DE102019111190A1 - METHOD AND DEVICE FOR BALANCING BODIES IN VEHICLE WEIGHT CALCULATIONS - Google Patents

Abstract

The disclosure provides methods and apparatus for balancing body rolls in vehicle weight calculations.
Methods and apparatus for balancing body rolls in vehicle weight calculations are disclosed. An example method includes receiving sensor data from sensors of a vehicle, determining a weight of the vehicle, and determining a body roll of the vehicle. The exemplary method further includes comparing the body roll with a threshold and adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold.

Description

AREA OF REVELATION

This disclosure generally relates to determining the weight of a vehicle, and more particularly to methods and apparatus for compensating body rolls in vehicle weight calculations.

GENERAL PRIOR ART

Some vehicle suspension systems include a support bar (also referred to as a stabilizer bar, roll bar, roll stabilizer bar, anti-roll bar or stabilizer) to reduce the body roll of a vehicle. Some support bars are metal bars coupled along the same axis to the driver-side suspension assembly and the passenger-side suspension assembly. Support rods may be installed on the front axle, the rear axle or both axles of a vehicle. Suspension systems with support rods mechanically transfer part of the vertical load of the more heavily loaded vehicle side over the support bar to the other side of the vehicle. Mechanical transmission of the load occurs because support bars act as torsion springs (eg, have stiffness), resist torsion, and apply force to mitigate asymmetric loading.

Additionally or alternatively, vehicle suspension systems may also include a live axle (also referred to as a beam axle or fixed axle) that connects the driver-side suspension assembly and the passenger-side suspension assembly. In rigid axles, the camber angle of each wheel along the rigid axle is the same. Some multi-axle vehicles may include both rigid axles (eg, the rear axle) and axles equipped with support bars (eg, the front axle).

SUMMARY

An exemplary apparatus disclosed herein includes a sensor input for receiving sensor data from sensors of a vehicle, weight determining means for determining a weight of the vehicle based on the sensor data, a roll computing means for determining a body roll of the vehicle based on the sensor data, a roll threshold comparison means for comparing the body roll a threshold and weight setting means for adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll corresponds to the threshold.

An example method disclosed herein includes receiving sensor data from sensors of a vehicle, determining a weight of the vehicle based on the sensor data, determining a body roll of the vehicle based on the sensor data, comparing the body weight with a threshold, and setting the determined weight of the vehicle based on the certain body roll and properties of a suspension system of the vehicle, when the body roll corresponds to the threshold.

An exemplary tangible machine-readable storage medium disclosed herein includes instructions that, when executed, cause a processor to receive at least sensor data from sensors of a vehicle, determine a weight of the vehicle based on the sensor data, determine a body roll of the vehicle based on the sensor data To compare body rolls with a threshold and set the specific weight of the vehicle based on the specific body roll and properties of a suspension system of the vehicle when the body roll corresponds to the threshold.

list of figures

• 1 FIG. 10 is an illustration of an exemplary vehicle suspension system in which the teachings of this disclosure may be practiced.
• 2A FIG. 10 is an illustration of an exemplary vehicle suspension system including a live axle and a wheel having a positive camber. FIG.
• 2 B FIG. 10 is an illustration of an exemplary vehicle suspension system including a live axle and a wheel having a negative camber. FIG.
• 3A FIG. 10 is an illustration of an example vehicle in an unloaded position. FIG.
• 3B FIG. 10 is an illustration of an exemplary vehicle in a symmetrically loaded position. FIG.
• 3C FIG. 10 is an illustration of an example vehicle in an asymmetrically loaded position. FIG.
• 4 is a vehicle weight calculation system in which the teachings of this disclosure may be practiced.
• 5 Figure 4 is a block diagram of the exemplary roll balancer 4 in which the teachings of this disclosure can be implemented.
• 6 FIG. 10 is a flowchart of an exemplary method for compensating for asymmetric load in a vehicle weight determination.
• 7 Figure 13 is a block diagram of an example processor platform structured to provide instructions for implementing the roll balancer 4 perform.

The figures are not to scale. In general, like reference characters will be used throughout the drawings and the accompanying written description to refer to the same or like parts. As used herein, the terms "coupled" and "operatively linked" are defined as being directly or indirectly connected (eg, by one or more intervening structures and / or layers). As used herein, the indication that any part (eg, a layer, a film, an area, a region, or a plate) is located in any other way on another part (e.g., positioned, placed on, arranged on, or formed on, etc.) that the part being referenced either touches the other part, or that the part being referenced is over the other part, with one or more intermediate part (e ) is / are placed in between.

DETAILED DESCRIPTION

When a vehicle is loaded asymmetrically (eg, unequal weight on the driver and passenger side of the vehicle), a body roll may occur. As used herein, body roll refers to the rotation of a vehicle body about the centerline (longitudinal axis) of the vehicle. As used herein, the angle between the chassis and the ground is referred to as the roll angle. In some examples, the body roll leads to variations in suspension deflection and / or ground clearance along each axis. In some examples, the variation in spring travel and / or ground clearance may cause the chassis to be no longer parallel to the ground. Vehicle suspension systems including support bars balance an asymmetrically loaded vehicle and resist body roll.

In vehicle weight calculation systems using ground clearance sensors, in some examples, the effects of a support bar can result in inaccurate weight measurements due to transmission through the support bar rather than the other suspension elements (eg, shock absorbers, springs, etc.) of the vehicle suspension. Further, in vehicles that include rigid axles, the force can be similarly transmitted through the live axle, resulting in inaccuracies in the weight calculation.

