A method for estimating a lateral force includes receiving vehicle data. The vehicle includes a plurality of tires. The method further includes using the bicycle model to determine a first lateral force at each of the plurality of tires of the vehicle; using the dual track model to determine a second lateral force at each of the plurality of tires of the vehicle; fusing a first lateral force determined using the bicycle model with a second lateral force determined using the dual track model to determine a third lateral force at each of the plurality of tires of the vehicle; and controlling an actuator of the vehicle using the third lateral force at each of the plurality of tires of the vehicle.
一种用于估计横向力的方法包括接收车辆数据。车辆包括多个轮胎。该方法还包括:使用自行车模型,以确定车辆的多个轮胎中的每一个处的第一横向力;使用双轨模型,以确定车辆的多个轮胎中的每一个处的第二横向力;将使用该自行车模型确定的第一横向力与使用该双轨模型确定的第二横向力融合起来,以确定该车辆的该多个轮胎中的每一个处的第三横向力;以及,使用该车辆的多个轮胎中的每一个处的第三横向力控制车辆的致动器。
Integrated tire longitudinal and lateral force estimation method
集成式轮胎纵向和横向力估计方法
2025-02-25
Patent
Electronic Resource
Chinese
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 |
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