Vehicle wheel force control systems
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.
1 . A vehicle wheel force control system comprising:
multiple vehicle wheel height sensors each configured to measure a wheel height position of a corresponding wheel of a vehicle;
a vehicle inertial measurement unit (IMU) configured to measure a lateral acceleration of the vehicle and a longitudinal acceleration of the vehicle; and
a vehicle control module in communication with the multiple vehicle wheel height sensors and the vehicle IMU, the vehicle control module configured to:
obtain vehicle wheel height parameters from the multiple vehicle wheel height sensors;
obtain a vehicle lateral acceleration parameter and a vehicle longitudinal acceleration parameter 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.
2 . The vehicle wheel force control system of claim 1 , wherein the estimated normal force is an IMU-based estimated normal force, and the vehicle control module is configured to:
determine a longitudinal acceleration-based anti-dive compensation value according to at least the vehicle longitudinal acceleration parameter;
determine a pitch angle-based anti-dive compensation value according to at least the vehicle longitudinal acceleration parameter;
calculate a combined anti-dive compensation value according to the longitudinal acceleration-based anti-dive compensation value and the pitch angle-based anti-dive compensation value; and
determine a spring-based estimated normal force on the at least one wheel of the vehicle based, at least in part, on the combined anti-dive compensation value.
3 . The vehicle wheel force control system of claim 2 , wherein the vehicle control module is configured to:
determine a lateral acceleration-based roll rate compensation value according to at least the vehicle lateral acceleration parameter;
determine a roll angle-based roll rate compensation value according to at least the vehicle longitudinal acceleration parameter;
calculate a combined roll rate compensation value according to the lateral acceleration-based roll rate compensation value and the roll angle-based roll rate compensation value; and
determine a spring-based estimated normal force on the at least one wheel of the vehicle based, at least in part, on the combined roll rate compensation value.
4 . The vehicle wheel force control system of claim 3 , wherein the vehicle control module is configured to:
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; and
determine the spring-based estimated normal force on the at least one wheel of the vehicle based, at least in part, on the suspension spring displacement value and the suspensions spring damping force.
5 . The vehicle wheel force control system of claim 4 , wherein the vehicle control module is configured to:
determine, via a trained machine learning model, reliability scores for the IMU-based estimated normal force and the spring-based estimated normal force; and
determined a combined estimated normal force on the at least one wheel of the vehicle according to a weighted combination of the IMU-based estimated normal force and the spring-based estimated normal force, wherein the weighted combination is assigned based on the reliability scores for the IMU-based estimated normal force and the spring-based estimated normal force.
6 . The vehicle wheel force control system of claim 5 , wherein:
the trained machine learning model is trained based on multiple failure modes each associated with at least one of the IMU-based estimated normal force and the spring-based estimated normal force; and
each of the multiple failure modes is associated with one or more corresponding vehicle parameters indicative of the failure mode.
7 . The vehicle wheel force control system of claim 1 , wherein the vehicle control module is configured to:
compare the vehicle longitudinal acceleration parameter to a specified excessive acceleration threshold;
reset a value of a vehicle pitch angle in response to the vehicle longitudinal acceleration parameter exceeding the specified excessive acceleration threshold; and
perform integration of the vehicle pitch rate in response to the vehicle longitudinal acceleration parameter being less than the specified excessive acceleration threshold.
8 . The vehicle wheel force control system of claim 1 , wherein the vehicle control module is configured to:
obtain a pitch center location function, wherein the pitch center location function is determined offline according to at least one geometry pattern of a suspension of the vehicle; and
determine the pitch center of the vehicle online, based at least in part on the pitch center location function.
9 . The vehicle wheel force control system of claim 1 , wherein controlling operation of at least one vehicle component includes at least one of:
controlling a position of a moveable aerodynamic surface of the vehicle based on the estimated normal force; or
controlling an amount of torque supplied to at least one wheel of the vehicle based on the estimated normal force.
10 . The vehicle wheel force control system of claim 1 , wherein the vehicle control module is configured to estimate the pitch arm rotation value of the vehicle by:
calculating a rotational pitch acceleration value of the vehicle based on the vehicle longitudinal acceleration parameter; and
estimating the pitch arm rotation value of the vehicle based on the calculated rotational pitch acceleration value using least squares.
11 . The vehicle wheel force control system of claim 1 , wherein the vehicle control module is configured to:
determine a rigid body lateral load transfer value of the vehicle;
determine a rigid body longitudinal load transfer value of the vehicle;
determine a suspension compensated lateral load transfer value of the vehicle;
determine a suspension compensated longitudinal load transfer value of the vehicle; and
determine the estimated normal force on the at least one wheel of the vehicle based, at least in part, on the rigid body lateral load transfer value, rigid body longitudinal load transfer value, suspension compensated lateral load transfer value and suspension compensated longitudinal load transfer value of the vehicle.