In accordance with the present disclosure, methods and apparatus for balancing body rolls in vehicle weight calculations are disclosed. Examples disclosed herein equalize the effects of a support bar by adjusting the weight measurements using the properties of the support bar and suspension to calculate a roll angle. Examples disclosed herein compensate for the effects of a rigid axle by adjusting the weight measurements using the properties of the live axle and the sensor measurements. In some examples disclosed herein, vehicle sensor data is used to calculate body roll. In some examples disclosed herein, the body roll is compared to a dynamically calculated roll threshold. In some examples disclosed herein, a weight adjustment is determined when the body roll exceeds the roll threshold.

1 FIG. 4 is an illustration of an exemplary vehicle suspension system. FIG 100 in which the teachings of this disclosure can be implemented. The exemplary suspension system 100 includes an exemplary support bar 102 , an exemplary passenger-side suspension assembly 104a , an exemplary driver-side suspension assembly 104b , an exemplary passenger-side wheel assembly 108a and an exemplary driver side wheel assembly 108b , The exemplary passenger-side suspension assembly 104a includes an exemplary first suspension element 110a , The exemplary driver-side suspension assembly 104b includes an exemplary second suspension element 110b , The exemplary passenger-side suspension assembly 104a is from a first vertical load 106a loaded and the driver-side suspension assembly 104b from a second vertical load 106b applied. In the illustrated example, the exemplary support bar is 102 coupled to the front axle of the vehicle. In other examples, the support bar 102 instead be coupled to any suitable axle (eg, the rear axle). In the example illustrated, it is in the vehicle suspension system 100 an independent double wishbone suspension system with strut. In other examples, the vehicle suspension system may be 100 be any other type of suspension system (eg, an air suspension system, a hydraulic suspension system, etc.). In some examples, the vehicle suspension system may be 100 to act an active suspension system.

The exemplary suspension assemblies 104a . 104b allow the passenger-side wheel assembly 108a and the driver's side wheel assembly 108b be deflected independently of each other. As used herein, the suspension deflection refers to a compression or tension length in the suspension elements 110a . 110b the suspension assembly. In some examples, a change in suspension deflection may be correlated with a change in ground clearance of the vehicle (eg, road clearance). In some examples, the suspension deflection and / or the ground clearance of the suspension assemblies 104a . 104b used to calculate the total weight of the vehicle and / or the body roll of the vehicle.

At the suspension elements 110a . 110b These are the elements of the suspension system 100 that absorb and / or dampen impacts. For example, the suspension elements 110a . 110b Contain springs (or other similar elastic objects) and shock absorbers / dampers. In the illustrated example, the suspension elements are 110a . 110b suspension devices with strut. In other examples, the suspension elements may be 110a . 110b any other suitable means of absorbing and absorbing impacts (e.g., air springs, etc.).

When the first vertical load 106a the passenger-side suspension assembly 104a is applied, the coil spring of the passenger-side suspension assembly 104a compressed down, causing the passenger wheel assembly 108a can stay in contact with the running surface. Similarly, in some examples, the coil spring of the driver-side suspension assembly 104b compressed when the second vertical load 106b the driver's side suspension assembly 104b applied, causing the wheel assembly 108b can stay in contact with the running surface. In some examples, the deflections in the coil springs of the suspension assemblies ( 104a . 104b) may not be the same (eg, the vertical loads 106a . 106b not the same, the driving surface is uneven, the vehicle traverses a curve, etc.). In these examples, the ground clearances of the driver and passenger side of the axle are not equal, which results in the vehicle having a non-zero body roll.

In the illustrated example 1 is the support rod 102 formed from a cylindrical metal rod and is on the passenger-side suspension assembly 104a and the driver-side suspension assembly 104b coupled. In some examples, the support bar acts 102 as a torsion spring with an associated torsional stiffness (k). If, in some examples, the exemplary first vertical load 106a the second vertical load 106b exceeds (or similarly the second vertical load 106b the first vertical load 106a exceeds), the resulting force, the passenger-side suspension 104a and the driver's side suspension 104b is subjected to, that a torsion on the support rod 102 is exercised. In this example, the support bar resists 102 the torsion and transfers the load from the heavily loaded passenger-side suspension assembly 104a to the lighter loaded driver side suspension assembly 104b , In some examples, the transfer of load across the support bar reduces 102 the difference in suspension deflection between the driver's side and the passenger's side of the axle of the suspension system 100 and thus the difference in ground clearance and overall body roll of the vehicle. In some examples, the torsion in the support bar reduces 102 the total deflection of the suspension assemblies 104a . 104b (eg the sum of the deflections) compared to an axis without the support bar 102 under the same load conditions (eg the vertical loads 106a . 106b ).

2A FIG. 4 is an illustration of an exemplary vehicle suspension system. FIG 200 , an exemplary solid axle 204 and an exemplary wheel assembly 206a includes, which has a positive fall. The exemplary vehicle suspension system 200 also includes an exemplary right wheel assembly 206b and an exemplary suspension assembly 210 , In the illustrated example 2A are the left and right sides of the exemplary live axle 204 with a first vertical load 212 and a second vertical load 214 applied. In the illustrated example, the wheel assembly 206 a positive fall 208 on.

In the illustrated example, the exemplary wheel assemblies 206a . 206b a positive fall 208 on, since the first vertical load 212 is greater than the second vertical load 214 , In some examples, the rigid axle allows 204 not that the wheel assembly 206a . 206b having different falls. In some examples, the resulting camber in the wheel assemblies causes 206a . 206b that part of the first vertical load 212 through the rigid axle 204 from the left wheel assembly 206a to the right-hand left wheel assembly 206b is transmitted. In this example, the part of the load passes through the live axle 204 is transmitted, not to a deflection of the suspension assembly 210 ,

2 B FIG. 4 is an illustration of the exemplary vehicle suspension system. FIG 200 , the exemplary solid axle 204 and the exemplary wheel assembly 206a includes, which has a negative fall. The exemplary vehicle suspension system 200 also includes the exemplary right wheel assembly 206b and the exemplary suspension assembly 210 , In the illustrated example 2A become the left and right side of the exemplary rigid axle 204 each with a third vertical load 218 and a fourth vertical load 220 applied. In the illustrated example, the wheel assembly 206 a positive fall 216 on.

