Architecture and methodology of adaptive tire force prediction for integrated vehicle motion control

Patent metadata

Field	Value
Publication number	US-12017660-B2
Application number	US-202117518237-A
Country	US
Kind code	B2
Filing date	Nov 3, 2021
Priority date	Nov 3, 2021
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A system for adaptive tire force prediction in a motor vehicle includes a control module that executes program code portions that receive real-time static and dynamic data from motor vehicle sensors, that model forces at each tire of the motor vehicle at one or more incremental time steps, that estimate actual forces at each tire of the motor vehicle at each of the one or more incremental time steps, that adaptively predict tire forces at each tire of the motor vehicle at each of the one or more incremental time steps, that generate one or more control commands for actuators of the motor vehicle, that capture discrepancies between real-time force estimations and nominal force calculations at each tire of the motor vehicle, and that apply compensation parameters to reduce tracking errors in the one or more control commands to the one or more actuators of the motor vehicle.

First claim

What is claimed is:

1. A system for adaptive tire force prediction in a motor vehicle, the system comprising:
one or more sensors disposed on the motor vehicle, the one or more sensors measuring real-time static and dynamic data about the motor vehicle;
one or more actuators disposed on the motor vehicle, the one or more of actuators altering static and dynamic behavior of the motor vehicle;
a control module having a processor, a memory, and input/output (I/O) ports, the control module executing program code portions stored in the memory, the program code portions comprising:
a first program code portion that receives, via the I/O ports, the real-time static and dynamic data from the one or more sensors;
a second program code portion that models forces at each tire of the motor vehicle at one or more incremental time steps;
a third program code portion that estimates actual forces at each tire of the motor vehicle at each of the one or more incremental time steps;
a fourth program code portion that adaptively predicts tire forces at each tire of the motor vehicle at each of the one or more incremental time steps, wherein a slip angle and a slip ratio are defined respectively by:

α

i
,
j

=

tan

-
1

(

v

y
ij

v

x
ij

)

,

κ

i
,
j

=

(

R
e

⁢

ω

i
,
j

-

v

x
ij

)

v

x
ij

wherein actual tire forces are mathematically defined by:

min

c
1

,

c
2

,

c
3

,

c
4

,

c
5

∑
i
n

(

F
z

⁢

μ

x
i

-

y
i

)

2

where y i represents a force calculation for each of the tires of the motor vehicle, and wherein coefficients c 1 , c 2 , c 3 , c 4 , c 5 are based on actual tire forces in different slip angles and different normal forces using nonlinear least squares data;
a fifth program code portion that generates one or more control commands for the one or more actuators of the motor vehicle; and
a sixth code portion that captures discrepancies between real-time force estimations and nominal force calculations at each tire of the motor vehicle, and applies compensation parameters to reduce tracking errors in the one or more control commands to the one or more actuators of the motor vehicle.

2. The system for adaptive tire force prediction in a motor vehicle of claim 1 , wherein the first program code portion further comprises:
receiving real-time static and dynamic data from one or more of:
inertial measurement units (IMUs) capable of measuring position, orientation, acceleration, and velocity in at least three dimensions;
wheel speed sensors capable of measuring angular speeds of wheels of the motor vehicle;
throttle position sensors capable of measuring a throttle position of the motor vehicle;
accelerator position sensors capable of measuring a position of an accelerator pedal of the motor vehicle; and
tire pressure monitoring sensors capable of measuring pressures of tires of the motor vehicle.

3. The system for adaptive tire force prediction in a motor vehicle of claim 2 , wherein the real-time static and dynamic data further comprises:
lateral velocity;
longitudinal velocity;
yaw rate;
wheel angular velocity; and
longitudinal, lateral, and normal forces on each tire of the motor vehicle.

4. The system for adaptive tire force prediction in a motor vehicle of claim 1 , wherein the second program code portion further comprises:
a piecewise affine model that generates predictions of longitudinal and lateral forces on each tire of the motor vehicle.

5. The system for adaptive tire force prediction in a motor vehicle of claim 4 , wherein the piecewise affine model further comprises:
a program code portion that calculates a linear approximation of longitudinal forces, lateral forces, self-aligning torques, and coefficients of friction at a contact patch between the tire and a surface such that the linear approximation models tire force behavior in both linear and nonlinear regions at one or more incremental time steps.

6. The system for adaptive tire force prediction in a motor vehicle of claim 1 , wherein the third program code portion further comprises utilizing a lookup table to estimate actual forces at each tire of the motor vehicle based on the real-time static and dynamic data from the one or more sensors.

7. The system for adaptive tire force prediction in a motor vehicle

Assignees

• Gm Global Tech Operations Llc

Inventors

• Askari Hassan
• Nahidi Seyedeh Asal
• Mashrouteh Shamim
• Long Ruixing
• Pattipati Bharath
• Mahabadi Seyedalireza Kasaiezadeh
• Tan Hualin
• Frascati Lapo

Classifications

• B60W30/02

  Control of vehicle driving stability · CPC title

• B60C23/0486

  comprising additional sensors in the wheel or tyre mounted monitoring device, e.g. movement sensors, microphones or earth magnetic field sensors · CPC title

• B60W2520/26

  Wheel slip · CPC title

• B60W40/12

  related to parameters of the vehicle itself {, e.g. tyre models} · CPC title

• B60W40/101 Primary

  Side slip angle of tyre · CPC title