12 . A vehicle wheel force control system comprising:
multiple vehicle wheel height sensors each configured to measure a wheel height position of a corresponding wheel of a vehicle;
a vehicle inertial measurement unit (IMU) configured to measure a lateral acceleration of the vehicle and a longitudinal acceleration of the vehicle; and
a vehicle control module in communication with the multiple vehicle wheel height sensors and the vehicle IMU, the vehicle control module configured to:
obtain vehicle wheel height parameters from the multiple vehicle wheel height sensors;
obtain a vehicle lateral acceleration parameter and a vehicle longitudinal acceleration parameter;
determine a longitudinal acceleration-based anti-dive compensation value according to at least the vehicle longitudinal acceleration parameter;
determine a pitch angle-based anti-dive compensation value according to at least the vehicle longitudinal acceleration parameter;
calculate a combined anti-dive compensation value according to the longitudinal acceleration-based anti-dive compensation value and the pitch angle-based anti-dive compensation value;
determine an estimated normal force on at least one wheel of the vehicle based, at least in part, on the combined anti-dive compensation value; and
control operation of at least one vehicle component according to the estimated normal force.
13 . The vehicle wheel force control system of claim 12 , wherein the vehicle control module is configured to:
determine a lateral acceleration-based roll rate compensation value according to at least the vehicle lateral acceleration parameter;
determine a roll angle-based roll rate compensation value according to at least the vehicle longitudinal acceleration parameter;
calculate a combined roll rate compensation value according to the lateral acceleration-based roll rate compensation value and the roll angle-based roll rate compensation value; and
determine the estimated normal force on the at least one wheel of the vehicle based, at least in part, on the combined roll rate compensation value.
14 . The vehicle wheel force control system of claim 13 , wherein the vehicle control module is configured to:
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; and
determine the estimated normal force on the at least one wheel of the vehicle based, at least in part, on the suspension spring displacement value and the suspensions spring damping force.
15 . The vehicle wheel force control system of claim 12 , wherein controlling operation of at least one vehicle component includes at least one of:
controlling a position of a moveable aerodynamic surface of the vehicle based on the estimated normal force; or
controlling an amount of torque supplied to at least one wheel of the vehicle based on the estimated normal force.
16 . The vehicle wheel force control system of claim 12 , wherein the vehicle control module is configured to determine, via a trained machine learning model, a reliability scores for the estimated normal force.
17 . The vehicle wheel force control system of claim 16 , wherein:
the trained machine learning model is trained based on multiple failure modes each associated with the estimated normal force; and
each of the multiple failure modes is associated with one or more corresponding vehicle parameters indicative of the failure mode.
18 . A vehicle wheel force control system comprising:
multiple vehicle wheel height sensors each configured to measure a wheel height position of a corresponding wheel of a vehicle;
a vehicle inertial measurement unit (IMU) configured to measure a lateral acceleration of the vehicle and a longitudinal acceleration of the vehicle; and
a vehicle control module in communication with the multiple vehicle wheel height sensors and the vehicle IMU, the vehicle control module configured to:
obtain vehicle wheel height parameters from the multiple vehicle wheel height sensors;
obtain vehicle lateral acceleration and vehicle longitudinal acceleration parameters from the vehicle IMU;
determine IMU-based estimated normal force on at least one wheel of the vehicle based, at least in part, on a calculated center of gravity of the vehicle;
determine a spring-based estimated normal force on the at least one wheel of the vehicle based, at least in part, on a combined anti-dive compensation value and a calculated combined anti-dive compensation value;
determine, via a trained machine learning model, reliability scores for the IMU-based estimated normal force and the spring-based estimated normal force;
determined a combined estimated normal force on the at least one wheel of the vehicle according to a weighted combination of the IMU-based estimated normal force and the spring-based estimated normal force, wherein the weighted combination is assigned based on the reliability scores for the IMU-based estimated normal force and the spring-based estimated normal force; and
control operation of at least one vehicle component according to the combined estimated normal force.
19 . The vehicle wheel force control system of claim 18 , wherein:
the trained machine learning model is trained based on multiple failure modes each associated with at least one of the IMU-based estimated normal force and the spring-based estimated normal force; and
each of the multiple failure modes is associated with one or more corresponding vehicle parameters indicative of the failure mode.
20 . The vehicle wheel force control system of claim 18 , wherein controlling operation of at least one vehicle component includes at least one of:
controlling a position of a moveable aerodynamic surface of the vehicle based to the combined estimated normal force; or
controlling an amount of torque supplied to at least one wheel of the vehicle based on the combined estimated normal force.