Estimation of normal load acting on tires as a function of tire inflation pressure

Abstract

A system (100) and method (200) for estimating at least one load acting on a vehicle-mounted tire (122) is provided. In one embodiment, a tire-mounted sensor (118) generates output signals corresponding to at least the tire inflation pressure and the footprint length. A linear model between the load and footprint length for the tire is retrievably stored (214, 224) with model coefficients derived as a function of at least the sensed tire inflation pressure. A local controller (102), remote server (130), or other computing device (140) is linked to the tire-mounted sensor and data storage (106, 134) and is further configured to estimate a load acting on the tire (230) from the linear model based on at least the footprint length, the sensed tire inflation pressure, and the derived model coefficients (222), and generate an output signal corresponding to the estimated load (240) for display (242, 244), wear detection (246), traction detection (248), or other control function.

Description

[Technical Field]

[0001] A portion of the disclosure of this patent document contains material that is subject to copyright protection. The copyright owner has no objection to the copying of this patent document or this patent disclosure, as it appears in the U.S. Patent and Trademark Office patent application or records, but otherwise reserves any and all copyright rights whatsoever.

[0002] The present disclosure relates generally to quantifying performance aspects of tires of wheeled motor vehicles. More particularly, the systems, methods, and associated algorithms disclosed herein relate to estimating normal loads acting on tires of wheeled motor vehicles, including but not limited to motorcycles, domestic vehicles (e.g., passenger cars and light trucks), commercial vehicles, and off-the-road (OTR) vehicles, and various performance aspects of the vehicle based on improved normal load estimation, where the load estimation is a function of tire inflation pressure provided in substantially real time from tire-mounted sensors. [Background technology]

[0003] Various operating conditions such as tire load, lean angle, slip angle, etc. are traditionally understood to be crucial information for understanding tire performance aspects such as wear, health, and traction potential.

[0004] Therefore, predicting such performance aspects is an important tool for those who own or operate vehicles, especially in the context of fleet management. As tires are used, it is common for the tread to gradually become shallower, changing the overall tire performance. At some point, it becomes important to recognize tire conditions because insufficient tire tread can create dangerous driving conditions. For example, if road conditions are not optimal, the tire may not be able to grip the road, and the driver may lose control of their vehicle. Generally speaking, the shallower the tire tread, the more susceptible a driver may be to losing traction when driving in rain, snow, etc. Summary of the Invention [Problem to be solved by the invention]

[0005] Typical on-board sensor measurements for a vehicle such as a large truck may include vehicle speed, radial acceleration, ambient temperature, tire inflation pressure, and tire contained air temperature (CAT). These measurements are all important when extending them to higher order predictions such as wear and durability. However, one of the most important pieces of information is still typically missing: the load acting on the tire, for which conventional sensors can be prohibitively expensive and / or unreliable.

[0006] In view of the aforementioned deficiencies in conventional systems, the approach disclosed herein may be implemented to estimate operating condition indicators, such as the load acting on a tire, which are crucial for understanding tire wear, durability, traction, and other performance criteria. A system configured accordingly may comprise a tire-mounted sensing unit and novel algorithms to provide real-time monitoring and predictive analysis to a user, such as a fleet management entity.

[0007] Exemplary implementations of the present disclosure can improve the accuracy of conventional algorithms by adding tire inflation pressure dependency. One particular example of a model within the scope of the present disclosure includes the following algorithm: F z =m2(FPL)+m1(p)-b

[0008] The algorithm considers, for example, the footprint length (FPL) reported by a tire mounting sensor (TMS) and the inflation pressure (p), which may also be reported by the TMS, along with three model coefficients derived from data collected at a known force (Fz) applied to the tire. The model coefficients may be tire-specific. The algorithm developed using the model coefficients can be implemented during real-time operation based on TMS input to calculate the currently applied force, i.e., the weight of the vehicle on the tire.

