Estimating kinematic parameter based on inputs from acceleration sensors

Abstract

A computer system (13) comprising processing circuitry (17) configured to: receive inputs from a plurality of acceleration sensors (15a-c) arranged on a vehicle wheel (9), the acceleration sensors (15a-c) being spaced apart from each other and from a rotational axis (11) of the vehicle wheel (9); and determine, based on the inputs and a model of the vehicle wheel (9), a time series of estimations of at least one kinematic parameter (ωx, ωy, ωz, θ, ax, ay, az) of the vehicle wheel (9).

Description

Docket No.: P2023-1284WO01 1 ESTIMATING KINEMATIC PARAMETER BASED ON INPUTS FROMACCELERATION SENSORSTECHNICAL FIELD

[0001] The disclosure relates generally to vehicle motion estimation. In particularaspects, the disclosure relates to estimating at least one kinematic parameter based on inputsfrom acceleration sensors. The disclosure can be applied to heavy-duty vehicles, such astrucks, buses, and construction equipment, among other vehicle types. Although thedisclosure may be described with respect to a particular vehicle, the disclosure is notrestricted to any particular vehicle. BACKGROUND

[0002] Vehicle motion management techniques are useful for optimizing various aspectsof the operation of a vehicle. For instance, precise and timely control of vehicle sub-systems may allow for increased use of regenerative braking with maintained vehicle stability.

[0003] For successful use of various vehicle motion management techniques, it may beuseful to provide for access to at least one kinematic parameter of a vehicle wheel with a relatively high update frequency.

[0004] The rotational speed of a vehicle wheel in respect of a rotational axis of thevehicle wheel is an example of such a kinematic parameter.

[0005] It would be desirable to enable estimation of at least one kinematic parameter witha higher update frequency. It would also be desirable to enable determination of at least oneother kinematic parameter than the rotational speed in the rotational direction, i.e. around therotational axis of the vehicle wheel. SUMMARY

[0006] According to a first aspect of the disclosure, there is provided a computer systemcomprising processing circuitry configured to: receive inputs from a plurality of acceleration sensors arranged on a vehicle wheel, the acceleration sensors being spaced apart from each other and from a rotational axis of the vehicle wheel; and determine, based on the inputs and a model of the vehicle wheel, a time series of estimations of at least one kinematic parameterof the vehicle wheel. The first aspect of the disclosure may seek to enable estimation of atDocket No.: P2023-1284WO01 2least one kinematic parameter of the vehicle wheel with a higher update frequency, such as anupdate frequency higher than 50 Hz, such as higher than 100 Hz. The first aspect of the disclosure may also seek to enable determination of at least one other kinematic parameterthan the rotational speed in the rotational direction, i.e. around the rotational axis of thevehicle wheel. A technical benefit may include to provide for improved vehicle motionmanagement. It should be understood, that when vehicle geometry is discussed herein, withrespect to directions and / or axes, the conventions specified by the international standardISO 8855 are used.

[0007] The acceleration sensors may be arranged anywhere on the vehicle wheel, wherethe position(s) of one or more of the acceleration sensors may determine the kind of information / kinematic parameters than can be obtained. For instance, arranging at least one of the acceleration sensors on or in a tyre, such as in the tyre carcass, of the vehicle wheel may provide additional information about, for example, tyre forces and effective rolling radius of the tyre during use. Furthermore, disturbances like a tyre explosion can be detected.

[0008] Optionally in some examples, including in at least one preferred example, at leastone of the acceleration sensors may be arranged on a rim of the vehicle wheel; and the vehicle wheel model may comprise a rigid body dynamic model of the rim of the vehiclewheel. A technical benefit may include that a rigid body dynamic model may enableestimation of additional kinematic parameters than the rotational speed in the rotational direction. Furthermore, the use of a rigid body dynamic model may provide for estimation of the at least one kinematic parameter with relatively low requirements on computational resources, which may in turn provide for a higher update frequency.

[0009] Optionally in some examples, including in at least one preferred example, eachacceleration sensor of the plurality of acceleration sensors may be arranged on the rim of thevehicle wheel. A technical benefit may include that a simpler model may be used ascompared to the case with one or more acceleration sensors on or in the tyre of the vehicle wheel.