In the illustrated example, the example wheel assemblies learn 206a . 206b a positive fall 216 that is causing the fourth vertical load 220 is greater than the third vertical load 218 , In some examples, the rigid axle allows 204 not that the wheel assembly 206a . 206b having different falls. In some examples, the resulting camber in the wheel assemblies causes 206a . 206b that parts of the fourth vertical load 220 through the rigid axle 204 from the right wheel assembly 206a to the left wheel assembly 206b be transmitted. In this example, the load passes through the rigid axle 204 is transmitted, not to a deflection of the suspension assembly 210 ,

3A-3C illustrate an exemplary vehicle 306 under different load conditions. 3A illustrates the vehicle 306 in an unloaded condition 300 , 3B illustrates the exemplary vehicle 306 in a symmetrical load condition 302 , 3C illustrates the exemplary vehicle 306 in an asymmetric load condition 304 , In the illustrated example, the vehicle is 306 around a two-axle vehicle. In other examples, the vehicle may 306 have more than two axes. In the illustrated example, the front axle of the exemplary vehicle includes 306 a support bar and the rear axle includes a rigid suspension system. In other examples, the front and rear axles may include any suitable suspension systems. The exemplary vehicle 306 includes an example passenger-side ground clearance sensor 308 for the front axle and an exemplary driver-side ground clearance sensor 10 for the front axle. In some examples, the ground clearance sensors measure 308 . 310 the deflection in the suspension elements (eg the suspension elements 110a . 110b out 1 ) in the vehicle suspension. In further examples, the ground clearance sensors 308 . 310 instead measure any other suitable size (for example, a distance sensor that directly measures the distance, etc.). An exemplary ground clearance difference 312 is the difference from the ground freedoms, as by the ground clearance sensors 308 . 310 measured.

In the illustrated example 3A is the vehicle 306 in an unloaded condition 300 , The unloaded condition 300 does not contain objects in the vehicle 306 that would cause the suspension of the vehicle 306 beyond its rest position (eg the position of the suspension only with the weight of the vehicle 306 ) is deflected. In the illustrated example, the ground clearance difference is 308 . 310 as by the ground clearance sensors 308 . 312 calculated, equal to zero.

In the illustrated example 3B is the vehicle 306 in the symmetrically loaded state 302 , In the symmetrically loaded state 300 For example, the driver and passenger sides of the vehicle are equally loaded (eg, occupants have approximately the same weight, etc.), which causes both sides of the vehicle's suspension 306 be deflected immediately. In the illustrated example, the ground clearance difference is 308 . 310 , as of the ground clearance sensors 308 . 312 calculated, equal to zero.

In the illustrated example 3C is the vehicle 306 in an asymmetrically loaded condition 304 , In the asymmetrically loaded condition 304 becomes the driver side of the vehicle 306 more heavily loaded than the passenger side of the vehicle 306 (eg, only the driver in the vehicle is driving), which causes the suspension member of the driver-side suspension assembly to have a greater deflection than the suspension-side suspension member of the passenger-side suspension. In the illustrated example, the ground clearance difference is 312 as by the ground clearance sensors 308 . 310 calculates the difference between the passenger-side ground clearance sensor 308 for the front axle and an exemplary driver-side ground clearance sensor 310 for the front axle is measured.

In the illustrated example load conditions 300 . 302 . 304 can be an exemplary roll angle 318 from the ground clearance difference 312 be calculated. For example, using trigonometric properties, an exemplary passenger-side suspension angle 314 and an exemplary driver side suspension angle 316 be calculated from the measured soil freedoms. In the illustrated example, the roll angle is 318 around the difference from the angles 314 . 316 , Additionally or alternatively, the roll angle 318 calculated / measured by any other suitable means (eg a strain gauge 102 on the support rod, a strain gauge 204 on the rigid axle, a tilt sensor, a camera, etc.).

4 FIG. 4 is an illustration of an example weight calculation system. FIG 400 in which the teachings of this disclosure can be implemented. The exemplary weight calculation system 400 includes exemplary sensors 402 , an exemplary weight determination device 404 , an exemplary roll compensation device 406 and an exemplary vehicle system interface 410 , The exemplary weight calculation system 400 gives an exemplary corrected vehicle weight 408 out. In some examples, the example weight calculation system 400 be implemented in the powertrain control unit (PCU) of a vehicle.

In the illustrated example, the sensors give 402 (eg the sensors 502 - 510 out 5 ) Sensor data to the weight determination device 404 and the roll balancer 406 out. In some examples, the weight calculation system communicates 400 (eg the roll compensation device 406 and the weight determination device 404 ) via the controller area network (CAN) system of the vehicle with the sensors 402 , In some examples, the vehicle CAN system allows the weight calculation system 400 communicates with the sensors with a host computer. In other examples, the weight calculation system communicates 400 with the sensors 402 , Alternatively, the sensors 402 by any suitable means with the weight calculation system 400 communicate.

In some examples, the weight determination device calculates 404 the vehicle weight using data provided by the sensors 402 were received. For example, the weight determining device 404 Use suspension deflection / ground clearance sensor data to determine the load of each wheel of the vehicle. In this example, the weight determining device uses 404 the suspension characteristics (eg, spring stiffness) to calculate the load on each wheel of the vehicle and sums each of the determined loads to determine the total load. Alternatively, the weight determining device 404 calculate the total weight of the vehicle by any suitable means. In some examples, the weight determiner works 404 only correct when the vehicle is on level ground. In some examples, the weight determination device determines 404 due to the presence of a support bar, rigid axle, or any other similar suspension system, the weight of the vehicle is incorrect.

