Tire-Level Force Sensor Drift Angle Estimation
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Solution Overview
Problem
Current systems for estimating a vehicle's drift angle in industrial settings lack precision and rely on imprecise sensor measurements, leading to unsatisfactory estimation in chassis control systems like ESP.
Innovation Solution
A method involving force sensors to measure forces along the longitudinal and transverse axes at the tire level, using torque from the powertrain and braking system, and aerodynamic forces to calculate the drift angle with improved precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If drift angle is estimated using standard sensors (steering angle, wheel rotation speed, yaw rate) and reconstruction models, then the system can be implemented industrially, but the measurement precision is insufficient
Solution Approach 1:
The patent introduces an intermediary device (force sensor or moment sensor) placed at the wheel bearing to directly measure the forces and moments acting on the wheel. This intermediary measurement point provides direct data about tire-road interaction, serving as a bridge between the complex sensor suite and the drift angle calculation, thereby improving precision without requiring complex reconstruction models
Solution Approach 2:
The patent replaces the complex mechanical reconstruction system (multiple sensors + computational models) with a direct mechanical measurement approach using force sensors or moment sensors at the wheel bearing. This substitution measures the physical quantities directly rather than reconstructing them from indirect measurements, improving drift angle precision while simplifying the overall system architecture
2Measurement precision
If optical measurement systems with beacons are used to measure drift angle, then high precision can be achieved, but the system cannot be industrialized in series
Solution Approach 1:
The patent employs sensors that are already integrated into the vehicle's existing wheel bearing assembly, making the measurement system self-contained and utilizing components that are already part of the vehicle's standard equipment. This eliminates the need for external optical infrastructure (beacons, cameras) and allows the system to be manufactured and deployed like any other standard vehicle component
Solution Approach 2:
The force sensor or moment sensor at the wheel bearing serves multiple functions: it measures forces for drift angle calculation, measures vertical loads, and can potentially measure other mechanical parameters. This multi-functionality replaces the specialized optical measurement system with a universal sensor that serves both measurement and structural purposes, enabling industrialization
Data Source
Figure 1~2
AI summary
The method involves determining forces generated by an engine and a braking system at a level of a tire of a motor vehicle. Forces along a longitudinal axis and forces along a transverse axis of a force sensor at the level of the tire are measured. A side slip angle (delta) of the vehicle is determined according to the determination of the forces generated by the engine and the braking system, and the measurement of the forces measured along the longitudinal and transverse axes of the force sensor, by using a specific equation. An independent claim is also included for a computer program comprising a set of instructions for implementing a method for determining side slip of a motor vehicle.