[0009] An exemplary embodiment of the method disclosed herein may be provided for estimating at least one load acting on a tire mounted on a vehicle. At least one sensor mounted on the tire provides signals representing at least a sensed tire inflation pressure and a footprint length (or other parameter from which the footprint length can be determined). A linear model between the tire load and the footprint length is retrieved from data storage, along with at least a first model coefficient as a function of the sensed tire inflation pressure. The load acting on the tire is estimated from the linear model based on at least the footprint length, the sensed tire inflation pressure, and the at least a first model coefficient as a function of the sensed tire inflation pressure. An output signal corresponding to the estimated load acting on the tire (estimated load) is generated.

[0010] In one exemplary aspect according to the above-referenced embodiment, a signal representative of radial acceleration is obtained from at least one tire-mounted sensor, and a footprint length associated with the tire is calculated based at least in part on the signal representative of radial acceleration.

[0011] In another exemplary aspect according to the above-referenced embodiment, the at least first model coefficients include a first model coefficient as an offset coefficient as a function of the sensed tire inflation pressure and a second model coefficient as a slope coefficient as a function of the sensed tire inflation pressure, and a load acting on the tire is estimated from a linear model based on at least the footprint length, the sensed tire inflation pressure, the first model coefficient, and the second model coefficient.

[0012] In another exemplary aspect according to the above-referenced embodiment, the load acting on the tire is estimated from the linear model further based on a third model coefficient as a slope factor relating footprint length to tire load at nominal tire inflation pressure.

[0013] In another exemplary aspect according to the above-referenced embodiments, the linear model is generated by monitoring input signals representing footprint length from sensors mounted on the tire during operation involving known input values ​​for tire inflation pressure, normal load, and speed, calculating at least first model coefficients according to a linear correlation between normal load and footprint length at the known tire inflation pressure, and retrievably storing the at least first model coefficients as a function of the known tire inflation pressure.

[0014] In another exemplary aspect according to the above-referenced embodiments, the output signal is provided to a user interface associated with the vehicle for display to a user of the vehicle.

[0015] In another exemplary aspect according to the above-referenced embodiments, the output signal is provided to a user interface associated with a remote computing device via a fleet management telematics platform.

[0016] In another exemplary aspect according to the above-referenced embodiment, the estimated load is utilized as an input to a tire wear detection model. The estimated load and / or estimated tire wear based at least in part on the estimated load may further be utilized as an input to a tire traction detection model. The estimated tire wear based at least in part on the estimated load and / or estimated tire traction based at least in part on the estimated tire wear may further be provided to a vehicle control unit, such as an active safety unit.

[0017] In another embodiment, a system for estimating at least one load acting on at least one tire mounted on a vehicle is provided. At least one tire mounted sensor is configured to generate an output signal corresponding to at least the tire inflation pressure and footprint length. Removably stored in a data storage are a linear model between the load and the tire footprint length and at least first model coefficients as a function of the sensed tire inflation pressure. A local controller, a remote server, and / or other suitable computing device is communicatively linked to the at least one tire mounted sensor and the data storage, and is further configured to direct the execution of any of the remaining steps or operations from the above-referenced method embodiments and, optionally, the exemplary aspects described. [Brief explanation of the drawings]

[0018] Hereinafter, embodiments of the present invention will be illustrated in more detail with reference to the drawings.

[0019] [Figure 1] FIG. 1 is a block diagram illustrating one embodiment of a tire load estimation system disclosed herein. [Figure 2] FIG. 2 is a flow chart illustrating one embodiment of the tire load estimation method disclosed herein. [Figure 3] FIG. 3 is a graphical representation of an exemplary model coefficient (eg, offset coefficient or intercept) as a function of tire inflation pressure. [Figure 4] FIG. 4 is a graphical representation of an exemplary comparison of measured loads acting on a tire versus predicted loads for model validation. DETAILED DESCRIPTION OF THE INVENTION

[0020] Various exemplary embodiments of the invention may now be described in detail, generally with reference to FIGS. 1-4. Where various figures may describe embodiments sharing various common elements and features with other embodiments, similar elements and features may be given the same reference numerals, and redundant descriptions thereof may be omitted below. A system 100 according to certain embodiments may include, and / or a method 200 according to certain embodiments may be performed by, a computing device 102 that is local, e.g., residing in association with a vehicle, or a computing device 130, 140 that is remote, e.g., part of a cloud-based network or fleet management system, or any combination thereof within the scope of the present disclosure. Accordingly, centralized or distributed data processing may be implemented based on inputs from designated sensors, or may be implemented in designated interfaces, control systems, or actuators, without limitation, unless otherwise specified, to at least initiate generation of output signals as further described herein.