The roll compensation device 406 compensates for the body roll of the vehicle when calculating the total weight of the vehicle. For example, the roll compensation device 406 a correction factor for setting the weight determination device 404 to calculate. In some examples, the correction factor may be used to that of the weight determining device 404 calculated weight on the corrected vehicle weight 408 adjust. In some examples, the roll balancer may 406 a component of the weight determination device 404 be.

The exemplary vehicle system interface 410 allows the weight determination device 404 and the roll balancer 406 , with other systems of the vehicle (eg the vehicle 306 out 3 ) to form an interface. For example, the vehicle system interface 410 the corrected vehicle weight 408 use to modify a system of the vehicle to the weight of the vehicle 306 to take into account. In some examples, the vehicle system interface may 410 to modify a power steering system of the vehicle. In other examples, any suitable system may be implemented by the vehicle system interface 410 be modified (eg a brake system, a fuel supply system, etc.). In other examples, the vehicle system interface 410 with an output device (eg the output device 724 out 7 ) form an interface to a user on the corrected weight 408 to point.

5 FIG. 10 is a block diagram of the exemplary roll balancer. FIG 406 out 4 in which the teachings of this disclosure can be implemented. The exemplary roller balancer 406 out 4 includes an exemplary sensor input 512 , an exemplary roll calculation device 514 , an exemplary threshold comparator 516 , an exemplary weight adjustment device 518 , an exemplary threshold determination device 520 and an exemplary force angle characteristic determining means 522 , The exemplary sensor input 512 receives inputs from exemplary ground clearance sensors 502 , an exemplary tilt sensor 504 , an exemplary accelerometer 506 , an exemplary strain gauge 508 for support rods and other sensors 510 ,

The exemplary ground clearance sensors 502 measure the ground clearance associated with each wheel of the vehicle. In some examples, the ground clearance sensors measure 502 the deflection of each suspension element of the suspension system of the vehicle (eg, using a dynamometer, any suitable gauge that measures the deflection of a spring). In In other examples, the ground clearance sensors may determine ground clearance by any other suitable means (eg, a distance sensor, etc.).

The exemplary tilt sensor 504 measures the inclination of the vehicle. The exemplary accelerometer 506 measures the vehicle inclination with respect to the gravitational vector of the earth. In some examples, the accelerometer may be 506 to trade a low-gravity analog 3-axis accelerometer. In other examples, the accelerometer may be 506 to be any type of accelerometer (such as a 3-axis digital accelerometer, etc.). In some examples, the size of the accelerometer output is 506 proportional to the sine of the body roll of the vehicle.

The exemplary strain gauge 508 for the support bar measures the load on the support bar (eg the support bar 102 out 1 ). The other sensors 510 include any other suitable sensors with outputs that can be used to calculate the roll angle of the vehicle.

The sensor input 512 forwards the relevant sensor values (eg the outputs of the sensors 502 -510) as needed in the example roll calculation device 514 , the exemplary threshold comparator 516 , the exemplary weight adjusting device 518 , the exemplary threshold determination device 520 and the exemplary force angle characteristic determining means 522 ,

The roll calculation device 514 calculates the roll angle / body roll of the vehicle using the sensor data obtained from the example sensor input 512 to be provided. For example, the roll calculation device 514 calculate the roll angle by determining the ground clearance difference (eg, using trigonometry, see 3C ). In further examples, the roll calculation device 514 Any suitable method of calculating the roll angle of the vehicle (eg, the vehicle 306 ) use.

The roll threshold comparison device 516 compares the calculated roll with a roll threshold. For example, the roll threshold comparison device 516 the roll angle calculating means by the roll calculating means with the by the threshold determination means 520 compare threshold to determine if the roll angle is equal to the threshold.

wobei A die Gewichtseinstellung ist, Δθ das bestimmte Karosserierollen des Fahrzeugs ist und $\left(\frac{F}{\delta }\right)$

die Aufhängungskraftwinkeleigenschaft ist. In einigen Beispielen wird die Aufhängungskraftwinkeleigenschaft durch die Kraftwinkeleigenschaftsbestimmungseinrichtung 522 bestimmt. In weiteren Beispielen kann die Gewichtseinstellungseinrichtung 518 eine beliebige andere geeignete Gleichung oder ein beliebiges anderes geeignetes Verfahren verwenden, um die Gewichtseinstellung zu bestimmen.The weight adjustment device 518 calculates the weight adjustment factor to be applied to the determined normal weight (eg as by the weight determiner 404 out 4 certainly). For example, the weight adjustment device 518 use the force angle characteristics as by the force angle characteristic determining means 522 certainly. For example, the weight adjustment device 518 Use the following equation (1) to determine the setting: $$A=\mathrm{\Delta }\theta \left(\frac{F}{\delta }\right).$$

where A is the weight setting, Δθ is the particular body roll of the vehicle and $\left(\frac{F}{\delta }\right)$

the suspension force angle characteristic is. In some examples, the suspension force angle characteristic is determined by the force angle characteristic determining means 522 certainly. In other examples, the weight adjuster 518 any other suitable equation or one Use any other suitable method to determine the weight setting.