[0010] Optionally in some examples, including in at least one preferred example, the timeseries of estimations of the at least one kinematic parameter of the vehicle wheel may be a time series of estimations of momentary values of the at least one kinematic parameter of thevehicle wheel. A technical benefit may include that a higher precision in the estimations ofDocket No.: P2023-1284WO01 3 the at least one kinematic parameter can be achieved, as compared to methods that can only provide average values.

[0011] Optionally in some examples, including in at least one preferred example, theprocessing circuitry may be configured to determine, based on the inputs and the model of the vehicle wheel, a time series of estimations of: a momentary rotational speed of the vehicle wheel in respect of the rotational axis of the vehicle wheel, or a momentary rotational speed of the vehicle wheel in respect of a first axis orthogonal to the rotational axis of the vehicle wheel, or a momentary rotational speed of the vehicle wheel in respect of a second axisorthogonal to the first axis and to the rotational axis of the vehicle wheel, or a momentaryacceleration of the vehicle wheel in a direction perpendicular to the rotational axis of the vehicle wheel, or a momentary acceleration of the vehicle wheel in a direction parallel to therotational axis of the vehicle wheel.

[0012] Optionally in some examples, including in at least one preferred example, theprocessing circuitry may be configured to receive inputs from the acceleration sensorsindicative of acceleration in at least six different directions. A technical benefit may includethat other states of the wheel dynamics can be estimated, such as accelerations at the center of the wheel rim, and also the absolute roll (rotation around the x-axis) and yaw (rotation aroundthe z-axis) angular speeds of the vehicle wheel (for the x-axis and the z-axis, the above-mentioned international standard ISO 8855 is again referred to). These states can be used toestimate additional kinematic parameters. The at least six different directions may beachieved in various ways. As illustrative examples, at least three two-axes acceleration sensors may be used, or at least two three-axes acceleration sensors, etc.

[0013] Optionally in some examples, including in at least one preferred example, theprocessing circuitry may be configured to determine, based on the time series of estimations of the at least one kinematic parameter of the vehicle wheel, a control command encodinginstructions for controlling at least one vehicle sub-system. A technical benefit may includethat control of the at least one vehicle sub-system based on the time series of estimations of the at least one kinematic parameter may be simplified. As an alternative, a vehicle motionmanagement system may be provided, that may be coupled to the computer system, andconfigured to receive, from the computer system, input indicative of the time series ofestimations of the at least one kinematic parameter; and determine at least one controlcommand for at least one vehicle sub-system based on the input.Docket No.: P2023-1284WO01 4

[0014] Optionally in some examples, including in at least one preferred example, thecomputer system of examples of the present disclosure may be included in a wheel motion estimation system, further comprising a plurality of acceleration sensors.

[0015] Optionally in some examples, including in at least one preferred example, theacceleration sensors together may be configured to sense acceleration in at least 6 different directions, when arranged spaced apart from each other on a vehicle wheel.

[0016] Optionally in some examples, including in at least one preferred example, thewheel motion estimation system may comprise at least three acceleration sensors, eachacceleration sensor being configured to sense acceleration in at least two different directions. As was mentioned further above, various other acceleration sensor configurations may be useful.

[0017] The wheel motion estimation system according to examples of the presentdisclosure may advantageously be included in a vehicle.

[0018] According to a second aspect of the disclosure, there is provided a computer-implemented method, comprising: receiving, by processing circuitry of a computer system,inputs from a plurality of acceleration sensors arranged on a vehicle wheel, the acceleration sensors being spaced apart from each other and from a rotational axis of the vehicle wheel; and determining, by the processing circuitry, based on the inputs and a model of the vehicle wheel, a time series of estimations of at least one kinematic parameter of the vehicle wheel. The second aspect of the disclosure may seek to enable estimation of at least one kinematic parameter of the vehicle wheel with a higher update frequency, such as an update frequency higher than 50 Hz, such as higher than 100 Hz. The first aspect of the disclosure may also seek to enable determination of at least one other kinematic parameter than the rotationalspeed in the rotational direction, i.e. around the rotational axis of the vehicle wheel. Atechnical benefit may include to provide for improved vehicle motion management. It shouldbe understood, that when vehicle geometry is discussed herein, with respect to directionsand / or axes, the conventions specified by the international standard ISO 8855 are used.

