A method jointly estimates a state of a vehicle including a velocity and a heading rate of the vehicle and a state of stiffness of tires of the vehicle including at least one parameter defining an interaction of at least one tire of the vehicle with a road on which the vehicle is traveling. The method uses the motion and measurement models that include a combination of deterministic component independent from the state of stiffness and probabilistic components dependent on the state of stiffness. The method represents the state of stiffness with a set of particles. Each particle includes a mean and a variance of the state of stiffness defining a feasible space of the parameters of the state of stiffness. The method updates iteratively the mean and the variance of at least some particles using a difference between an estimated state of stiffness estimated using the motion model of the vehicle including the state of stiffness with parameters sampled on the feasible space of the particle and the measured state of stiffness determined according to the measurement model using measurements of the state of the vehicle. The method outputs a mean and a variance of the state of stiffness determined as a function of the updated mean and the updated variance in at least one particle.

A method jointly estimates a state of a vehicle including a velocity and a heading rate of the vehicle and a state of stiffness of tires of the vehicle including at least one parameter defining an interaction of at least one tire of the vehicle with a road on which the vehicle is traveling. The method uses the motion and measurement models that include a combination of deterministic component independent from the state of stiffness and probabilistic components dependent on the state of stiffness. The method represents the state of stiffness with a set of particles. Each particle includes a mean and a variance of the state of stiffness defining a feasible space of the parameters of the state of stiffness. The method updates iteratively the mean and the variance of at least some particles using a difference between an estimated state of stiffness estimated using the motion model of the vehicle including the state of stiffness with parameters sampled on the feasible space of the particle and the measured state of stiffness determined according to the measurement model using measurements of the state of the vehicle. The method outputs a mean and a variance of the state of stiffness determined as a function of the updated mean and the updated variance in at least one particle.

A method for operating an electronic brake system in a vehicle having at least two tires on an axle, wherein the vehicle has a center of gravity (SP) with a height (hSP), is disclosed. According to the method, the height (hSP) of the center of gravity (SP) is calculated and used as a parameter by the electronic brake system. An electronic control unit, an electronic brake system, and a vehicle including the same for carrying out the method are also disclosed.

The present invention relates to an apparatus and a method for monitoring a tire pressure considering a low pressure situation. Provided is a tire pressure monitoring apparatus considering a low pressure situation including: a radius analyzing unit which calculates a radius analysis value using a relative velocity difference and an average velocity calculated from wheel velocities of the wheels mounted on the vehicle; a critical value setting unit which compares the calculated radius analysis value with a predetermined determination reference value and sets different critical values in accordance with the comparison result; and a low pressure determining unit which determines a low pressure of a tire mounted on a vehicle using the set critical value.

Instantaneous Tire Traction Modulating Valves [ITTMV] is a wheels internal and external highly time-sensitive application specific fail-safe electro-pneumatic valve design, valve's current-profile and regulator technique that proactively sense and instantaneously modulate the tire pressure between tire's upper and lower cut-off pressure valves from present/recommended values particularly during imminent/inevitable critical driving situations to mitigating-aquaplaning/hydroplaning, loss of stability/control, over/under steering, loss-of-traction, minimise-emergency/high speed braking distance, roll-over and loss of control due to puncture; by real-time sensing, perform context-aware computing and directing Tyre Pressure Modulating Units [TPMU] to actively modulate the tyre pressure in right time with right pressure on right tyres thereby instantly optimizing footprint/sidewall deformation rate to enhance tire traction simultaneously sustaining stability/steer-ability and restore/optimize to pre-set tyre pressure value immediately after overcoming critical situation for further safe and comfortable driving. Wheel hub housing integrated with rotary-link comprising electrically-insulated conductive-fluidic containers to transfer ITTMV's operational power and control-signal/data to wheels.

In an example, a vehicle tire includes a tread portion, a sidewall portion, and a sensor module for estimating one or more parameters of the tire. The sensor module includes a detector patch that includes one or more capacitors, each of which has an electrostatic capacity that is variable due to at least deformation of each capacitor. The sensor module also includes an electronics unit connected to each capacitor and configured to control the sensor module. The detector patch is adhered to an inside of at least one of the tread portion or the sidewall portion. At least one of the capacitors is located on the inside of the at least one of the tread portion or the sidewall portion. The electronics unit is configured to estimate at least one of the parameters based on the electrostatic capacity of each capacitor.