The invention relates to inverse tire model adaptation based on tire tread deflection sensor output data, comprising a control unit (130, 140) for controlling a heavy vehicle (100) wherein the control unit (130, 140) is arranged to obtain an initial inverse tire model (f-1, 400, 500), the initial inverse tire model is configured to represent a preliminary relationship between a wheel slip (lambda) of at least one wheel (210) of the heavy vehicle (100) and a generated longitudinal wheel force (Fx), and wherein the control unit (130, 140) is arranged to obtain data from a tire tread deflection sensor (245), the tire tread deflection sensor is configured to measure a tire tread deflection amount associated with the at least one wheel (210) and a wheel slip (lambda) amount of the at least one wheel (210) corresponding to the tire tread deflection amount, wherein the control unit (130, 140) is arranged to update the obtained initial inverse tire model (400, 500) based on the tire tread deflection amount and the corresponding wheel slip (lambda) amount, wherein the control unit (130, 140) is arranged to control the heavy vehicle (100) by configuring a target wheel speed ([omega] x) or a target wheel slip ([lambda]) of the at least one wheel (210) based on the updated inverse tire model (400, 500) to produce a target longitudinal wheel force (Fx).
本发明涉及基于轮胎胎面挠曲传感器输出数据的逆轮胎模型自适应,其包括一种用于控制重型车辆(100)的控制单元(130、140),其中控制单元(130、140)被布置为获得初始逆轮胎模型(f‑1、400、500),所述初始逆轮胎模型被配置为表示所述重型车辆(100)的至少一个车轮(210)的车轮滑移(λ)与产生的纵向车轮力(Fx)之间的初步关系,其中控制单元(130、140)被布置为从轮胎胎面挠曲传感器(245)获得数据,所述轮胎胎面挠曲传感器被配置为测量与所述至少一个车轮(210)相关联的轮胎胎面挠曲量,以及所述至少一个车轮(210)的与所述轮胎胎面挠曲量相对应的车轮滑移(λ)量,其中控制单元(130、140)被布置为基于轮胎胎面挠曲量和对应的车轮滑移(λ)量来更新所获得的初始逆轮胎模型(400、500),其中控制单元(130、140)被布置为通过基于更新后的逆轮胎模型(400、500)配置所述至少一个车轮(210)的目标车轮转速(ωx)或目标车轮滑移(λ)以产生目标纵向车轮力(Fx)来控制所述重型车辆(100)。
Inverse tire model adaptation based on tire tread deflection sensor output data
基于轮胎胎面挠曲传感器输出数据的逆轮胎模型自适应
05.07.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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