The threshold determination device 520 determines a suitable threshold by the roll threshold comparator 516 should be used. For example, the threshold determination device 520 determine a suitable roll threshold as the angle at which the roll angle (eg the roll angle 318 out 3 ) and / or the ground clearance difference (eg the ground clearance difference 312 out 3 ) causes engagement of a roll reduction mechanism of the vehicle (eg, a support bar or a rigid axle). In some examples, the threshold determination device 520 determine the roll threshold based on a critical fall (eg the falls 208 . 216 out 2 ). In some examples, the roll threshold may be a static value associated with the make, model, and / or suspension system of the vehicle. In this example, the roll threshold can be determined experimentally. In further examples, the threshold determination device 520 determine a dynamic roll threshold based on the empirically determined properties of the vehicle suspension system. In some examples, the threshold determination device 520 if necessary, modify the roll threshold as the suspension system of the vehicle wears as it ages (eg, the stiffness of the suspension and / or the support bar decreases due to wear). In some examples, the threshold determination device 520 Use any other suitable method to determine the roll threshold.

aus Gleichung 1 bestimmen. In einigen Beispielen kann die Kraftwinkeleigenschaftsbestimmungseinrichtung 522 die Kraftwinkeleigenschaft auf Grundlage des Fabrikats, Modells und/oder Aufhängungssystem des Fahrzeugs bestimmen. In einigen Beispielen kann die Kraftwinkeleigenschaftsbestimmungseinrichtung 522 die Kraft/Winkeleigenschaft auf Grundlage von experimentellen Daten bestimmen. In diesem Beispiel kann die Kraftwinkeleigenschaftsbestimmungseinrichtung 522 die Kraftwinkeleigenschaft gegebenenfalls modifizieren, wenn sich das Aufhängungssystem des Fahrzeugs mit zunehmendem Alter abnutzt (z. B. die Steifigkeit der Aufhängung und/oder der Stützstange aufgrund von Verschleiß abnimmt).The force angle characteristic determining means 522 determines the suspension force angle characteristic for use by the weight adjuster 518 , For example, the force angle characteristic determination device 522 the term $\left(\frac{F}{\delta }\right)$

from equation 1. In some examples, the force angle characteristic determining device 522 determine the force-angle property based on the make, model, and / or suspension system of the vehicle. In some examples, the force angle characteristic determining device 522 determine the force / angle property based on experimental data. In this example, the force angle characteristic determining means 522 optionally modify the force-angle property as the suspension system of the vehicle wears away with age (eg, the stiffness of the suspension and / or the support bar decreases due to wear).

In 4 Although an exemplary implementation of the roll compensation device 406 out 5 However, one or more elements, processes, and / or devices disclosed in U.S. Pat 5 are illustrated, combined, separated, rearranged, omitted, eliminated and / or implemented in any other manner. Further, the exemplary ground clearance sensors may be 502 , the exemplary tilt sensor 504 , the exemplary accelerometer 506 , the exemplary strain gauge 508 for support rods, the other sensors 510 , the exemplary sensor input 512 , the exemplary roll calculation device 514 , the exemplary threshold comparator 516 , the weight adjustment device 518 , the exemplary threshold determination device 520 , the exemplary force angle characteristic determining device 522 and / or more generally the exemplary roller balancer 406 be implemented by hardware, software, firmware and / or any combination of hardware, software and / or firmware. Thus, for example, any of the exemplary ground clearance sensors 502 , the exemplary tilt sensor 504 , the exemplary accelerometer 506 , the exemplary strain gauge 508 for support rods, the other sensors 510 , the exemplary sensor input 512 , the exemplary roll calculation device 514 , the exemplary threshold comparator 516 , the weight adjustment device 518 , the exemplary threshold determination device 520 , the exemplary force angle characteristic determining device 522 and / or more generally the exemplary roll balancer 406 by one or more analog or digital circuit (s), logic circuits, a programmable processor (s), programmable controller (s), graphics processing unit (s) - GPU (s) , a DSP (s)), an application specific integrated circuit (s) - ASIC (s), a programmable logic device (s) (s) - PLD (s)) and / or field programmable logic device (s) (FPLD (s)). In order to cover a pure software and / or firmware implementation when reading any of the device or system claims of this patent, at least one of the exemplary ground clearance sensors is 502 , the exemplary tilt sensor 504 , the exemplary accelerometer 506 , the exemplary strain gauge 508 for support rods, the other sensors 510 , the exemplary sensor input 512 , the exemplary roll calculation device 514 , the exemplary threshold comparator 516 , the weight adjustment device 518 , the exemplary threshold determination device 520 , the exemplary force angle characteristic determining device 522 expressly defined to include a non-transitory computer-readable storage device or disk, such as a memory, a digital versatile disk (DVD), a compact disk (CD), a Blu-ray disk, etc., including software and / or firmware. In addition, the exemplary roller balancer may look like 4 one or more elements, processes and / or devices in addition to or instead of those described in 5 and / or it may include more than one of any or all of the illustrated elements, processes, and devices. As used herein, the term "in communication", including variations thereof, includes direct communication and / or indirect communication through one or more intermediate components and does not require direct physical (eg, wired) communication and / or ongoing communication, but rather Rather, it also includes selective communication at periodic intervals, scheduled intervals, aperiodic intervals, and / or one-time events.

A flow chart illustrating an example method of implementing the roll balancer 406 out 4 represents is in 6 shown. The methods may be implemented using machine-readable instructions. The machine-readable instructions may be an executable program or part of an executable program for execution a computer processor, such as the processor 712 in the exemplary processor platform 700 shown below in connection with 7 is explained. The program may be embodied in software stored in a non-transitory computer-readable storage medium, such as a CD-ROM, a floppy disk, a hard disk, a DVD, a Blu-ray Disc, or a memory belonging to the processor 712 assigned; however, the entire program and / or portions thereof may alternatively be performed by a device other than the processor 712 and / or in firmware or dedicated hardware. Although the exemplary program is described with reference to the in 6 In addition, many other methods of performing the exemplary roll balancer may be described 406 alternatively be used. For example, the order of execution of the blocks may be changed and / or some of the described blocks may be changed, omitted or combined. Additionally or alternatively, some or all of the blocks may be replaced by one or more hardware circuits (eg, discrete and / or integrated analog and / or digital circuits, an FPGA, an ASIC, a comparator, an operational amplifier (OP amplifier), a logic circuit etc.) that are structured to perform the corresponding operation without executing software or firmware.

