US 11,840,242 B2
Method and device for ascertaining a dynamic tire circumference of a means of transportation
Stepan Kroupa, Gärtringen (DE); Ussama Lazouane, Pforzheim (DE); Fabian Stein, Sindelfingen (DE); and Harald Michi, Oelbronn-Duerrn (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 17/277,655
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Nov. 27, 2019, PCT No. PCT/EP2019/082692
§ 371(c)(1), (2) Date Mar. 18, 2021,
PCT Pub. No. WO2020/126362, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 102018222152.9 (DE), filed on Dec. 18, 2018.
Prior Publication US 2022/0024463 A1, Jan. 27, 2022
Int. Cl. B60W 40/12 (2012.01); B62D 15/02 (2006.01); G06F 17/18 (2006.01)
CPC B60W 40/12 (2013.01) [B62D 15/027 (2013.01); G06F 17/18 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for ascertaining a dynamic tire circumference of a transportation vehicle, the method comprising the following steps:
computing a dynamic track width of the transportation vehicle using a first instance of a first output signal of a first Kalman filter;
receiving a first signal representing a yaw rate of the transportation vehicle, a second signal representing a wheel speed of a wheel of the transportation vehicle, a third signal representing a steering angle of the transportation vehicle, and a fourth signal representing the computed dynamic track width of the transportation vehicle;
ascertaining another instance of the first output signal of the first Kalman filter that represents the dynamic tire circumference of the wheel, using the first signal, the second signal, the third signal, and the fourth signal as input signals for the first Kalman filter; and
using the first output signal in a control unit of the transportation vehicle.