[0019] The acceleration sensors may be arranged anywhere on the vehicle wheel, wherethe position(s) of one or more of the acceleration sensors may determine the kind of information / kinematic parameters than can be obtained. For instance, arranging at least one of the acceleration sensors on or in a tyre, such as in the tyre carcass, of the vehicle wheelDocket No.: P2023-1284WO01 5may provide additional information about, for example, tyre forces and the effective rollingradius of the tyre during use. Furthermore, disturbances like a tyre explosion can be detected.

[0020] Optionally in some examples, including in at least one preferred example, at leastone of the acceleration sensors may be arranged on a rim of the vehicle wheel; and the vehicle wheel model may comprise a rigid body dynamic model of the rim of the vehiclewheel. A technical benefit may include that a rigid body dynamic model may enableestimation of additional kinematic parameters than the rotational speed in the rotational direction. Furthermore, the use of a rigid body dynamic model may provide for estimation ofthe at least one kinematic parameter with relatively low requirements on computationalresources, which may in turn provide for a higher update frequency.

[0021] Optionally in some examples, including in at least one preferred example, eachacceleration sensor of the plurality of acceleration sensors may be arranged on the rim of thevehicle wheel. A technical benefit may include that a simpler model may be used ascompared to the case with one or more acceleration sensors on or in the tyre of the vehicle wheel.

[0022] Optionally in some examples, including in at least one preferred example, the timeseries of estimations of the at least one kinematic parameter of the vehicle wheel may be a time series of estimations of momentary values of the at least one kinematic parameter of thevehicle wheel. A technical benefit may include that a higher precision in the estimations ofthe at least one kinematic parameter can be achieved, as compared to methods that can only provide average values.

[0023] Optionally in some examples, including in at least one preferred example, themethod may comprise determining, by the processing circuitry, based on the inputs and the model of the vehicle wheel, a time series of estimations of: a momentary rotational speed of the vehicle wheel in respect of the rotational axis of the vehicle wheel, or a momentary rotational speed of the vehicle wheel in respect of a first axis orthogonal to the rotational axis of the vehicle wheel, or a momentary rotational speed of the vehicle wheel in respect of a second axis orthogonal to the first axis and to the rotational axis of the vehicle wheel, or a momentary acceleration of the vehicle wheel in a direction perpendicular to the rotational axis of the vehicle wheel, or a momentary acceleration of the vehicle wheel in a direction parallel to the rotational axis of the vehicle wheel.Docket No.: P2023-1284WO01 6

[0024] Optionally in some examples, including in at least one preferred example, themethod may comprise receiving inputs from the acceleration sensors indicative ofacceleration in at least six different directions. A technical benefit may include that otherstates of the wheel dynamics can be estimated, such as accelerations at the center of the wheel rim, and also the absolute roll (rotation around the x-axis) and yaw (rotation around the z-axis) angular speeds of the vehicle wheel (for the x-axis and the z-axis, the above- mentioned international standard ISO 8855 is again referred to). These states can be used to estimate additional kinematic parameters. The at least six different directions may beachieved in various ways. As illustrative examples, at least three two-axes accelerationsensors may be used, or at least two three-axes acceleration sensors, etc.

[0025] Optionally in some examples, including in at least one preferred example, themethod may comprise determining, based on the time series of estimations of the at least one kinematic parameter of the vehicle wheel, a control command encoding instructions forcontrolling at least one vehicle sub-system. A technical benefit may include that control ofthe at least one vehicle sub-system based on the time series of estimations of the at least one kinematic parameter may be simplified. As an alternative, a vehicle motion managementsystem may be provided, that may be coupled to the computer system, and configured toreceive, from the computer system, input indicative of the time series of estimations of the atleast one kinematic parameter; and determine at least one control command for at least onevehicle sub-system based on the input.

[0026] According to a third aspect of the disclosure, there is provided a computerprogram product comprising program code for performing, when executed by the processing circuitry, the method of the second aspect of the disclosure.