[0021] 1 , one exemplary embodiment of a system 100 disclosed herein includes a data acquisition device 102 that is mounted on a vehicle and configured to perform the relevant calculations disclosed herein and / or at least acquire data and transmit said data to one or more downstream computing devices (e.g., a remote server 130) to perform the relevant calculations as disclosed herein. The data acquisition device may be a standalone sensor unit (not shown) suitably configured to collect raw measurement signals, such as signals corresponding to tire radial acceleration, contained air temperature, and / or internal inflation pressure, and transmit such signals continuously or selectively to the downstream computing device. The data acquisition device 102 may include an on-board computing device 102 in communication with one or more distributed sensors, which may be portable or modular as part of a distributed vehicle data acquisition and control system, or may be provided integrally to a central vehicle data acquisition and control system. The data acquisition device 102 may include a processor 104 and a memory 106 on which program logic 108 resides, and in various embodiments may include a vehicle electronic control unit (ECU) or component thereof, or may otherwise be, for example, permanently, essentially separate, or removably mounted to a vehicle mount.

[0022] Generally speaking, the system 100 disclosed herein may implement multiple components distributed across one or more vehicles, for example, a central server network or an event-driven serverless platform not necessarily associated with a fleet management entity, but further operatively communicating with each of the vehicle motors via a communication network.

[0023] The illustrated embodiment may include, by way of example and without limiting the scope of the present invention, a tire-mounted sensor unit 118, an ambient temperature sensor 112, a vehicle speed sensor 114 configured to collect acceleration data associated with the vehicle, a position sensor 116 such as a global positioning system (GPS) transponder, and a DC power supply 110. The tire-mounted sensor unit 118 may include one or more sensors mounted to the tire's inner liner, tire valve, etc., and configured to generate output signals corresponding to tire conditions including any or all of radial acceleration, stored air temperature, inflation pressure, etc., and such sensors may take any of a variety of forms known to those skilled in the art for providing such signals. Various bus interfaces, protocols, and associated networks are known in the art for communication between respective data sources and the local computing device 102, including, for example, the onboard receiver 124, and / or the server 130, and those skilled in the art will recognize a wide range of such tools and means for implementing the same.

[0024] In some embodiments, the data acquisition devices and equivalent data sources disclosed herein are not necessarily limited to vehicle-specific sensors and / or gateway devices, but may also include third-party entities and associated networks, program applications resident on the user computing device 140 such as driver interfaces, fleet management interfaces, and any enterprise devices or other providers of raw streams of log data as may be deemed appropriate for the algorithms and models disclosed herein.

[0025] In some embodiments, one or more of the various sensors 112, 114, 116, 118 may be configured to communicate with the downstream platform without a local on-board device or gateway component, for example, via a cellular communication network or via a mobile computing device (not shown) carried by a user of the vehicle.

[0026] The term "user interface," as used herein, unless otherwise specified, may include any input / output module that facilitates user interaction with a user device, a processing unit, a server, a device, etc. disclosed herein, including, but not limited to, downloaded or otherwise resident program applications, web browsers, web portals such as individual web pages or web pages that collectively define a hosted website, etc. The user interface, with respect to a personal mobile computing device, may further be described in the context of buttons and display portions, which may be independently located or otherwise associated with each other, for example, for a touchscreen, and may further include voice and / or visual input / output capabilities without explicit user interaction capabilities.

[0027] Vehicle and tire sensors 112, 114, 116, 118, etc. may further be provided with unique identifiers in one embodiment, allowing an onboard device processor to distinguish between signals provided by respective sensors on the same vehicle, and in particular embodiments, a central processing unit and / or fleet maintenance supervision client device to distinguish between signals provided by tires and associated vehicles and / or tire sensors across multiple vehicles. In other words, sensor output values ​​may, in various embodiments, be associated with a particular tire, vehicle, and / or tire-vehicle system for onboard or remote / downstream data storage and implementation for calculations such as those disclosed herein. The onboard data acquisition device 102 may communicate directly with downstream processing stage 130, as shown in FIG. 1, or alternatively, the driver's mobile device or a truck-mounted computing device may be configured to receive, process, and transmit onboard device output data to one or more downstream processing units.

