# US 12,183,133 B2 · Method and system for determining operating performance parameters of a device

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- Number: US 12,183,133 B2
- Document ID: US12183133B2
- Status: Granted
- Kind: B2
- Application number: 18/553,481
- Filed: 2022-03-01
- Published: 2024-03-14
- Granted: 2024-12-31
- Earliest claimed: 2021-03-29
- Assignees: Siemens Industry Software Inc.
- Applicants: Siemens Industry Software NV
- Inventors: Tom Dirickx; Ludovico Ruga
- Web page: https://patentgrep.com/patent/US12183133B2

## CPC

- B60W 40/103: Side slip angle of vehicle body
- G07C 5/0808: {Diagnosing performance data (testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005)}
- B60W 40/10: related to vehicle motion
- B60W 40/114: Yaw movement
- B60W 40/12: related to parameters of the vehicle itself {, e.g. tyre models}
- B62D 15/021: {Determination of steering angle}
- G07C 5/0825: {using optical means}
- B60W 2050/0033: {Single-track, 2D vehicle model, i.e. two-wheel bicycle model}
- B60W 2520/10: Longitudinal speed
- B60W 2520/105: Longitudinal acceleration
- B60W 2520/12: Lateral speed
- B60W 2540/18: Steering angle
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

A method of determining operational performance parameters of a device (e.g., of a vehicle) with device mounted sensors and computer-implemented models. Further, a system, such as a virtual sensor applied to a device, such as a vehicle, for determining operational performance parameters of the device is provided. The system includes device mounted sensors and at least one processing unit configured to execute the computer-implemented method to generate an output parameter set. Measured data may be combined, and calculated parameters may be provided to a Kalman-filter to enable virtual sensing of unobservable parameters.

## Claims

### Claim 1

A method of determining operational performance parameters of a device with device mounted sensors and computer-implemented models-, the method being computer-implemented and comprising:
measuring a first parameter set during operation of the device using the device mounted sensors;
providing a computer-implemented supplemental model and determining a second parameter set by the computer-implemented supplemental model;
combining parameters of the first parameter set with at least one selected parameter of the second parameter set, such that a hybrid parameter set is obtained;
providing the parameters of the hybrid parameter set to a Kalman-Filter-module;
predicting, by the Kalman-Filter-module, a third parameter set by a second model being equivalent to the hybrid parameter set regarding the respective parameter types;
comparing, by the Kalman-Filter-module, the parameters of the hybrid parameter set and the third parameter set;
estimating, by the Kalman-Filter-module, an output parameter set;
determining a deviation between respectively one distinct parameter of the first parameter set and an equivalent parameter of the second parameter set;
providing a correlation between deviation values and covariance values for at least one parameter of the third parameter set;
determining a covariance value from the correlation based on the determined deviation;
forwarding the covariance value to the Kalman-Filter-module for estimating the output parameter set; and
displaying, by a display, at least one parameter of the output parameter set or a modified parameter based on the output parameter set to a user.

### Claim 2 (depends on 1)

The method of claim 1, wherein the device is a vehicle, and
wherein the at least one selected parameter is a vehicle side slip angle.

### Claim 3 (depends on 1)

The method of claim 1, wherein the parameter sets respectively comprise a lateral velocity, longitudinal velocity, yaw rate, lateral acceleration, front cornering stiffness, rear cornering stiffness, or any combination thereof, and
wherein the Kalman-Filter-module is an extended Kalman-filter.

### Claim 4 (depends on 1)

The method of claim 1, wherein an input to the supplemental model, the second model, or the first model and the second model, respectively, is a longitudinal acceleration, a steering angle, or the longitudinal acceleration and the steering angle.

### Claim 5 (depends on 1)

The method of claim 1, wherein supplemental model is of a linear type, and
wherein the second model is of a non-linear type.

### Claim 6 (depends on 1)

The method of claim 1, wherein the one distinct parameter for determination of the covariance value is a yaw rate, and the covariance value determined from the correlation based on the determined deviation is forwarded to the Kalman filter as a covariance of a cornering stiffness of a vehicle tire of the vehicle, and
wherein the correlation provides a lower covariance value in case of a lower deviation and a higher covariance value in case of a higher deviation.

### Claim 7

A system for determining operational performance parameters of a device, the system comprising:
device mounted sensors;
at least one processing unit configured to generate an output parameter set, the at least one processing unit being configured to generate the output parameter set comprising the at least one processing unit being configured to:
measure a first parameter set during operation of the device using the device mounted sensors;
provide a computer-implemented supplemental model and determine a second parameter set by the computer-implemented supplemental model;
combine parameters of the first parameter set with at least one selected parameter of the second parameter set, such that a hybrid parameter set is obtained;
provide the parameters of the hybrid parameter set to a Kalman-Filter-module;
predict, by the Kalman-Filter-module, a third parameter set by a second model being equivalent to the hybrid parameter set regarding the respective parameter types;
compare, by the Kalman-Filter-module, the parameters of the hybrid parameter set and the third parameter set;
estimate, by the Kalman-Filter-module, an output parameter set;
determine a deviation between respectively one distinct parameter of the first parameter set and an equivalent parameter of the second parameter set;
provide a correlation between deviation values and covariance values for at least one parameter of the third parameter set;
determine a covariance value from the correlation based on the determined deviation; and
forward the covariance value to the Kalman-Filter-module for estimating the output parameter set; and
a display configured to display at least one parameter of the output parameter set or a modified parameter based on the output parameter set to a user.

### Claim 8 (depends on 7)

The system of claim 7, wherein the device is a vehicle.