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    DETERMINATION OF ROLL ANGLE AND BANK ANGLE WITH SUSPENSION DISPLACEMENT DATA
    2.
    发明申请
    DETERMINATION OF ROLL ANGLE AND BANK ANGLE WITH SUSPENSION DISPLACEMENT DATA 审中-公开

    公开(公告)号：US20190143970A1

    公开(公告)日：2019-05-16

    申请号：US15809303

    申请日：2017-11-10

    Applicant: GM Global Technology Operations LLC

    Inventor： Shih-Ken Chen ,  Valery Pylypchuk ,  Bakhtiar B. Litkouhi

    IPC: B60W30/14 ,  B60W40/076 ,  B60G17/019 ,  B60W50/14

    Abstract: A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (β). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller is in communication with the at least one suspension sensor and has a processor and tangible, non-transitory memory on which is recorded instructions. The controller is configured to obtain the suspension displacement data and determine a roll angle (φ) based at least partially on the suspension displacement data. The bank angle (β) is determined based at least partially on the roll angle (φ), a yaw rate (r), a longitudinal velocity (Vx) and a plurality of predetermined parameters. Operation of the device is controlled based partly on at least one of the roll angle (φ) and the bank angle (β).

    Systems and methods for the real-time determination of tire normal forces
    3.
    发明授权
    Systems and methods for the real-time determination of tire normal forces 有权

    公开(公告)号：US10207559B2

    公开(公告)日：2019-02-19

    申请号：US15623846

    申请日：2017-06-15

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shih-Ken Chen ,  Valery Pylypchuk

    IPC: B60G17/016 ,  B60G15/06 ,  B60G17/019

    Abstract: A device includes a plurality of tires, a suspension system operatively connected to the plurality of tires, at least one suspension sensor operatively connected to the suspension system and configured to provide suspension data (S), and a controller operatively connected to the at least one suspension sensor and having a processor for executing a method for determining respective tire normal forces (Fzi(t), i=1 . . . n) for one or more of the plurality of tires, based at least partially on the suspension data (S), the respective tire normal forces being operative to adjust operation of the wheeled device. Execution of the instructions by the processor causes the controller to determine a transformation matrix (Ts) based on a plurality of predefined parameters. The controller is configured to obtain the respective tire normal forces (Fzi(t), i==1 . . . n) via the following equation: {tilde over (F)}z=[TS+τS(p)]{tilde over (S)}+Tuũ.

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