US 12,479,418 B2
Vehicle wheel force control systems
Reza Hajiloo, Richmond Hill (CA); Ali Reza Armiyoon, Markham (CA); Seyedalireza Kasaiezadeh Mahabadi, Novi, MI (US); Mustafa Hakan Turhan, Kitchener (CA); Naser Mehrabi, Richmond Hill (CA); Hualin Tan, 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 Dec. 22, 2023, as Appl. No. 18/394,909.
Prior Publication US 2025/0206290 A1, Jun. 26, 2025
Int. Cl. B60W 30/02 (2012.01); B60L 15/20 (2006.01); B60W 40/11 (2012.01); B60W 40/112 (2012.01); B62D 35/00 (2006.01)
CPC B60W 30/02 (2013.01) [B60L 15/20 (2013.01); B60W 40/11 (2013.01); B60W 40/112 (2013.01); B62D 35/00 (2013.01); B60W 2510/22 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2710/30 (2013.01); B60W 2720/30 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle wheel force control system comprising:
multiple vehicle wheel height sensors each configured to measure a wheel height position of a corresponding wheel of a vehicle;
a vehicle inertial measurement unit (IMU) configured to measure a lateral acceleration of the vehicle and a longitudinal acceleration of the vehicle; and
a vehicle control module in communication with the multiple vehicle wheel height sensors and the vehicle IMU, the vehicle control module configured to:
obtain vehicle wheel height parameters from the multiple vehicle wheel height sensors;
obtain a vehicle lateral acceleration parameter and a vehicle longitudinal acceleration parameter from the vehicle IMU;
estimate a pitch arm rotation value of the vehicle;
determine a pitch center of the vehicle based on the pitch arm rotation value, the vehicle wheel height parameters and the vehicle lateral acceleration parameter and the vehicle longitudinal acceleration parameter;
calculate a center of gravity of the vehicle according to the determined pitch center;
determine an estimated normal force on at least one wheel of the vehicle based, at least in part, on the calculated center of gravity of the vehicle; and
control operation of at least one vehicle component according to the estimated normal force.