US 12,397,726 B2
Integrated tire longitudinal and lateral force estimation methodology
Ali Reza Armiyoon, Markham (CA); Yubiao Zhang, Sterling Heights, MI (US); Hualin Tan, Novi, MI (US); Seyedalireza Kasaiezadeh Mahabadi, Novi, MI (US); and Jin-Jae Chen, Canton, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Aug. 24, 2023, as Appl. No. 18/455,057.
Prior Publication US 2025/0065828 A1, Feb. 27, 2025
Int. Cl. B60R 16/023 (2006.01); G01M 17/02 (2006.01)
CPC B60R 16/0231 (2013.01) [G01M 17/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for estimating lateral force, comprising:
receiving vehicle data of a vehicle, wherein the vehicle includes a plurality of tires;
using a bicycle model to determine a respective first lateral force at each of the plurality of tires of the vehicle for each individual tire;
using a double-track model to determine a respective second lateral force at each of the plurality of tires of the vehicle for each individual tire;
fusing the first lateral forces determined using the bicycle model and the second lateral forces using the double-track model to determine a respective third lateral force at each of the plurality of tires of the vehicle for each individual tire; and
controlling an actuator of the vehicle using the third lateral forces at each of the plurality of tires of the vehicle.