronic processing means (8) are integrated into the detection device (1).

12. The electronic processing means (8) determining the normal force component (fn) and the tangential force component (ft) based on at least one first said electrical signal (Sn) and at least one second said electrical signal (St); or the detection device (1) according to claim 11, characterized in that it is configured to determine the plurality of normal force components (fn) and the tangential force components (ft) based on the plurality of first electrical signals (Sn1) to (Sn4) and the plurality of second electrical signals (St1) to (St4).

13. The detection device (1) comprises a third sensor element (33), the third sensor element (33) is integrated into the detection device (1) and is configured to detect the temperature value at the detection portion (Z) and to emit at least one third electrical signal (Sc) indicative of the detected temperature; 13. A detection device (1) according to any of claims 1 to 12, characterized in that the electronic processing means (8) are configured to determine at least one component of the normal force (fn) and at least one component of the tangential force (ft) based on the first said electrical signal (SA), (Sn), at least one second said electrical signal (SB), (St) and at least one third said electrical signal (Sc).

14. the first plane of the first part (20) of the casing (2) and the second plane of the second part (21) of the casing (2) have a surface modification configured to increase the friction of the first plane and the second plane with respect to the detection part (Z) of the brake caliper (100) and with respect to the fastening means (5), respectively; Detecting device (1) according to any of claims 1 to 13, characterized in that the first and second planes, respectively, are in contact in the operating state.

15. The surface alteration of the first plane of the first portion (20) of the casing (2) and the second plane of the second portion (21) of the casing (2) is Mechanical surface treatment, e.g. knurling, Surface texturing, e.g. obtained by laser techniques; Detector device (1) according to claim 14, characterized in that it is obtained by a coating.

16. A system (10) for simultaneously detecting normal and tangential components (fn and ft) of a force acting on a detection part (Z) of a brake caliper (100) or suspension (200) of a wheel, comprising: A detection device (1) for simultaneously detecting the normal force component (fn) and the tangential force component (ft) according to any one of claims 1 to 15, and electronic processing means (8), The electronic processing means (8) operatively connected to the electrical interface (4) of said detection device (1) for receiving one or more electrical signals (SA), (SB) emitted by the force sensor assembly (3); 1. A system (10) configured to determine the normal force component (fn) and at least one tangential force component (ft) in a detection area based on one or more of the electrical signals (SA), (SB) emitted by sensor elements of the force sensor assembly (3).

17. 17. A system (10) according to claim 16, characterized in that the electronic processing means (8) are housed in or attached to a brake caliper (100) of a wheel, a joint and / or a harness.

18. The detection device (1) is according to claim 8, 18. The system (10) according to claim 16 or 17, characterized in that the electronic processing means (8) are configured to determine the normal force component (fn) and at least one tangential force component (ft) in a detection area corresponding to the position of the sensor element based on the plurality of electrical signals (St1) to (St4), (Sn1) to (Sn4) emitted by each of the plurality of sensor elements.

19. 1. An apparatus for determining braking force and / or braking torque due to operation of a brake caliper of a vehicle, comprising: A detection device (1) for simultaneously detecting normal and tangential force components according to claim 11, the electronic processing means (8) is configured to determine said braking force and / or braking torque based on a normal force component (fn) and at least one tangential force component (ft) detected by the force sensor assembly (3) at at least one detection location.

20. 1. A system for determining braking force and / or braking torque due to operation of a brake caliper of a vehicle, comprising: A system (10) for simultaneously detecting normal and tangential force components according to any one of claims 16 to 18, the electronic processing means (8) is configured to determine said braking force and / or braking torque based on a normal force component (fn) and at least one tangential force component (ft) detected by the force sensor assembly (3) at at least one detection location.

