Patent ID: 11958489
Assignee: KAWASAKI MOTORS, LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 13:
14. The tire force estimator according to claim 1, wherein
the suspension structure is a first suspension structure including the shock absorber as a first shock absorber,
the wheel connected to the vehicle body by the first suspension structure is a first wheel of the four wheels,
the four-wheeled vehicle further includes:
a second suspension structure connecting a second wheel of the four wheels to the vehicle body,
a third suspension structure connecting a third wheel of the four wheels to the vehicle body,
a fourth suspension structure connecting a fourth wheel of the four wheels to the vehicle body,

the first suspension structure further includes a first under-shock absorber element rockable together with the first shock absorber,
the second suspension structure includes a second shock absorber that mitigates shock applied to the second wheel and a second under-shock absorber element rockable together with the second shock absorber,
the third suspension structure includes a third shock absorber that mitigates shock applied to the third wheel and a third under-shock absorber element rockable together with the third shock absorber,
the fourth suspension structure includes a fourth shock absorber that mitigates shock applied to the fourth wheel and a fourth under-shock absorber element rockable together with the fourth shock absorber,
the measuring unit includes a first acceleration sensor that measures the acceleration of the vehicle body in the horizontal direction and four second acceleration sensors that respectively measure the accelerations of the first, second, third, and fourth wheels in the vertical direction, the first acceleration sensor being mounted on the vehicle body, each of the four second acceleration sensors being mounted on a corresponding one of the first, second, third, and fourth wheels or a corresponding one of the first, second, third, and fourth under-shock absorber elements, and
the processing unit is configured to estimate the tire force for each of the first, second, third, and fourth wheels.