Estimation of wheel normal force and vehicle vertical acceleration
A method for estimating the normal force at a wheel of a vehicle and the vertical acceleration of the vehicle that has particular application for ride and stability control of the vehicle. The method includes obtaining a suspension displacement value from at least one of a plurality of suspension displacement sensors mounted on the vehicle and estimating a spring force acting on a spring of a suspension element of the vehicle, a damper force acting on a damper of the suspension element of the vehicle, and a force acting at a center of a wheel. The method further includes determining a normal force at the wheel of the vehicle and a vertical acceleration of the vehicle based on the spring force, the damper force and the force at the center of the wheel of the vehicle.
1. A method for estimating a normal force at a wheel of a vehicle, the vehicle comprising a plurality of suspension displacement sensors with each of the plurality of suspension displacement sensors positioned proximal to a suspension element of the vehicle, the method comprising:
obtaining a suspension displacement value from at least one of the plurality of suspension displacement sensors;
estimating a spring force based on the suspension displacement value, wherein the spring force is the force acting on a spring of the suspension element;
estimating a damper force based on the suspension displacement value, wherein the damper force is the force acting on a damper of the suspension element;
estimating a force at the center of the wheel based on an acceleration of a center of the wheel and an unsprung mass of the vehicle, where the acceleration of the center of the wheel is a second order derivative of the suspension displacement value with respect to time; and
determining the normal force at the wheel of the vehicle based on the spring force, the damper force and the force at the center of the wheel of the vehicle.
2. The method according to claim 1 wherein the spring force is obtained from an arranged set of data, wherein the arranged set of data is a representation of a set of spring force values corresponding to a set of suspension displacement values.
3. The method according to claim 2 wherein the arranged set of data is provided by a table.
4. The method according to claim 2 wherein the arranged set of data is provided by a graph.
5. The method according to claim 1 wherein the damper force is obtained from an arranged set of data, wherein the arranged set of data is a representation of a set of damper force values corresponding to a set of a damper velocity values.
6. The method according to claim 5 wherein the arranged set of data is provided by a table.
7. The method according to claim 5 wherein the arranged set of data is provided by a graph.
8. The method according to claim 5 wherein the damper velocity is a first order derivative of the suspension displacement value with respect to time.
9. The method according to claim 1 wherein the normal force at the wheel is given by the equation:
F N =m U {umlaut over (z)}+F S +F D
where F N is the normal force of the wheel, m U is the unsprung mass of the vehicle, F S is the spring force and F D is the damper force.
10. A method for estimating a vertical acceleration of a vehicle, the vehicle comprising a plurality of suspension displacement sensors with each of the plurality of suspension displacement sensors positioned proximal to a suspension element of the vehicle, the method comprising:
obtaining a suspension displacement value from at least one of the plurality of suspension displacement sensors;
estimating a spring force based on the suspension displacement value, wherein the spring force is the force acting on a spring of the suspension element, wherein the spring force is obtained from an arranged set of data, wherein the arranged set of data is a representation of a set of spring force values corresponding to a set of suspension displacement values;
estimating a damper force based on the suspension displacement value, wherein the damper force is the force acting on a damper of the suspension element; and
determining the vertical acceleration of the vehicle based on the spring force and the damper force, wherein the vertical acceleration of the vehicle is given by:
m
vehicle
a
z
=
-
m
vehicle
g
+
∑
i
=
1
4
F
corner
i
where m vehicle is the mass of the vehicle, a z , is the vertical acceleration of the vehicle, g is acceleration due to gravity, and F corner i is a force acting on a corner of the vehicle and is given by:
F corner i =F S +F D
where F S is the spring force and F D is the damper force, and where the mass of the vehicle is estimating using the above m vehicle a z equation when the vehicle is at a standstill condition.
11. The method according to claim 10 wherein the arranged set of data is provided by a table.
12. The method according to claim 10 wherein the arranged set of data is provided by a graph.
13. The method according to claim 10 wherein the damper force is obtained from an arranged set of data, wherein the arranged set of data is a representation of a set of damper force values corresponding to a set of damper velocity values.
14. The method according to claim 13 wherein the arranged set of data is provided by a table.
15. The method according to claim 13 wherein the arranged set of data is provided by a graph.
16. The method according to claim 13 wherein the damper velocity is a first order derivative of the suspension displacement data with respect to time.
17. A method for facilitating ride and stability control of a vehicle by determining a normal force at a wheel of the vehicle and vertical acceleration of the vehicle, the method comprising:
obtaining a suspension displacement value from at least one of the plurality of suspension displacement sensors;
estimating a spring force based on the suspension displacement value, wherein the spring force is the force acting on a spring of the suspension element;
estimating a damper force based on the suspension displacement value, wherein the damper force is the force acting on a damper of a suspension element;
estimating a force at the center of a wheel based on an acceleration of a center of the wheel and an unsprung mass of the vehicle, where the acceleration of the center of the wheel is a second order derivative of the suspension displacement value with respect to time; and
determining a normal force at the wheel of a vehicle and a vehicle vertical acceleration of the vehicle based on the spring force, the damper force, the force at the center of the wheel of the vehicle, a mass of the vehicle and an acceleration of the center of the wheel of the vehicle.
18. The method according to claim 17 wherein the spring force is obtained from an arranged set of data, wherein the arranged set of data is a representation of a set of spring force values corresponding to a set of suspension displacement values.
19. The method according to claim 17 wherein the damper force is obtained from an arranged set of data, wherein the arranged set of data is a representation of a set of damper force values corresponding to a set of a damper velocity values.
20. The method according to claim 17 wherein the normal force at the wheel is given by the equation:
F N =m U {umlaut over (z)}+F S +F D
where F N is the normal force of the wheel, m U is the unsprung mass of the vehicle, F S is the spring force and F D is the damper force.