21. A method for simultaneously detecting normal and tangential components of forces acting on a wheel brake caliper (100) or exchanged between a wheel axle and a suspension (200), comprising: fastening at least one detection device (1) to a detection part (Z) of the brake caliper (100), of the suspension (200) or of the joint between the suspension (200) and the axle by means of support and fastening means (5), At least one said detection device (1) is a detection device for simultaneously detecting normal and tangential force components according to any one of claims 1 to 15, The method comprises: detecting a component of the normal force (fn) by a force sensor assembly (3) provided in the detection device (1), The first plane (20) and the second plane (21) of the casing of the detection device (1) are subjected to a normal force (Fn) indicated by the normal force component (fn) due to contact and pressure provided by the support and fastening means (5) and the detection part (Z), The detection device (1) is fastened between the support and fastening means (5) and the detection part (Z), The method comprises: detecting at least one tangential force component (ft) by the same force sensor assembly (3), The first plane (20) and the second plane (21) of the casing of the detection device (1) are subjected to a lateral force (Ft) or a shear force indicated by the tangential force component (ft) due to the contact and pressure provided by the support and fastening means (5) and the detection part (Z), The detection device (1) is fastened between the support and fastening means (5) and the detection part (Z), The method comprises: determining, by electronic processing means (8) operatively connected to the detection device (1), the tangential force (Ft) and the normal force (Fn) acting at the detection portion (Z) of the brake caliper (100) or the forces exchanged between the axle and the suspension (200) based on at least one of the tangential force component (ft) and the normal force component (fn) detected by the detection device (1).

22. The method comprises: A detection device (1) is used, which comprises at least one first force sensor assembly (3) and at least one second force sensor assembly (3') arranged at orthogonal positions to each other, detecting, by the first force sensor assembly (3), respective normal force components along a direction (n) perpendicular to a reference plane (P) to detect respective first tangential force components (fta) along a first tangent direction (ta) to the reference plane (P); detecting, by the second force sensor assembly (3'), respective normal force components along a direction (n) perpendicular to the reference plane (P) to detect respective second tangential force components (ftb) along a second tangent direction (tb) to the reference plane (P); and determining the normal (Fn) and the tangential (Ft) forces acting on the detection device (1) based on both the normal force component (fn) detected by two sensor assemblies and the first tangential force component (fta) and the second tangential force component (ftb) detected.

23. The method aims to simultaneously detect the tangential and normal components of the force acting on a brake caliper (100) of a wheel, The support and fastening means (5) comprises a brake caliper support (51) and at least one threaded fastening element (52), the step of fastening comprises fastening the at least one detection device (1) between a flat surface (53) of the brake caliper support (51) and at least one mounting location (54) of each brake caliper body by means of at least one threaded fastening element (52); a first plane of the first part (20) of the detection device (1) being adjacent to the brake caliper body; 23. The method according to claim 21 or 22, characterized in that the second plane of the second part (21) of the detection device (1) is adjacent to the plane part (53) of the brake caliper support (51).

24. the fastening step comprises fastening a plurality of the detection devices (1) to respective fastening positions in respective detection areas; 24. The method according to claim 23, characterized in that the determining step comprises determining, at each position, the tangential and normal components of the forces acting in the detection area based on the tangential force components (ft) and the normal force components (fn) detected by the detection device (1).

25. The step of fastening comprises: fastening a first detection device (1a) by means of a first threaded fastening element (52a) at a first mounting location (54a) of the brake caliper body; fastening a second detection device (1b) by a second threaded fastening element (52b) at a second mounting position (54b) of the brake caliper body; Or the step of concluding fastening the first detection device (1 a) between the first mounting position (54 a) of the brake caliper body and a first flat portion (53 a) of the brake caliper support portion (51) by the first screw-like fastening element (52 a); 25. The method according to claim 24, characterized in that it comprises fastening a second detection device (1c) between a second flat surface (53c) of the brake caliper support (51) and one end of the first threaded fastening element (52a).

26. The step of fastening comprises: fastening a first detection device (1 a) and a second detection device (1 b) by a first threaded fastening element (52 a) at a first mounting location (54 a) of the brake caliper body; 26. The method according to claim 25, characterized in that it comprises fastening a third sensing device (1c) and a fourth sensing device (1d) by means of a second threaded fastening element (52b) at a second mounting location (54b) of the brake caliper body.

27. The method aims to simultaneously detect the tangential force (Ft) and the normal force (Fn) exchanged between the wheel axle (60) and the suspension (200), The support and fastening means (5) comprises means (61) for attaching the suspension to an axle comprising at least one fastening element (62), 23. The method according to claim 21 or 22, characterized in that the fastening step comprises clamping at least one detection device (1) by at least one fastening element (62) in the means (61) for attaching a suspension to an axle.

28. 1. A method for determining braking force and / or braking torque due to operation of a brake caliper of a vehicle, comprising: carrying out a method for simultaneously detecting normal and tangential force components according to any one of claims 21 to 26 by means of a detection device according to claim 11; and determining by electronic processing means, at at least one detection location, the braking force and / or the braking torque based on the normal force component and at least one tangential force component detected by the detection device.