[0027] According to a fourth aspect of the disclosure, there is provided a non-transitorycomputer-readable storage medium comprising instructions, which when executed by the processing circuitry, cause the processing circuitry to perform the method of the second aspect of the disclosure.

[0028] The disclosed aspects, examples (including any preferred examples), and / oraccompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in thefollowing description, claims, and drawings, and in part will be readily apparent therefrom tothose skilled in the art or recognized by practicing the disclosure as described herein.Docket No.: P2023-1284WO01 7

[0029] There are also disclosed herein computer systems, control units, code modules,computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Examples are described in more detail below with reference to the appendeddrawings.

[0031] FIG. 1 is an exemplary vehicle according to an example.

[0032] FIG. 2 is an exemplary wheel motion estimation system, comprising a computersystem according to an example.

[0033] FIG. 3 is an exemplary method according to an example.

[0034] FIG. 4 is an exemplary vehicle wheel that may be evaluated using a computersystem according to an example.

[0035] FIG. 5 is a schematic exemplary vehicle wheel configuration to illustrate anexample calculation of kinematic parameters.

[0036] FIG. 6 is an exemplary wheel motion estimation system, comprising a computersystem according to an example.

[0037] FIG. 7 is a schematic diagram of an exemplary computer system forimplementing examples disclosed herein, according to an example.DETAILED DESCRIPTION

[0038] The detailed description set forth below provides information and examples of thedisclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[0039] Fig. 1 is an exemplary vehicle 1 according to an example. Referring to Fig. 1, theexemplary vehicle 1 comprises a first vehicle member 3 and a second vehicle member 5coupled to the first vehicle member 3. In this example vehicle 1, the first vehicle member 3 isan electric vehicle, here in the form of a battery electric vehicle (BEV) tractor 3, and thesecond vehicle member 5 is a semitrailer 5. It should be noted that the present disclosure isnot limited this example vehicle 1, but applies to many other vehicles, such as vehicles comprising a single vehicle member or vehicles including an internal combustion engine, etc.Docket No.: P2023-1284WO01 8

[0040] Referring again to Fig. 1, the BEV tractor 3 has a battery pack 7 and vehiclewheels 9, represented by one of the driving wheels in Fig.1. As is indicated in Fig.1, thevehicle wheel 9 comprises a rim 10 and a tyre 14, and is arranged to rotate around a rotationalaxis 11 when the vehicle 1 is in motion. Further, the BEV tractor 3 comprises a computersystem 13 and a plurality of acceleration sensors 15a-c arranged on the vehicle wheel 9. Thecomputer system 13 can receive input wirelessly from the acceleration sensors 15a-c, as isschematically indicted by the lightning-shaped arrows in Fig. 1. Any suitable wirelesscommunication protocol may be used, such as Bluetooth®.

[0041] Fig. 2 is an exemplary wheel motion estimation system 12, comprising a computersystem 13 according to an example. Referring to Fig. 2, the computer system 13 comprisesprocessing circuitry 17 configured to receive inputs from a plurality of accelerationsensors 15a-c, and determine, based on the inputs and a model of the vehicle wheel 9, a timeseries of estimations of at least one kinematic parameter of the vehicle wheel 9. As isschematically indicated in Fig.1 for an example configuration, the acceleration sensors 15a-c are spaced apart from each other and from the rotational axis 11 of the vehicle wheel. The rotational axis 11 is, as is also schematically indicated by the small coordinate system inFig. 1 parallel with the y-axis. In this context it should be pointed out that the wheel motionestimation system 12 may comprise a larger or smaller number of acceleration sensors 15a-c, depending on, for instance, the types of acceleration sensors (number of axes) and / or the positioning of the acceleration sensors, and / or the desired functionality of the wheel motion estimation system 12. Furthermore, it should be noted that the acceleration sensors 15a-c maybe fixed to or integrated in the rim 10 of the vehicle wheel 9, as is schematically indicated inFig.1, fixed to or integrated in the tyre 14 of the vehicle wheel 9, or at least one acceleration sensor may be fixed to or integrated in the rim 10 and at least one acceleration sensor may be fixed to or integrated in the tyre 14.