As previously mentioned, the example methods may be 6 using executable instructions (e.g., computer and / or machine-readable instructions) stored in a non-transitory computer and / or machine-readable medium such as a hard disk drive, a flash memory, a read-only memory Compact Disk, a Digital Versatile Disk, a buffer, random access memory, and / or any other storage device or disk in which information is stored for any length of time (eg, for extended periods of time, permanently, for short periods, for temporary buffering) and / or for caching the information) are stored. As used herein, the term non-transitory computer-readable medium is expressly defined to include any type of computer-readable storage device and / or storage disk and excludes the propagation of signals and excludes transmission media.

"Included" and "comprising" (and all forms and tenses thereof) are used herein as open-ended terms. Whenever a claim uses any form of "comprising" or "comprising" (eg, including, including, including, including, comprising, etc.) as a generic term or within any claim of any kind, it should be understood in that additional elements, terms, etc. may be present without being outside the scope of the corresponding claim or the description. As used herein, the term "at least" as used in a preamble of a claim, for example, as a transitional notion is as open as the terms "comprising" and "including" are open. The term "and / or" when used in, for example, a form such as A, B and / or C, refers to any combination or subset of A, B, C, such as (1) only A, ( 2) only B, (3) only C, (4) A with B, (5) A with C, (6) B with C and (7) A with B and with C.

The procedure 600 out 6 starts at block 602 , At block 602 the sensor input receives 512 Sensor data from the sensors of a vehicle. For example, the example sensor input 512 Sensor data from any combination of the exemplary sensors 502 - 510 out 5 receive. Additionally or alternatively, the sensor input 512 Calculate any required sensor data value (s) from any other sensor data required for any combination of the exemplary sensors 502 - 510 and / or known characteristics of the vehicle are detected. After all sensor data has been received and / or calculated, the procedure goes 600 to block 604 above.

At block 604 calculates the roll calculation device 514 the body rolling of the vehicle. For example, the roll calculating device may select the ground clearance sensor data (as by the ground clearance sensors 502 out 5 detected) to determine the ground clearance difference (eg the ground clearance difference 312 out 3 ). In this example, the roll calculation device 514 then use trigonometric relationships to determine the body roll of the vehicle (eg, the roll angle 318 out 3 ). In further examples, the roll calculation device 514 Use any sensor data to calculate the body roll of the vehicle. Once the body roll has been calculated, the procedure goes 600 to block 606 above.

At block 606 determines the threshold determination device 520 the roll threshold associated with the vehicle. For example, the threshold determination device 520 determine the roll threshold based on the make, model and / or suspension system of the vehicle. In some examples, the threshold determination device 520 Determine the roll threshold so that the roll threshold is engaged an anti-roll mechanism of the vehicle (eg, a support bar). In some examples, the roll threshold determiner may 520 Determine the roll threshold so that the roll threshold corresponds to a critical fall of the wheels of the vehicle. In some examples, the roll threshold may be determined experimentally. In some examples, the roll threshold may vary dynamically based on the age of the suspension system, environmental conditions, and / or any other suitable determinants. In some examples, the roll threshold corresponds to the minimum roll angle for which the calculated vehicle weight must be taken into account. In some examples, the threshold corresponds to a critical fall of a wheel of the vehicle. Once the roll threshold has been determined, the procedure goes 600 to block 608 above.

At block 608 determines the roll threshold comparator 516 whether the vehicle threshold corresponds to the roll threshold. For example, the roll threshold comparison device 516 the body rolling, as with block 604 calculated, compare with the roll threshold, as in block 606 certainly. If the roll threshold is met, a weight adjustment is required and the procedure goes 600 to block 610 above. If the roll threshold is not met, no weight adjustment is required and the procedure ends 600 ,

At block 610 determines the force-angle characteristic determining means 522 the suspension force angle characteristic. For example, the force angle characteristic determination device 522 determine the force-angle property based on the make, model, and / or suspension system of the vehicle. In some examples, the force angle characteristic can be determined experimentally. In some examples, the force angle property may dynamically vary based on the age of the suspension system, environmental conditions, and / or other suitable determinants. Once the roll threshold has been determined, the procedure goes 600 to block 612 above.

At block 612 the weight adjuster determines the weight setting. For example, the weight adjusting device may determine the weight adjustment using the equation (1), the specific suspension force angle characteristic, and the body roll. In other examples, the weight adjuster may use any suitable method, vehicle properties, and / or sensor data to determine the weight setting. Once the weight setting has been calculated, the procedure ends 600 ,

7 FIG. 10 is a block diagram of an example processor platform. FIG 700 who can execute instructions to the procedure 600 out 6 implement to the roll compensation device 406 out 4 implement. At the processor platform 700 For example, it may be a server, a personal computer, a workstation, a self-learning machine (eg, a neural network), a mobile device (eg, a mobile phone, a smartphone, a tablet, such as an iPad ™ ) or any other type of computing device.

The processor platform 700 of the illustrated example includes a processor 712 , At the processor 712 The illustrated example is hardware. For example, the processor 712 one or more integrated circuits, logic circuits, microprocessors, GPUs, DPs, or controllers of any desired family or manufacturer. The hardware processor may be a semiconductor (eg silicon) based device. In this example, the processor sets the example sensor input 512 , the exemplary roll calculation device 514 , the exemplary threshold comparator 516 , the weight adjustment device 518 , the exemplary threshold determination device 520 and the exemplary force angle characteristic determining means 522 around.

The processor 712 of the illustrated example includes a local memory 713 (eg a cache). The processor 712 of the illustrated example is over a bus 718 in communication with a main memory that has a volatile memory 714 and a nonvolatile memory 716 includes. The volatile memory 714 may be provided by Synchronous Dynamic Random Access Memory (SDRAM), Dynamic Random Access Memory (DRAM), RAMBUS® Dynamic Random Access Memory (RDRAM®), and / or any other dynamic random access memory another type of random access memory device. The non-volatile memory 716 can be implemented by a flash memory and / or any other desired type of memory device. Access to main memory 714 . 716 is controlled by a memory controller.