[0028] Raw signals received from tire-mounted sensors 118, whether mounted on the tire inner liner, tire valves, or the like, may optionally be stored in on-board device memory 106 or an equivalent local data storage network operatively linked to on-board device processor 104 for selective retrieval and transmission through data pipeline stages as needed for calculations according to the methods disclosed herein. As used herein, a local or downstream “data storage network” generally refers to a separate, centralized, or distributed logical and / or physical entity configured to store and selectively retrieve data therefrom, and may include, for example, but not limited to, memories, lookup tables, files, registers, databases, database services, etc. In some embodiments, raw data signals from the various sensors 112, 114, 116, 118 may be communicated in substantially real time from the vehicle to a downstream processing unit, such as server 130. Alternatively, taking into particular consideration the inherent inefficiencies in continuous data transmission of high frequency data, the data may be compiled, encoded, and / or summarized for more efficient (e.g., periodic time-based, or alternatively defined event-based) transmission, for example, from a sensor or on-board device (i.e., associated with the vehicle) to a remote processing unit via a suitable (e.g., cellular) communications network.

[0029] Once transmitted via a communications network to a downstream server 130 or equivalent processing system, the vehicle and / or tire data may be stored, for example, in a database 132 associated therewith, further processed for processing via one or more algorithmic models 134 as disclosed herein, or may be retrievable as input. The models 134 may be implemented at least in part via execution by a processor and may enable selective retrieval of the vehicle and / or tire data, as well as electronic communication for inputting any additional data or algorithms from databases, look-up tables, etc. stored in association with the processing unit.

[0030] 2-4, various embodiments of a method 200 for estimating at least one normal load acting on at least one tire mounted on a vehicle are described below. An embodiment of the method 200 may be either or both of the testing and model generation stages (210-214) and the model implementation stages (220-250), or portions or variations thereof, within the scope of the present disclosure. Stated differently, a model as disclosed herein may be initially generated and then implemented and / or modified by a given entity, or an entity may simply selectively retrieve a model for implementation generated by another entity.

[0031] Referring first to the testing and model generation phase (at step 210), various inputs are provided (step 212) for data processing and generation of one or more model coefficients (at step 214) specific to the tire being tested. In one embodiment, the data depicted in FIGS. 3 and 4 was collected through offline testing, and the model generation inputs were tire inflation pressure p, normal load Fz, and velocity v. Additional data corresponding to footprint length FPL may be received as input from tire-mounted sensors on the tire being tested, for example, as a direct input, or may be calculated based on other inputs, such as radial acceleration. As shown in FIG. 3, a clear linear relationship was identified between the normal load applied to the tire and the tire's footprint length at various inflation pressures. This data was then used to develop an exemplary algorithm, as follows:

[0032] F z =m2(FPL)+m1(p)-b Using this algorithm, a linear relationship is demonstrated between the normal load acting on the tire and the footprint length at various inflation pressures. Model coefficients m1 and b in this example are related to and dependent on the tire inflation pressure, respectively. Model coefficient m2 in this example relates the footprint length to the tire load at the nominal tire inflation pressure.

[0033] Referring now to a subsequent or alternative actual normal load estimation stage (at step 210), the generated model may, in various embodiments, be implemented in substantially real time based on actual inputs during operation of the tire or related type of tire. The actual inputs collected during operation (step 222) may typically include values ​​corresponding to at least a sample tire inflation pressure p and a footprint length FPL.

