US 12,291,214 B2
Method for determining the payload mass of a vehicle
Lingga Aksara Putra, Straubing (DE); and Philipp Birkholz, Obersulm (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Aug. 24, 2022, as Appl. No. 17/894,251.
Claims priority of application No. 10 2021 211 439.3 (DE), filed on Oct. 11, 2021.
Prior Publication US 2023/0113559 A1, Apr. 13, 2023
Int. Cl. B60W 40/13 (2012.01); B60W 50/00 (2006.01); G01G 19/08 (2006.01)
CPC B60W 40/13 (2013.01) [B60W 50/0097 (2013.01); G01G 19/08 (2013.01); B60W 2050/0031 (2013.01); B60W 2510/22 (2013.01); B60W 2530/10 (2013.01); B60W 2710/18 (2013.01); B60W 2720/106 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method for determining a sought payload mass resting on a wheel of a vehicle, this vehicle having a level sensor system which is capable of detecting a vertical movement of a vehicle body in relation to the wheel, including the steps:
detecting, using the level sensor system, in a time period in which the vehicle is moved, a time series of measured values, each of the measured values indicating a vertical position of the vehicle body in relation to the wheel;
providing a model for a temporal development of the vertical position under influence of the gravitational force of the vehicle body and the payload, an elastic suspension between the vehicle body and the wheel of the vehicle, and a damping of the vertical relative movement between the vehicle body and the wheel of the vehicle, the model being parameterized at least using the sought payload mass, and the wheel of the vehicle and a connection of the wheel to a roadway being assumed to be rigid;
ascertaining a payload mass which brings the model optimally into accordance with the time series of measured values as the sought payload mass; and
providing a controller configured to control, based on the payload mass, at least one of:
a vehicle dynamics of the vehicle,
a braking force of the vehicle in a movement regulation for a longitudinal movement of the vehicle, or
an acceleration force of the vehicle in the movement regulation for the longitudinal movement of the vehicle.