The processor platform 700 The illustrated example also includes an interface circuit 720 , The interface circuit 720 can be implemented by any type of interface standard, such as an Ethernet Interface, a universal serial bus (USB), a Bluetooth® interface, a near field communication interface (NFC interface) and / or a PCI Express interface.

In the illustrated example, one or more input devices are 722 with the interface circuit 720 connected. The input device (s) 722 allows / enable a user to enter data and / or commands into the processor 712 enter. The input device (s) may be implemented by, for example, an audio sensor, a microphone, a camera (still or video), a keyboard, a button, a mouse, a touch screen, a trackpad, a trackball, isopoint, and / or a speech recognition system become.

One or more dispensers 724 are also connected to the interface circuit 720 of the illustrated example. The output devices 1024 For example, by display devices (eg, a light emitting diode (LED), an organic light emitting diode (OLED), a liquid crystal display, a cathode ray tube display (CRT), a direct shift indication (FIG. Inplace switching display (IPS display), a touch screen, etc.), a tactile output device, a printer and / or speakers are implemented. The interface circuit 720 The illustrative example thus typically includes a graphics driver card, a graphics driver chip, and / or a graphics driver processor.

The interface circuit 720 of the illustrated example also includes a communication device, such as a transmitter, a receiver, a transceiver, a modem, a home gateway, a wireless access point, and / or a network interface to exchange data with external machines (e.g., any kind of computing devices). over a network 726 to support. The communication may be, for example, via an Ethernet connection, a Digital Subscriber Line (DSL) connection, a telephone line connection, a coaxial cable system, a satellite system, a location-line radio system, a mobile telephone system, etc.

The processor platform 700 The illustrated example also includes one or more mass storage devices 728 for storing software and / or data. Examples of such mass storage devices 728 include floppy disk drives, hard disk drives, compact disk drives, Blu-ray disk drives, redundant array of independent disks (RAID) systems, and digital versatile disk (DVD) drives.

The machine-executable instructions 732 to implement the procedure 600 out 6 can in the mass storage device 728 in the volatile memory 714 in the non-volatile memory 716 and / or stored on a removable non-transitory computer readable storage medium, such as a CD or DVD.

From the foregoing, it will be appreciated that exemplary methods and apparatus for balancing body rolls in calculating the weight of a vehicle have been disclosed. The disclosed methods and apparatus contemplate a body roll in weight calculations using existing sensors. By properly balancing body rolls, the vehicle weight can be more accurately determined, thus allowing the life of the parts to be more accurately determined. Furthermore, vehicle systems that rely on accurately calculated vehicle weights work better due to more accurate weight determination.

Example 1 includes an apparatus including: a sensor input for receiving sensor data from sensors of a vehicle, weight determining means for determining a weight of the vehicle based on the sensor data, a roll computing means for determining a body roll of the vehicle based on the sensor data, a roll threshold comparison means for Comparing the body roll with a threshold and weight adjusting means for adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold.

Example 2 includes the apparatus of Example 1, wherein the threshold corresponds to engagement of an anti-roll mechanism of the vehicle.

Example 3 includes the device of Example 2, where the anti-roll mechanism is a support bar.

Example 4 includes the device of Example 1, wherein the threshold corresponds to a critical fall of a wheel of the vehicle.

Example 5 includes the device of Example 1, wherein the sensors of the vehicle include at least one of a ground clearance sensor, a tilt sensor, an accelerometer or a strain gauge for a support bar.

Example 6 includes the apparatus of Example 1, further including threshold determination means for determining the threshold of the vehicle based on the sensor data and a force angle characteristic determining means for determining the characteristics of the suspension system.

Example 7 includes the apparatus of Example 1, a vehicle system interface for setting a driving characteristic based on the set weight.

Example 8 includes a method that includes receiving sensor data from sensors of a vehicle, determining a weight of the vehicle based on the sensor data, determining a body roll of the vehicle based on the sensor data, comparing the body roll with a threshold, and adjusting the determined weight of the vehicle A vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold.

Example 9 includes the method of Example 8, wherein the threshold corresponds to engagement of an anti-roll mechanism of the vehicle.

Example 10 includes the method of Example 9, wherein the anti-roll mechanism is a support bar.

Example 11 includes the method of Example 8, wherein the threshold corresponds to a critical fall of a wheel of the vehicle.

Example 12 includes the method of Example 8, wherein the sensors of the vehicle include at least one of a ground clearance sensor, a tilt sensor, an accelerometer, or a support bar strain gauge.

Example 13 includes the method of Example 8, further including determining the threshold of the vehicle based on the sensor data and determining the characteristics of the suspension system.

Example 14 includes the method of Example 8, which further includes setting a driving characteristic based on the set weight.

Example 15 includes a tangible machine-readable storage medium that includes instructions that, when executed, cause a processor to receive at least sensor data from sensors of a vehicle, determine a weight of the vehicle based on the sensor data, determine a body roll of the vehicle based on the sensor data to compare the body roll with a threshold and adjust the particular weight of the vehicle based on the particular body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold.

Example 16 includes the physical machine-readable storage medium of Example 15, wherein the threshold corresponds to engagement of an anti-rollback mechanism of the vehicle.

Example 17 includes the physical machine-readable storage medium of Example 15, wherein the threshold corresponds to a critical fall of a wheel of the vehicle.

Example 18 includes the physical machine-readable storage medium of Example 15, wherein the sensors of the vehicle include at least one ground clearance sensor, a tilt sensor, an accelerometer or a strain gauge for a support bar.

Example 19 includes the physical machine-readable storage medium of Example 15, which further includes determining the threshold of the vehicle based on the sensor data and determining the characteristics of the suspension system.