[0042] Fig. 3 is an exemplary method according to an example. Referring to the flow-chart in Fig. 3, the method first comprises receiving S1, by the processing circuitry 17 of thecomputer system 13 in Fig.2, inputs from a plurality of acceleration sensors 15a-c arrangedon a vehicle wheel 9. The acceleration sensors 15a-c are spaced apart from each other andfrom the rotational axis 11 of the vehicle wheel 9.Docket No.: P2023-1284WO01 9

[0043] Subsequently, the processing circuitry 17 determines S2, based on the inputs and amodel of the vehicle wheel 9, a time series of estimations of at least one kinematic parameter of the vehicle wheel 9.

[0044] Reference is here additionally made to the exemplary vehicle wheel 9 in Fig. 4. InFig.4, the acceleration sensors 15a-c are exemplified as being angularly evenly distributed, in respect of the rotational axis 11 (the y-axis), and attached to the rim 10 of the vehiclewheel 9. As was also pointed out above, there may be fewer (but at least two) or moreacceleration sensors. Furthermore, acceleration sensors may be attached to or integrated inthe tyre 14 of the vehicle wheel 9. In Fig. 4, various kinematic parameters of the vehiclewheel 9 are schematically indicated, including the rotational speed around the x-axis ωx, the rotational speed around the y-axis ωy, the rotational speed around the z-axis ωz, the linear acceleration of the wheel center in the x-direction ax, the linear acceleration of the wheel center in the y-direction ay, and the linear acceleration of the wheel center in the z-direction az.

[0045] In the following, detailed calculations will be provided for a special exemplarycase that is schematically indicated in Fig. 5. To simplify the calculation to such a degree thatit will be practical to present here, certain conditions are stipulated. In particular: there are three acceleration sensors 15a-c, each measuring acceleration along two orthogonal axes; the acceleration sensors 15a-c are located in a plane, angularly spaced apart by 90°in the clock-wise direction, and arranged to measure acceleration in the tangential and normaldirections, as indicated in Fig.5; the acceleration sensors 15a-c are fixed to or integrated in the rim 10 of thevehicle wheel 9, and are arranged at the same distance r from the rotational axis 11 of the vehicle wheel.

[0046] These conditions enable the use of a rigid body model as vehicle wheel model andallow for relatively simple calculations. For acceleration sensors that are at different distancesfrom the rotational axis 11, or in configurations where one or more acceleration sensors is / are attached to or embedded in the tyre 14 of the vehicle wheel 9, the model of the vehiclewheel 9 needs to be modified. In particular, in the case with one or more acceleration sensorsattached to or embedded in the tyre 14 of the vehicle wheel 9, the model of the vehiclewheel 9 should be expanded with terms for the flexible body (the tyre 14) radially outside theDocket No.: P2023-1284WO01 10 rigid body (rim 10). Such an expansion of the model of the vehicle wheel 9 will be well within the reach of the skilled person in the field of kinematics, who could add terms related to flexible body kinematics to the rigid body kinematic model provided below.

[0047] As mentioned above, the acceleration sensors 15a-c in Fig. 5 are located in a planeand the point o is in the intersection between this plane and the rotational axis 11 of thevehicle wheel 9. According to a rigid body kinematic model, the acceleration of any arbitrarypoint i on the rim 10 can be defined as:^^ = ^^ + ^̇ × ^ + ^ × (^ × ^) (1)

[0048] Thus, the acceleration of point 1, where a first acceleration sensor 15a is located,in the cartesian coordinates is:

[0049] The cartesian coordinates variables are denoted by (*) superscript and r is thedistance between the point o and the acceleration sensors 15a-c. The acceleration of anotherpoint at the radial distance r from the point o, which is angularly spaced apart from point 1 bythe angle α is given by:

[0050] As mentioned above, in this example configuration, the outputs provided by theacceleration sensors 15a-c are indicative of tangential (t) and normal (n) acceleration. Therotation matrix to rotate thevector into t-n coordinates is given by:Docket No.: P2023-1284WO01 11 ^^=

[0051] Converting equation (2), (3) into n-t coordinates results in the followingexpressions: (5) (6)

[0052] The first term of the vector is in the tangential direction and the last term is in thenormal direction, and ^^and ^^are the measured accelerations by the sensors.