[0034] In certain embodiments, the footprint length may be collected directly from the TMS device. In an alternative embodiment, data corresponding to the tire's acceleration waveform may be collected in the tire radial direction from the sampled output of the tire-mounted sensor. The acceleration waveform in the tire radial direction may then be integrated to generate a velocity waveform, and the number of contact samples may be calculated from at least the first and second peaks in the velocity waveform. From a physical understanding of velocity (integrated acceleration) profiles, one skilled in the art can recognize that the entry and exit of the contact patch (footprint) are identifiable as corresponding to the difference in the number of samples between the first and second waveform peaks of the integrated accelerometer signal, and therefore the number of samples taken in the footprint area. The contact patch length, or footprint length, may be further calculated based at least on the calculated number of contact samples, the sampling rate of the tire-mounted sensor output, and the vehicle speed (v).

[0035] The inputs (e.g., p and FPL) may be provided to a model selection stage, where, for example, model coefficients (e.g., m1, m2, b) are selected as a function of tire inflation pressure (step 224). Model selection may be performed based at least in part on tire inflation pressure, and in some embodiments may further be performed based at least in part on wheel mount location for the tire in question, taking into account any known or predicted relevant dependencies of applied load based on such wheel mount distinctions. Tire load may then be estimated (step 230), further taking into account at least the selected model coefficients, for example, based on the algorithm described above.

[0036] Method 200 may further continue, with an output signal corresponding to the estimated load acting on the tire being generated (step 240). In various embodiments, the output signal may be provided to a user interface associated with the vehicle for local display to a user of the vehicle (step 242), and / or to a user interface associated with a remote computing device (step 244), for example, via a fleet management telematics platform, and / or to a vehicle control unit. If the output signal is provided to the vehicle control unit, the estimated load may be utilized as an input to, for example, a tire wear estimation model (step 246) and / or a tire traction estimation model (step 248).

[0037] An exemplary tire wear model may, for example, estimate tire wear values ​​based on a "digital twin" virtual representation of various physical parts, processes, or systems, where digital and physical data are paired and combined with a learning system, such as a neural network. For example, the above-referenced output signals and associated position / route information may be provided to generate a digital representation of a vehicle's tires for estimating tire wear, and subsequent comparison of the estimated tire wear with the determined actual tire wear may be implemented as feedback for a machine learning algorithm. The wear model may be implemented in the vehicle for processing via an on-board system, or tire and / or vehicle data may be processed to provide representative data to a hosted server for remote wear estimation.

[0038] In various embodiments, the method may further include predicting wear values ​​at one or more future time points, and such predicted values ​​may be compared to respective thresholds. For example, a feedback signal corresponding to a predicted tire wear state (e.g., predicted tread depth at a given distance, time, etc.) may be provided via an interface, e.g., to an on-board device associated with the vehicle itself or to a mobile device associated with the user, incorporating a user interface configured to provide a warning or notification / recommendation that a tire should be replaced or will soon need to be replaced. Other tire-related threshold events may be predicted and implemented for alert and / or intervention within the scope of the present disclosure, for example, based on predicted tire wear, including tire rotation, alignment, inflation, etc. The system may generate such alert and / or intervention recommendation based on individual thresholds, groups of thresholds, and / or non-threshold algorithmic comparisons against predefined parameters.

[0039] As another example, wear models may enable fleet management systems to track the performance of not only specific vehicles and tires, but also associated routes, drivers, etc. Using predicted wear rates obtained by the methods herein, fleet managers may, for example, ascertain which trucks, drivers, routes, and / or tire models are burning through tread the fastest or, conversely, conserving tread. Furthermore, accurate wear modeling may desirably provide decision support regarding fleet tire purchasing. Tire wear predictions may be aggregated, for example, into a predicted tire purchase estimation model for a given year, month, week, etc.

[0040] As another example, an autonomous vehicle fleet may include multiple vehicles with different minimum tread condition values, and the fleet management system may be configured to proactively disable deployment of vehicles below a minimum threshold. The fleet management system may further implement different minimum tread condition values ​​corresponding to wheel position. The system may therefore be configured to act on the minimum tire tread value of each of multiple tires associated with the vehicle, or in one embodiment, may calculate an aggregate tread condition of multiple tires for comparison to the minimum threshold.

