# US 2019/0164362 A1 · Vehicle suspension system alignment monitoring > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0164362 A1 - Document ID: US20190164362A1 - Status: Published application - Kind: A1 - Application number: 15/823,814 - Filed: 2017-11-28 - Published: 2019-05-30 - Earliest claimed: 2017-11-28 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Fahim Javid; Hojjat Izadi; Joseph K. Moore; Jonathan P. Rossiter - Web page: https://patentgrep.com/patent/US20190164362A1 ## CPC - B60W 40/10: related to vehicle motion - G07C 5/0808: {Diagnosing performance data (testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005)} - B60W 40/12: related to parameters of the vehicle itself {, e.g. tyre models} - B60W 50/0205: {Diagnosing or detecting failures; Failure detection models} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 5/0481: {monitoring the steering system, e.g. failures} - B62D 15/021: {Determination of steering angle} - G01M 17/06: Steering behaviour; Rolling behaviour - G07C 5/0816: {Indicating performance data, e.g. occurrence of a malfunction} - B60W 2510/202: Steering torque - B60W 2520/105: Longitudinal acceleration - B60W 2520/125: Lateral acceleration - B60W 2540/18: Steering angle - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - B60W 2552/35: Road bumpiness, e.g. potholes - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2720/10: Longitudinal speed - B60W 2720/14: Yaw - 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) - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR ## Abstract Examples of techniques for vehicle suspension system alignment monitoring are disclosed. In one example implementation, a method includes receiving vehicle data and environmental data including, inertial measurement unit (IMU) acceleration data and global positioning system (GPS) velocity data from a GPS associated with the vehicle, and steering wheel angle data, driver applied torque data, and electronic power steering (EPS) applied torque data associated with the steering system. The method further includes mitigating for at least one of a vehicle effect and an environmental effect based on the vehicle data and environmental data. The method further includes detecting a misalignment based at least in part on one or more of the IMU acceleration data, the GPS velocity data, acceleration data, a steering wheel angle, and a self-aligning torque. The method further includes reporting the misalignment of the vehicle based at least in part on detecting the misalignment. ## Claims ### Claim 1 A computer-implemented method, the method comprising: receiving, by a processing device, vehicle data and environmental data including, inertial measurement unit (IMU) acceleration data and global positioning system (GPS) velocity data from a GPS associated with a vehicle, and steering wheel angle data, driver applied torque data, and electronic power steering (EPS) applied torque data associated with the steering system; mitigating, by a processing device, for at least one of a vehicle effect and an environmental effect based on the vehicle data and environmental data; detecting, by the processing device, a misalignment based at least in part on one or more of the IMU acceleration data, the GPS velocity data, acceleration data, a steering wheel angle, and a self-aligning torque; and reporting the misalignment of the vehicle based at least in part on detecting the misalignment. ### Claim 2 (depends on 1) The computer-implemented method of claim 1, wherein the misalignment is a thrust misalignment. ### Claim 3 (depends on 1) The computer-implemented method of claim 1, wherein the misalignment is a toe misalignment. ### Claim 4 (depends on 1) The computer-implemented method of claim 1, wherein the misalignment is a camber misalignment. ### Claim 5 (depends on 1) The computer-implemented method of claim 1, wherein the misalignment is a caster misalignment. ### Claim 6 (depends on 1) The computer-implemented method of claim 1, wherein the misalignment is a steering wheel misalignment. ### Claim 7 (depends on 1) The computer-implemented method of claim 1, wherein the vehicle effect is selected from the group consisting of a speed, a yaw rate, a load on a vehicle, a trajectory, a tire pressure, and a tire wear. ### Claim 8 (depends on 1) The computer-implemented method of claim 1, wherein the environmental effect is selected from the group consisting of a road crown, a road grade, wind, a gust, humidity, and a rough road condition. ### Claim 9 (depends on 1) The computer-implemented method of claim 1, wherein mitigating for the at least one of the vehicle effect and the environmental effect occurs when one or more of the at least one of the vehicle effect and the environmental effect exceeds a threshold. ### Claim 10 (depends on 1) The computer-implemented method of claim 1, further comprising aligning the vehicle based at least in part on detecting the misalignment. ### Claim 11 (depends on 1) The computer-implemented method of claim 1, further comprising correcting, by the processing device, a steering wheel angle for vehicle and environmental effects based at least in part on the vehicle data and the environment data. ### Claim 12 (depends on 11) The computer-implemented method of claim 11, wherein correcting for the environmental effects comprises compensating for a road crown and grade. ### Claim 13 (depends on 11) The computer-implemented method of claim 11, wherein correcting for the vehicle effects comprises compensating for a thrust angle, a camber angle, and a caster angle. ### Claim 14 (depends on 1) The computer implemented method of claim 1, further comprising correcting, by the processing device, a self-aligning torque for vehicle and environmental factors. ### Claim 15 (depends on 14) The computer implemented method of claim 14, wherein correcting for the vehicle and environmental factors comprises compensating for a road crown and grade and a combined tire and vehicle torque. ### Claim 16 A system comprising: a memory comprising computer readable instructions; and a processing device for executing the computer readable instructions for performing a method, the method comprising: receiving, by the processing device, vehicle data and environmental data including, inertial measurement unit (IMU) acceleration data and global positioning system (GPS) velocity data from a GPS associated with a vehicle, and steering wheel angle data, driver applied torque data, and electronic power steering (EPS) applied torque data associated with the steering system; mitigating, by a processing device, for at least one of a vehicle effect and an environmental effect based on the vehicle data and environmental data; detecting, by the processing device, a misalignment based at least in part on one or more of the IMU acceleration data, the GPS velocity data, acceleration data, a steering wheel angle, and a self-aligning torque; and reporting the misalignment of the vehicle based at least in part on detecting the misalignment. ### Claim 17 A computer program product comprising: a computer readable storage medium having program instructions embodied therewith, the program instructions executable by a processing device to cause the processing device to perform a method comprising: receiving, by the processing device, vehicle data and environmental data including, inertial measurement unit (IMU) acceleration data and global positioning system (GPS) velocity data from a GPS associated with a vehicle, and steering wheel angle data, driver applied torque data, and electronic power steering (EPS) applied torque data associated with the steering system; mitigating, by a processing device, for at least one of a vehicle effect and an environmental effect based on the vehicle data and environmental data; detecting, by the processing device, a misalignment based at least in part on one or more of the IMU acceleration data, the GPS velocity data, acceleration data, a steering wheel angle, and a self-aligning torque; and reporting the misalignment of the vehicle based at least in part on detecting the misalignment.