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US 12,680,900 B2Granted
Wheel load estimation device, vehicle, program, and wheel load estimation method
AssigneeKabushiki Kaisha Toyota Jidoshokki
InventorsTatsuya Hattori, Hiroyuki Yamaguchi, Masateru Amano, Yoshikazu Hattori
Life of this patent
Estimating the term…
Abstract
A wheel load estimation device that estimates wheel load acting on wheels of a vehicle includes an acquisition unit, a calculation unit, and an estimation unit. The acquisition unit acquires detection value output from a sensor as a parameter. The parameter is a parameter related to a motion of the vehicle. The calculation unit calculates an inertial force generated in the vehicle based on the parameter and a mass of the vehicle. The estimation unit estimates the wheel load based on the inertial force and a predetermined estimation equation.
Claims12
A vehicle comprising:
- a wheel load estimation device that estimates a longitudinal force (Xv) as a wheel load acting on a wheel of the vehicle when traveling straight downhill on a slope,
- the wheel load estimation device including at least one sensor configured to output detection values including an acceleration (Sx) in a forward/rearward traveling direction of the vehicle, angular velocities (P, Q, R), and angular accelerations ({dot over (P)}, {dot over (Q)}, {dot over (R)}) about axes along the forward/rearward traveling direction, a lateral direction, and a vertical direction of the vehicle;
- and
- at least one processor configured to:
- acquire the detection values output from the at least one sensor as parameters related to a motion of the vehicle,
- acquire a longitudinal acceleration (SxCG ) at a center of gravity (CGall) of the vehicle using the detection values,
- estimate the wheel load based on a product of a mass (Mall) of the vehicle and the longitudinal acceleration (SxCG) at the center of gravity (CGall) of the vehicle,
- determine whether limiting a motion of the vehicle is necessary based on the estimated wheel load and reference information, the reference information being information indicating a relationship between the estimated wheel load and whether limiting the motion of the vehicle is necessary;
- and
- based upon the determination that limiting the motion of the vehicle is necessary, limit at least one of:
- a traveling speed of the vehicle, an acceleration of the vehicle, a deceleration of the vehicle, a lifting speed of a fork of the vehicle, a tilting speed of the fork, a load handling operation of the vehicle, or traveling of the vehicle.
8 more elements
A non-transitory computer-readable storage medium storing a program for causing a computer to execute processing comprising:
- acquiring a detection value output from at least one sensor as a parameter, the parameter being related to a motion of a vehicle, the at least one sensor being configured to output detection values including an acceleration (Sx) in a forward/rearward traveling direction of the vehicle, angular velocities (P, Q, R), and angular accelerations ({dot over (P)}, {dot over (Q)}, {dot over (R)}) about axes along the forward/rearward traveling direction, a lateral direction, and a vertical direction of the vehicle;
- acquiring a longitudinal acceleration (SxCG) at a center of gravity (CGall) of the vehicle using the detection values;
- estimating a longitudinal force as acting on a wheel of the vehicle when traveling straight downhill on a slope, based on a product of a mass (Mall) of the vehicle and the longitudinal acceleration (SxCG) at the center of gravity (CGall) of the vehicle;
- determining whether limiting a motion of the vehicle is necessary based on the estimated wheel load and reference information, the reference information being information indicating a relationship between the estimated wheel load and whether limiting the motion of the vehicle is necessary;
- and
- based upon the determination that limiting the motion of the vehicle is necessary, limiting at least one of:
- a traveling speed of the vehicle, an acceleration of the vehicle, a deceleration of the vehicle, a lifting speed of a fork of the vehicle, a tilting speed of the fork, a load handling operation of the vehicle, or traveling of the vehicle.
4 more elements
A wheel load estimation method comprising:
- acquiring a detection value output from at least one sensor as a parameter, the parameter being related to a motion of a vehicle, the at least one sensor being configured to output detection values including an acceleration (Sx) in a forward/rearward traveling direction of the vehicle, angular velocities (P, Q, R), and angular accelerations ({dot over (P)}, {dot over (Q)}, {dot over (R)}) about axes along the forward/rearward traveling direction, a lateral direction, and a vertical direction of the vehicle;
- acquiring a longitudinal acceleration (SxCG) at a center of gravity (CGall) of the vehicle using the detection values;
- estimating a longitudinal force as acting on a wheel of the vehicle when traveling straight downhill on a slope, based on a product of a mass (Mall) of the vehicle and the longitudinal acceleration (SxCG) at the center of gravity (CGall) of the vehicle;
- determining whether limiting a motion of the vehicle is necessary based on the estimated wheel load and reference information, the reference information being information indicating a relationship between the estimated wheel load and whether limiting the motion of the vehicle is necessary;
- and
- based upon the determination that limiting the motion of the vehicle is necessary, limiting at least one of:
- a traveling speed of the vehicle, an acceleration of the vehicle, a deceleration of the vehicle, a lifting speed of a fork of the vehicle, a tilting speed of the fork, a load handling operation of the vehicle, or traveling of the vehicle.
4 more elements
Dependencies are inferred from the claim text.