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

Claim 15:
16. A four-wheeled vehicle comprising:
a wheel;
a vehicle body supported by the wheel;
a suspension structure connecting the wheel to the vehicle body and including a shock absorber that mitigates shock applied to the wheel; and
a tire force estimator configured to estimate a tire force acting on the wheel from a ground surface in a vertical direction,
the tire force estimator including:
a measuring unit configured to measure an acceleration of the vehicle body in a horizontal direction, an acceleration of the wheel in the vertical direction, and a stroke amount of the shock absorber; and
a processing unit configured to estimate the tire force acting on the wheel from the ground surface in the vertical direction based on the acceleration of the vehicle body in the horizontal direction, the acceleration of the wheel in the vertical direction, and the stroke amount.