[0041] Tire wear conditions (e.g., tread depth) may be provided as inputs to a traction model (step 248), for example, along with the above-referenced output signals, and the traction model may be configured to provide an estimated traction condition or one or more traction characteristics for each tire. Similar to the wear models described above, the traction model may include a "digital twin" virtual representation of a physical part, process, or system, where digital and physical data are paired and combined with a learning system, such as an artificial neural network. Actual vehicle and / or tire data from specific tires, vehicles, or tire-vehicle systems throughout the lifecycle of each asset may be provided to generate a virtual representation of a vehicle tire for tire traction estimation, and subsequent comparison of the estimated tire traction with corresponding measured or determined actual tire traction may be implemented as feedback for a machine learning algorithm, preferably executed at the server level.

[0042] The traction model, in various embodiments, may utilize results from prior testing, including, for example, stopping distance test results, tire traction test results, etc., collected for associated combinations of values ​​for multiple tire-vehicle systems and input parameters (e.g., tire tread, inflation pressure, road surface characteristics, vehicle speed and acceleration, slip ratio and angle, normal force, braking pressure and load), such that tire traction output can be effectively predicted for a given setting of current vehicle data and tire data inputs.

[0043] In one embodiment, the output from this traction model may be incorporated into an active safety system (step 250). As used herein, the term "active safety system" preferably encompasses systems commonly known to those skilled in the art, including, but not limited to, collision avoidance systems, advanced driver-assistance systems (ADAS), anti-lock braking systems (ABS), and the like, which may be configured to utilize traction model output information to achieve optimal performance. For example, collision avoidance systems are typically configured to take evasive action, such as automatically engaging the brakes of the host vehicle, to avoid or mitigate a potential collision with a target vehicle, and enhanced information regarding the traction capabilities of the tires, and thus the braking capabilities of the tire-vehicle system, is highly desirable.

[0044] In another embodiment (not shown), a ride-sharing autonomous fleet may use output data from a traction model to disable or otherwise selectively remove vehicles with low tread depths during inclement weather, or potentially limit their maximum speed.

[0045] In some embodiments, method 200 may also include providing inputs, such as estimated forces acting on the tire, estimated wear, etc., as inputs to a tire durability and health model, either alone or in combination with other relevant metrics of tire usage severity. Such models may be implemented to estimate relative fatigue characteristics, for example, as an indicator of durability events such as tread / belt separation. Such models may also be implemented, for example, to estimate relative tire aging characteristics or to predict wear conditions at one or more future points in time. Feedback signals corresponding to such durability events may be provided via an interface to an on-board device 102 associated with the vehicle itself or to a mobile device associated with a user, and may be integrated with a user interface configured to provide, for example, a warning or notification / recommendation of an intervention event, such as that one or more tires should or will soon require, for example, replacement, rotation, alignment, inflation, etc. Output from the tire durability and health model may also or alternatively be provided to the traction model referenced above.

[0046] Throughout this specification and claims, unless the context dictates otherwise, the following terms shall have at least the meanings explicitly associated with them herein. The meanings identified below do not necessarily limit the terms but merely provide illustrative examples of the terms.

[0047] The meanings of "a," "an," and "the" may include plural references, and the meaning of "in" may include "in" and "on."

[0048] As used herein, the phrase "in one embodiment" does not necessarily refer to the same embodiment, but it may.

[0049] The various illustrative logical blocks, modules, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability of hardware and software, the various illustrative components, blocks, modules, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the particular application and design constraints imposed on the overall system. The described functionality can be implemented in various ways for each particular application, and such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0050] The various illustrative logical blocks and modules described in connection with the embodiments disclosed herein may be implemented or performed by a machine, such as a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but alternatively, the processor may be a controller, microcontroller, or state machine, combinations thereof, etc. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0051] The steps of a method, process, or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of computer-readable medium known in the art. An exemplary computer-readable medium may be coupled to the processor such that the processor can read information from, and write information to, the memory / storage medium. Alternatively, the medium may be integral to the processor. The processor and the medium may reside in an ASIC. The ASIC may reside in a user terminal. Alternatively, the processor and the medium may reside as separate components in a user terminal.

