Patent Document ID: 10124809
Application ID: 15042683
Patent Flag: 1

Claim One:
1. A method for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the method comprising: retrieving from a vehicle longitudinal velocity sensor, a vehicle lateral acceleration sensor, a vehicle yaw rate sensor, and a vehicle steering angle sensor data representative of at least a vehicle longitudinal velocity, a vehicle lateral acceleration, a vehicle yaw rate, and a vehicle steering angle; sending the sensor data representative of at least the vehicle longitudinal velocity, the vehicle lateral acceleration, the vehicle yaw rate and the vehicle steering angle to a control system; determining, by the control system, from the sensor data when vehicle cornering stiffness parameters are observable; and when vehicle cornering stiffness parameters are observable, generating, by the control system, a cornering stiffness parameter signal based on an estimate of the cornering stiffness parameters provided using a bicycle model that includes a model of tire relaxation dynamics describing the delay between when a slip angle is introduced and when a resulting lateral force reaches a steady state value.