Wheel Force Estimation Using IMU and Suspension Height Fusion
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Solution Overview
Problem
Existing vehicle wheel force control systems struggle to accurately estimate wheel normal forces in challenging driving scenarios, particularly due to unmodeled terms in IMU-based and spring-based methods, leading to suboptimal tire capacity utilization and vehicle stability issues.
Innovation Solution
A vehicle wheel force control system integrates IMU-based and spring-based estimation methods, utilizing data fusion strategies and machine learning models to combine and compensate for degradation modes, enhancing accuracy and robustness in normal force estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If IMU-based estimation method is used, then vehicle motion parameters can be obtained, but unmodeled terms lead to inaccurate wheel normal force estimation
Solution Approach 1:
The patent combines IMU-based estimation and spring-based estimation methods into a unified system. The controller receives inputs from both methods and fuses them to produce a final wheel normal force estimation, leveraging the strengths of each approach while compensating for their individual weaknesses through data fusion strategies and machine learning models
2Measurement precision
If spring-based estimation method is used, then wheel normal force can be estimated, but unmodeled terms reduce estimation accuracy
Solution Approach 1:
The patent combines IMU-based estimation and spring-based estimation methods into a unified system. The controller receives inputs from both methods and fuses them to produce a final wheel normal force estimation, leveraging the strengths of each approach while compensating for their individual weaknesses through data fusion strategies and machine learning models
3Device complexity
If single estimation method is used, then system complexity is reduced, but tire capacity utilization becomes suboptimal
Solution Approach 1:
The patent combines IMU-based estimation and spring-based estimation methods into a unified system. The controller receives inputs from both methods and fuses them to produce a final wheel normal force estimation, leveraging the strengths of each approach while compensating for their individual weaknesses through data fusion strategies and machine learning models
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The integrated system provides more accurate and reliable wheel normal force estimation, improving vehicle motion control, stability, and customer experience by effectively managing tire capacity and enhancing safety and performance.
Implementation Method 1
vehicle inertial measurement unit (IMU) configured to measure a lateral acceleration of the vehicle and a longitudinal acceleration of the vehicle
Implementation Method 2
multiple vehicle wheel height sensors each configured to measure a wheel height position of a corresponding wheel of the vehicle
Implementation Method 3
calculate a suspension spring displacement value for at least one spring of a suspension of the vehicle, calculate a suspension spring damping force value for the at least one spring of a suspension of the vehicle
Data Source
AI summary
A vehicle wheel force control system includes multiple vehicle wheel height sensors, a vehicle IMU configured to measure lateral and longitudinal acceleration, and a vehicle control module is configured to obtain vehicle wheel height parameters from the multiple vehicle wheel height sensors, obtain a vehicle lateral and longitudinal acceleration parameters from the vehicle IMU, estimate a pitch arm rotation value of the vehicle, determine a pitch center of the vehicle based on the pitch arm rotation value, the vehicle wheel height parameters and the vehicle lateral acceleration parameter and the vehicle longitudinal acceleration parameter, calculate a center of gravity of the vehicle according to the determined pitch center, determine an estimated normal force on at least one wheel of the vehicle based, at least in part, on the calculated center of gravity of the vehicle, and control operation of at least one vehicle component according to the estimated normal force.