Example 20 includes the physical machine-readable storage medium of Example 15, further including setting a driving characteristic based on the set weight.

Although certain exemplary methods, devices and articles of manufacture have been disclosed herein, the scope of this specification is not limited thereto. On the contrary, this patent covers all methods, devices and articles of manufacture which lawfully fall within the scope of the claims of this patent.

According to the present invention, a method includes: receiving sensor data from sensors of a vehicle; Determining a weight of the vehicle; Determining a body roll of the vehicle; Comparing the body roll with a threshold, the threshold corresponding to engagement of a roll reduction mechanism of the vehicle; and adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold.

According to the present invention, a method includes: receiving sensor data from sensors of a vehicle; Determining a weight of the vehicle; Determining a body roll of the vehicle; Comparing the body roll with a threshold, the threshold corresponding to a critical fall of a wheel of the vehicle; and adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold.

According to the present invention, there is provided an apparatus comprising: a sensor input for receiving sensor data from sensors of a vehicle; weight determining means for determining a weight of the vehicle based on the sensor data; a roll computing device for determining a body roll of the vehicle based on the sensor data; a threshold comparator for comparing the body roll with a threshold; and weight adjusting means for adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll corresponds to the threshold value.

In one embodiment, the threshold corresponds to engagement of an anti-roll mechanism of the vehicle.

In one embodiment, the anti-roll mechanism is a support bar.

According to one embodiment, the threshold corresponds to a critical fall of a wheel of the vehicle.

According to one embodiment, the sensors of the vehicle include at least one of a ground clearance sensor, a tilt sensor, an accelerometer or a strain gauge for support bars.

According to one embodiment, the foregoing invention is further characterized by: threshold determination means for determining the threshold of the vehicle based on the sensor data; and a force angle characteristic determining means for determining the characteristics of the suspension system.

In one embodiment, the foregoing invention is further characterized by a vehicle system interface for setting a driving characteristic based on the adjusted weight.

According to the present invention, a method includes: receiving sensor data from sensors of a vehicle; Determining a weight of the vehicle based on the sensor data; Determining a body roll of the vehicle based on the sensor data; Comparing the body roll with a threshold; and adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold.

In one embodiment, the threshold corresponds to engagement of an anti-roll mechanism of the vehicle.

In one embodiment, the anti-roll mechanism is a support bar.

According to one embodiment, the threshold corresponds to a critical fall of a wheel of the vehicle.

According to one embodiment, the sensors of the vehicle include at least one of a ground clearance sensor, a tilt sensor, an accelerometer or a strain gauge for support bars.

In one embodiment, the foregoing invention is further characterized by: determining the threshold of the vehicle based on the sensor data; and determining the properties of the suspension system.

According to an embodiment, the foregoing invention is further characterized by setting a driving characteristic based on the set weight.

According to the present invention there is provided a tangible machine-readable storage medium having instructions that, when executed, cause a processor to at least: receive sensor data from sensors of a vehicle; Determining a weight of the vehicle based on the sensor data; Determining a body roll of the vehicle based on the sensor data; Comparing the body roll with a threshold; and adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold.

In one embodiment, the threshold corresponds to engagement of an anti-roll mechanism of the vehicle.

According to one embodiment, the threshold corresponds to a critical fall of a wheel of the vehicle.

According to one embodiment, the sensors of the vehicle include at least one of a ground clearance sensor, a tilt sensor, an accelerometer or a strain gauge for support bars.

In one embodiment, the foregoing invention is further characterized by: determining the threshold of the vehicle based on the sensor data; and determining the properties of the suspension system.

According to an embodiment, the foregoing invention is further characterized by setting a driving characteristic based on the set weight.

Claims (15)

Apparatus comprising: a sensor input for receiving sensor data from sensors of a vehicle; weight determining means for determining a weight of the vehicle based on the sensor data; a roll computing device for determining a body roll of the vehicle based on the sensor data; a threshold comparator for comparing the body roll with a threshold; and weight adjusting means for adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll corresponds to the threshold. Device after Claim 1 wherein the threshold corresponds to engagement of an anti-roll mechanism of the vehicle. Device after Claim 2 wherein the anti-roll mechanism is a support bar. Device after Claim 1 wherein the threshold corresponds to a critical fall of a wheel of the vehicle. Device after Claim 1 wherein the sensors of the vehicle include at least one of a ground clearance sensor, a tilt sensor, an accelerometer, or a support bar strain gauge. Device after Claim 1 , further comprising: threshold determination means for determining the threshold of the vehicle based on the sensor data; and a force angle characteristic determining means for determining the characteristics of the suspension system. Device after Claim 1 , a vehicle system interface for setting a driving characteristic based on the set weight. Method, comprising: Receiving sensor data from sensors of a vehicle; Determining a weight of the vehicle based on the sensor data; Determining a body roll of the vehicle based on the sensor data; Comparing the body roll with a threshold; and Adjusting the determined weight of the vehicle based on the determined body roll and characteristics of a suspension system of the vehicle when the body roll meets the threshold. Method according to Claim 8 wherein the threshold corresponds to engagement of an anti-roll mechanism of the vehicle. Method according to Claim 9 wherein the anti-roll mechanism is a support bar. Method according to Claim 8 wherein the threshold corresponds to a critical fall of a wheel of the vehicle. Method according to Claim 8 wherein the sensors of the vehicle include at least one of a ground clearance sensor, a tilt sensor, an accelerometer or a strain gauge support rods. Method according to Claim 8 further comprising: determining the threshold of the vehicle based on the sensor data; and determining the properties of the suspension system. Method according to Claim 8 further including setting a driving characteristic based on the set weight. A tangible, machine-readable storage medium comprising instructions that, when executed, cause a processor to be stored in one of Claims 8 to 14 to execute defined procedures.

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