{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "A method for estimating a tire state including normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle is disclosed. The method comprises: accessing a vehicle CAN-bus for vehicle sensor-measured information; equipping the vehicle with a plurality of…",
  "path": "/patents/928068",
  "publishedAt": "2017-04-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60C23/0488",
    "GOODYEAR TIRE & RUBBER [US]"
  ],
  "textContent": "A method for estimating a tire state including normal force, lateral force, and longitudinal force on a tire mounted to a wheel and supporting a vehicle is disclosed. The method comprises: accessing a vehicle CAN-bus for vehicle sensor-measured information; equipping the vehicle with a plurality of CAN-bus accessible, vehicle mounted sensors providing by the CAN-bus input sensor data, the input sensor data including acceleration and one or more angular velocities, steering wheel angle measurement, angular wheel speed of the wheel, roll rate, pitch rate, and yaw rate; deploying a normal force estimator operable to estimate a normal force on the tire from a summation of longitudinal load transfer, lateral load transfer and static normal force using as inputs lateral acceleration, longitudinal acceleration and roll angle derived from the input sensor data; deploying a lateral force estimator operable to estimate a lateral force on the tire from a planar vehicle model using as inputs measured lateral acceleration, longitudinal acceleration and yaw rate derived from the input sensor data; and deploying a longitudinal force estimator operable to estimate a longitudinal force on the tire from a wheel rotational dynamics model using as inputs wheel angular speed and drive/brake torque derived from the input sensor data.",
  "title": "METHOD FOR ESTIMATING TIRE FORCES FROM CAN-BUS ACCESSIBLE SENSOR INPUTS"
}