[0053] The accelerations of the point 2, where the second acceleration sensor 15b islocated, and of point 3, where the third acceleration sensor 15c is located, in t-n coordinateswhere ^^ is is 90° and ^^ is 180°.^^=Docket No.: P2023-1284WO01 12 ^^=

[0054] Let us now define the sum and difference, respectively, of the measuredaccelerations of the acceleration sensors at points 1 and 2, and at points 1 and 3, respectively.∆^^^ =(9)(1 )0

[0055] The ^^̇ can be determined by either of the following:a. Using equationsb. c. (11),d. e. (10):Docket No.: P2023-1284WO01 13 f. Using equationsg. h. (12),i. j. (11),k. l. (10):Σ ^ + ∆ ^ + ∆ ^ − (∆ ^ + ∆ ^ ) − 2^^̇ − ^ ^^^ ^ ^^ ^ ^^ ^ ^^ ^ ^^ ^ ^ ^ = Σ^^^^ (14)

[0056] Solving (14) forand substituting into the equation (15) we can obtain ^^ as afunction of ^^ . Replacing ^^ as a function of ^^ in ∆^^^^ and ∆^^^^, it is possible to solvethe two equations with two unknowns which will give ^^ and ^. This is briefly explainedhere:

[0057] From ∆^^^^ and Σ^^^^ and

[0058] (16), the set of two equations and two unknowns (^and ^^) can be solved:

[0059] Consequently, ^^^ and ^^^ can be

[0060] It should be noted that, in case acceleration sensors 15a-c with 3 axes, it ispossible to directly measure the ^^^from Σ^^^^.

[0061] Returning to the flow-chart in Fig. 3, the processing circuitry 17 can optionallydetermine S3, based on the time series of estimations of the at least one kinematic parameter ωx, ωy, ωz, θ, ax, ay, azof the vehicle wheel 9, a control command 21 encoding instructions for controlling at least one vehicle sub-system 19.

[0062] Fig. 7 is a schematic diagram of a computer system 1000 for implementingexamples disclosed herein, such as for implementing examples of the control circuitry 23 ofDocket No.: P2023-1284WO01 14the drive train arrangement 5 according to examples. The computer system 1000 is adapted toexecute instructions from a computer-readable medium to perform these and / or any of thefunctions or processing described herein. The computer system 1000 may be connected (e.g.,networked) to other machines in a LAN, an intranet, an extranet, or the Internet, or by direct wired or wireless communication. While only a single device is illustrated, the computer system 1000 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and / or claims to a computer system,computing system, computer device, computing device, control system, control unit,electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[0063] The computer system 1000 may comprise at least one computing device orelectronic device capable of including firmware, hardware, and / or executing softwareinstructions to implement the functionality described herein. The computer system 1000 mayinclude processing circuitry 1002 (e.g., processing circuitry including one or more processordevices or control units), a memory 1004, and a system bus 1006. The computer system 1000may include at least one computing device having the processing circuitry 1002. The systembus 1006 provides an interface for system components including, but not limited to, thememory 1004 and the processing circuitry 1002. The processing circuitry 1002 may includeany number of hardware components for conducting data or indication processing or for executing computer code stored in memory 1004. The processing circuitry 1002 may, for example, include a general-purpose processor, an application specific processor, a Digital indication Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discreteDocket No.: P2023-1284WO01 15 hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 1002 may further include computer executable code that controls operation of the programmable device.

[0064] The system bus 1006 may be any of several types of bus structures that mayfurther interconnect to a memory bus (with or without a memory controller), a peripheral bus, and / or a local bus using any of a variety of bus architectures. The memory 1004 may be one or more devices for storing data and / or computer code for completing or facilitating methods described herein. The memory 1004 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 1004 may be communicably connected to the processing circuitry 1002 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes describedherein. The memory 1004 may include non-volatile memory 1008 (e.g., read-only memory(ROM), erasable programmable read-only memory (EPROM), electrically erasableprogrammable read-only memory (EEPROM), etc.), and volatile memory 1010 (e.g.,random-access memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 1002. Abasic input / output system (BIOS) 1012 may be stored in the non-volatile memory 1008 andcan include the basic routines that help to transfer information between elements within the computer system 1000.