29. The method comprises detecting tangential and normal components of a plurality of forces; The force is a force acting at a plurality of detection areas of a brake caliper of a wheel, or a force exchanged between an axle of the wheel and a suspension, 29. The method of claim 28, wherein the determining step comprises determining the braking force and / or the braking torque based on the normal and tangential components of a plurality of the forces detected by the detection device in a plurality of the detection regions.

30. The step of determining estimating an approximate braking force or braking torque value based on at least one detected tangential force component (ft) or two orthogonal tangential force components (fta), (ftb); 30. The method according to claim 28 or 29, characterized in that it comprises calibrating and / or adjusting the approximate braking force or braking torque value based on a normal component (fn) to obtain the braking force or braking torque.

31. A brake caliper system (101) having a brake force estimation function, a brake caliper (100) having a brake caliper body and at least one location (54) of attachment to a support; A brake caliper support (51); at least one detection device (1); and fastening means (52, 52') configured to attach the brake caliper body to the brake caliper support (51) at at least one said location of attachment (54), The fastening means (52, 52') are configured to fasten at least one force detection device (1) at at least one mounting point (54), so that The detection device (1) detects a normal component (fn) and at least one tangential component (ft) or two orthogonal tangential components (fta), (ftb) of a force acting at at least one of the attachment positions (54), At least one said detection device (1) is a device for simultaneously detecting normal and tangential force components according to any one of claims 1 to 15, said brake caliper system (101) comprising electronic processing means (8); The electronic processing means (8) operatively connected to the electrical interface (4) of said detection device (1) for receiving one or more electrical signals (SA), (SB) emitted by the force sensor assembly (3); configured to determine a braking force, a normal force (Fn) and / or a tangential force (Ft) acting on each of the at least one detection device (1) based on one or more of the electrical signals (SA), (SB) emitted by the sensor elements of the force sensor assembly (3), The electrical signals (SA), (SB) indicate a normal force component (fn) and at least one tangential force component (ft), or two orthogonal tangential force components (fta), (ftb) detected by the detection device (1).

32. The brake caliper system (101) comprises a single detection device (1), The support and fastening means (5) comprises a brake caliper support (51) and a threaded fastening element (52), The support and fastening means (5) are configured to fasten the detection device (1) by means of at least one screw-like fastening element (52) between a flat surface (53) of the brake caliper support part (51) and the respective mounting point (54) of the brake caliper body, so that a first plane of the first part (20) of the detection device (1) being in contact with the brake caliper body near the location (54) of attachment; a second flat surface of the second part (21) of the detection device (1) being in close contact with the flat surface (53) of the brake caliper support part (51); Alternatively, the brake caliper system (101) comprises a plurality of the detection devices (1) fastened at respective fastening positions in respective detection areas, Alternatively, the brake caliper system (101) includes two detection devices (1), namely a first detection device (1a) at a first mounting position (54a) of the brake caliper body fastened by a first threaded fastening element (52a) and a second detection device (1b) at a second mounting position (54b) of the brake caliper body fastened by a second threaded fastening element (52b), Alternatively, the brake caliper system (101) includes two detection devices (1): a first detection device (1a) fastened by the first screw-like fastening element (52a) between the first mounting position (54a) of the brake caliper body and a first flat surface portion (53a) of the brake caliper support portion (51), and a second detection device (1c) fastened between a second flat surface portion (53c) of the brake caliper support portion (51) and one end of the first screw-like fastening element (52a); Alternatively, the brake caliper system (101) includes four detection devices (1), namely, a first detection device (1a) and a second detection device (1c) fastened by the first threaded fastening element (52a) at the first mounting position (54a) of the brake caliper body, and a third detection device (1b) and a fourth detection device (1d) fastened by the second threaded fastening element (52b) at the second mounting position (54b) of the brake caliper body, Or the brake caliper system (101) comprises three of the detection devices (1), The two detection devices (1) are fastened to the first mounting positions (54a) of the brake caliper support portion (51), One of the detection devices (1) is fastened to the second mounting position (54b) of the brake caliper support (51), Or the brake caliper system (101) according to claim 31, characterized in that the brake caliper system (101) comprises one or more detection devices (1) arranged and fastened to respective fastening pins of the brake caliper pads.

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