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

Claim 12:
13. 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,
the first and second wheels are arranged in a lateral direction,
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 measuring unit includes a first acceleration sensor that measures the acceleration of the vehicle body in the horizontal direction and two second acceleration sensors that respectively measure the accelerations of the first and second wheels in the vertical direction, the first acceleration sensor being mounted on the vehicle body, each of the two second acceleration sensors being mounted on a corresponding one of the first and second wheels or a corresponding one of the first and second under-shock absorber elements, and
the processing unit is configured to estimate the tire force for each of the first and second wheels.