[0065] The computer system 1000 may further include or be coupled to a non-transitorycomputer-readable storage medium such as the storage device 1014, which may comprise, forexample, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE orSATA) for storage, flash memory, or the like. The storage device 1014 and other drivesassociated with computer-readable media and computer-usable media may provide non- volatile storage of data, data structures, computer-executable instructions, and the like.

[0066] Computer-code which is hard or soft coded may be provided in the form of one ormore modules. The module(s) can be implemented as software and / or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may beDocket No.: P2023-1284WO01 16stored in the storage device 1014 and / or in the volatile memory 1010, which may include anoperating system 1016 and / or one or more program modules 1018. All or a portion of theexamples disclosed herein may be implemented as a computer program 1020 stored on atransitory or non-transitory computer-usable or computer-readable storage medium (e.g.,single medium or multiple media), such as the storage device 1014, which includes complexprogramming instructions (e.g., complex computer-readable program code) to cause theprocessing circuitry 1002 to carry out actions described herein. Thus, the computer-readableprogram code of the computer program 1020 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 1002. In some examples, the storage device 1014 may be a computer program product (e.g., readable storage medium) storing the computer program 1020 thereon, where at least a portion of a computer program 1020 may be loadable (e.g., into a processor)for implementing the functionality of the examples described herein when executed by theprocessing circuitry 1002. The processing circuitry 1002 may serve as a controller or controlsystem for the computer system 1000 that is to implement the functionality described herein.

[0067] The computer system 1000 may include an input device interface 1022 configuredto receive input and selections to be communicated to the computer system 1000 whenexecuting instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Suchinput devices may be connected to the processing circuitry 1002 through the input deviceinterface 1022 coupled to the system bus 1006 but can be connected through other interfaces,such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serialport, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system1000 may include an output device interface 1024 configured to forward output, such as to adisplay, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube(CRT)). The computer system 1000 may include a communications interface 1026 suitablefor communicating with a network as appropriate or desired.

[0068] The operational actions described in any of the exemplary aspects herein aredescribed to provide examples and discussion. The actions may be performed by hardwarecomponents, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of theDocket No.: P2023-1284WO01 17actions may differ. In addition, two or more actions may be performed concurrently or withpartial concurrence.

[0069] The terminology used herein is for the purpose of describing particular aspectsonly and is not intended to be limiting of the disclosure. As used herein, the singular forms"a," "an," and "the" are intended to include the plural forms as well, unless the context clearlyindicates otherwise. As used herein, the term "and / or" includes any and all combinations ofone or more of the associated listed items. It will be further understood that the terms"comprises," "comprising," "includes," and / or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and / or groups thereof.

[0070] It will be understood that, although the terms first, second, etc., may be usedherein to describe various elements, these elements should not be limited by these terms.These terms are only used to distinguish one element from another. For example, a firstelement could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[0071] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal"or "vertical" may be used herein to describe a relationship of one element to another elementas illustrated in the Figures. It will be understood that these terms and those discussed aboveare intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to theother element, or intervening elements may be present. In contrast, when an element isreferred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0072] Unless otherwise defined, all terms (including technical and scientific terms) usedherein have the same meaning as commonly understood by one of ordinary skill in the art towhich this disclosure belongs. It will be further understood that terms used herein should beinterpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.Docket No.: P2023-1284WO01 18

[0073] It is to be understood that the present disclosure is not limited to the aspectsdescribed above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure andappended claims. In the drawings and specification, there have been disclosed aspects forpurposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.

Claims

Docket No.: P2023-1284WO01 19 Claims What is claimed is:

1. A computer system (13) comprising processing circuitry (17) configured to:receive inputs from a plurality of acceleration sensors (15a-c) arranged on a vehiclewheel (9), the acceleration sensors (15a-c) being spaced apart from each other and from arotational axis (11) of the vehicle wheel (9); anddetermine, based on the inputs and a model of the vehicle wheel (9), a time series ofestimations of at least one kinematic parameter (ωx, ωy, ωz, θ, ax, ay, az) of the vehiclewheel (9).