[0052] As used herein, conditional language such as, among others, "can," "might," "may," "e.g.," and the like, is generally intended to convey that certain embodiments include particular features, elements, and / or conditions, while other embodiments do not include those particular features, elements, and / or conditions, unless specifically stated otherwise or understood within the context in which it is used. Thus, such conditional language is generally not intended to suggest that features, elements, and / or conditions are in any way required for one or more embodiments, nor is it generally intended to suggest that one or more embodiments necessarily include logic for determining, with or without author input or prompting, whether those features, elements, and / or conditions should be included in or implemented in any particular embodiment.

[0053] Although certain preferred embodiments of the present invention may be described in this disclosure for methods typically performed by or for fleet management systems, and more particularly for autonomous vehicle fleets or commercial truck applications, the present invention is in no way expressly limited thereto, and the term "vehicle," as used herein, unless otherwise specified, refers to an automobile, truck, or equivalent of either, whether self-propelled or not, which may include one or more tires, and therefore may require accurate estimation or prediction of internal tire pressure loss and possible failure, replacement, or intervention.

[0054] As used herein, unless otherwise specified, the term "user" may refer to, for example, a driver, passenger, mechanic, technician, fleet management personnel, or any other person or entity that may be associated with a device having a user interface for providing the features and steps disclosed herein.

[0055] The foregoing detailed description has been provided for purposes of illustration and description. Thus, while specific embodiments of a novel and useful invention have been described, it is not intended that such references be construed as limitations on the scope of the invention, except as set forth in the following claims.

Claims

1. A method (200) for estimating at least one load acting on a tire (122) mounted on a vehicle, the method comprising: During each test run, which includes known input values ​​for tire inflation pressure, normal load, and speed, monitoring an input signal representing a footprint length from a tire-mounted sensor corresponding to said test operation; calculating at least a first model coefficient according to a linear correlation between the normal load and the footprint length at the known tire inflation pressure; retrievably storing the at least first model coefficients as a function of the known tire inflation pressure, thereby generating one or more linear models correlating normal load and footprint length; The method includes, during actual operation involving at least a first tire mounted on the vehicle: obtaining (222) at least a signal representative of a sensed tire inflation pressure from a sensor (118) mounted on the first tire; determining a footprint length associated with the first tire; Retrieving (224) from data storage a linear model corresponding to the determined footprint length for the first tire and at least first model coefficients as a function of the sensed tire inflation pressure; estimating (230) the load acting on the first tire from the linear model based on at least the footprint length, the sensed tire inflation pressure, and the at least first model coefficients as a function of the sensed tire inflation pressure; generating (240) an output signal corresponding to the estimated load acting on the first tire.

2. 2. The method of claim 1, further comprising at least obtaining a signal representative of radial acceleration from the sensor mounted on the first tire, and calculating a length of the footprint associated with the first tire based at least in part on the signal representative of radial acceleration.

3. the at least first model coefficients include a first offset model coefficient as an offset coefficient as a function of the sensed tire inflation pressure, a second model coefficient as a slope coefficient as a function of the sensed tire inflation pressure, and a third model coefficient as a slope coefficient relating footprint length at nominal tire inflation pressure to tire load; 2. The method of claim 1, further characterized in that the load acting on the first tire is estimated from the linear model based on at least the footprint length, the sensed tire inflation pressure, the first offset model coefficient, the second model coefficient, and the third model coefficient.

4. The estimated load is used as an input to a tire wear detection model (246); the estimated load and / or estimated tire wear based at least in part on the estimated load are utilized as inputs to a tire traction detection model; 2. The method of claim 1, further characterized in that the estimated tire wear based at least in part on the estimated load and / or the estimated tire traction based at least in part on the estimated tire wear is provided to a vehicle control unit (250).

5. A system (100) for estimating at least one load acting on at least one tire mounted on a vehicle, said system comprising: at least one tire-mounted sensor (118) configured to generate an output signal corresponding to at least the tire inflation pressure and footprint length; a data storage (106, 134) storing one or more linear models correlating normal load and footprint length based on test operations performed on the tire, and at least first model coefficients calculated as a function of the linear correlation between normal load and footprint length at known tire inflation pressures; A system (100) comprising: a computing device (102, 130, 140) communicatively linked to the at least one tire mounted sensor and the data storage, the computing device (102, 130, 140) being further configured to direct execution of steps for the method (200) of any one of claims 1 to 4.

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