US 12,269,487 B2
Wheel load estimation device
Tatsuya Hattori, Kariya (JP); Hiroyuki Yamaguchi, Nagakute (JP); Daiki Mori, Nagakute (JP); Yoshikazu Hattori, Nagakute (JP); and Noriyoshi Suzuki, Nagakute (JP)
Assigned to KABUSHIKI KAISHA TOYOTA JIDOSHOKKI, Kariya (JP)
Appl. No. 18/031,408
Filed by KABUSHIKI KAISHA TOYOTA JIDOSHOKKI, Kariya (JP)
PCT Filed Jul. 28, 2021, PCT No. PCT/JP2021/027881
§ 371(c)(1), (2) Date Apr. 12, 2023,
PCT Pub. No. WO2022/079973, PCT Pub. Date Apr. 21, 2022.
Claims priority of application No. 2020-172729 (JP), filed on Oct. 13, 2020.
Prior Publication US 2023/0373497 A1, Nov. 23, 2023
Int. Cl. B60W 40/13 (2012.01); B66F 17/00 (2006.01)
CPC B60W 40/13 (2013.01) [B66F 17/003 (2013.01); B60W 2300/121 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A wheel load estimation device comprising:
at least one processor configured to:
obtain angular velocities and angular accelerations of a rigid body around three axes of the rigid body including an element, accelerations of the rigid body in a front-rear direction being a traveling direction of the rigid body and in a lateral direction being a width direction of the rigid body, a weight of the element, and a position including a height of the element, the element fluctuating a center of gravity of the rigid body;
calculate information relevant to the center of gravity of the rigid body and an inertia value including an inertial principal axis around the center of gravity of the rigid body;
calculate variation amounts of wheel loads that each act on a corresponding one of a plurality of wheels supporting the rigid body based on the angular velocities, the angular accelerations, the accelerations in the front-rear direction and the lateral direction obtained, and the information relevant to the center of gravity of the rigid body and the inertia value calculated; and
estimate the wheel loads based on the variation amounts of the wheel loads calculated and static loads that act on the respective wheels;
control an operation of the rigid body based on the wheel loads estimated.