2. The computer system (13) of claim 1, wherein:at least one of the acceleration sensors (15a-c) is arranged on a rim (10) of the vehicle wheel (9); and the vehicle wheel model comprises a rigid body dynamic model of the rim (10) of the vehicle wheel (9).

3. The computer system (13) of claim 2, wherein each acceleration sensor of theplurality of acceleration sensors (15a-c) is arranged on the rim (10) of the vehicle wheel (9).

4. The computer system (13) of any one of claims 1 to 3, wherein the time series ofestimations of the at least one kinematic parameter (ωx, ωy, ωz, θ, ax, ay, az) of the vehiclewheel (9) is a time series of estimations of momentary values of the at least one kinematicparameter of the vehicle wheel.

5. The computer system (13) of any one of claims 1 to 4, wherein the processingcircuitry (17) is configured to:determine, based on the inputs and the model of the vehicle wheel (9), a time series ofestimations of: a momentary rotational speed (ωx) of the vehicle wheel (9) in respect of therotational axis (11) of the vehicle wheel (9), or a momentary rotational speed (ωy) of thevehicle wheel (9) in respect of a first axis (x) orthogonal to the rotational axis (11) of thevehicle wheel (9), or a momentary rotational speed (ωz) of the vehicle wheel (9) in respect ofDocket No.: P2023-1284WO01 20a second axis (z) orthogonal to the first axis (x) and to the rotational axis (11) of the vehiclewheel (9), or a momentary acceleration (ax) of the vehicle wheel (9) in a directionperpendicular to the rotational axis (11) of the vehicle wheel (9), or a momentary acceleration(ay) of the vehicle wheel (9) in a direction parallel to the rotational axis (11) of the vehiclewheel (9).

6. The computer system (13) of any one of claims 1 to 5, wherein the processingcircuitry (17) is configured to receive inputs from the acceleration sensors (15a-c) indicativeof acceleration in at least 6 different directions.

7. The computer system (13) of any one of claims 1 to 6, wherein the processingcircuitry (17) is configured to:determine, based on the time series of estimations of the at least one kinematicparameter (ωx, ωy, ωz, θ, ax, ay, az) of the vehicle wheel (9), a control command (21) encodinginstructions for controlling at least one vehicle sub-system (19).

8. A wheel motion estimation system (12), comprising:a plurality of acceleration sensors (15a-c); andthe computer system (13) of any one of claim 1 to 7.

9. The wheel motion estimation system (12) of claim 8, the acceleration sensors (15a-c)together being configured to sense acceleration in at least 6 different directions, whenarranged spaced apart from each other on a vehicle wheel (9).

10. The wheel motion estimation system (12) of claim 8 or 9, comprising at least threeacceleration sensors (15a-c), each acceleration sensor being configured to sense accelerationin at least two different directions.

11. A vehicle (1) comprising the wheel motion estimation system (12) of any one ofclaims 8 to 10.

12. A computer-implemented method, comprising:Docket No.: P2023-1284WO01 21 receiving (S1), by processing circuitry (17) of a computer system (13), inputs from aplurality of acceleration sensors (15a-c) arranged on a vehicle wheel (9), the accelerationsensors (15a-c) being spaced apart from each other and from a rotational axis (11) of thevehicle wheel (9); anddetermining (S2), by the processing circuitry (17), based on the inputs and a model ofthe vehicle wheel (9), a time series of estimations of at least one kinematic parameter (ωx, ωy,ωz, θ, ax, ay, az) of the vehicle wheel (9).

13. The method of claim 12, wherein:at least one of the acceleration sensors (15a-c) is arranged on a rim (10) of the vehicle wheel (9); and the vehicle wheel model comprises a rigid body dynamic model of the rim (10) of the vehicle wheel (9).

14. A computer program product comprising program code for performing, whenexecuted by the processing circuitry (17), the method of claim 12 or 13.

15. A non-transitory computer-readable storage medium comprising instructions, whichwhen executed by the processing circuitry (17), cause the processing circuitry (17) to performthe method of any of claim 12 or 13.

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