SYSTEM AND METHOD FOR ESTIMATING WHEEL SPEED OF VEHICLE

• US 20200132192A1
• Filed: 04/10/2019
• Published: 04/30/2020
• Est. Priority Date: 10/24/2018
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Inventors: Oh, Ji Won, Eo, Jeong Soo
• Granted Patent: US 11,378,184 B2
• Time in Patent Office: Days
• CPC Class Codes: F16H 63/10 the final actuating mechanism having a series of independent ways of movement, each way of movement being associated with only one final output mechanism
• CPC Class Codes: F16H 63/40 comprising signals other than signals for actuating the final output mechanisms
• CPC Class Codes: G01P 13/04 Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
• CPC Class Codes: G01P 13/045 with speed indication
• CPC Class Codes: G01P 3/44 for measuring angular speed G01P3/56 takes precedence
• CPC Class Codes: G01P 3/481 of pulse signals
• CPC Class Codes: G01P 3/488 delivered by variable reluctance detectors

Abstract

A system and method for estimating a wheel speed of a vehicle are provided. The system includes wheel speed sensor that detects a rotation speed of a wheel of a vehicle and a motor speed sensor that detects a speed of the driving motor. A controller receives a signal of the wheel speed sensor, a signal of the motor speed sensor, and information regarding a gear stage indicating current gear stage status of the transmission, and estimates a wheel speed including direction information of wheel rotation.

Claims

1. A system for estimating a wheel speed of a vehicle, wherein the vehicle includes a driving motor and a transmission, and performs reverse movement using the transmission, the system comprising:

a wheel speed sensor configured to detect a rotation speed of a wheel of the vehicle;

a motor speed sensor configured to detect a speed of the driving motor; and

a controller configured to receive a signal of the wheel speed sensor, a signal of the motor speed sensor, and information regarding a gear stage indicating a current gear stage status of the transmission, and estimate a wheel speed to which directionality of wheel rotation is added,

wherein the controller includes a direction determining module, configured to obtain direction information indicating a direction of wheel rotation from motor speed information obtained from the signal of the motor speed sensor and the gear stage information, and

wherein the controller is configured to estimate the wheel speed including the directionality of wheel rotation, using real-time direction information obtained by the direction determining module and the signal of the wheel speed sensor.

2. The system according to claim 1, wherein the direction determining module is configured to obtain information regarding a drive/reverse direction of the gear stage, assigning “

1”

to a drive movement and “

−

1”

to a reverse movement, from gear stage information after termination of a neutral range.

3. The system according to claim 2, wherein the direction determining module is configured to determine information regarding a drive/reverse direction of the motor speed, which follows the information regarding a drive/reverse direction of the gear stage at a point in time at which a rotation direction of the driving motor is changed, as one of “

” and

“

−

1”

.

4. The system according to claim 3, wherein the direction determining module is configured to obtain information regarding a forward/reverse rotation direction of the motor speed, assigning “

1”

to a forward rotation of the driving motor and “

−

1”

to a reverse rotation of the driving motor.

5. The system according to claim 4, wherein the direction determining module is configured to determine real-time direction information of the wheel rotation, that is information regarding a drive/reverse direction of the wheel speed, from a value obtained by multiplying the determined the information regarding the drive/reverse direction of the motor speed with the obtained information regarding a forward/reverse rotation direction of the motor speed.

6. The system according to claim 2, wherein the direction determining module is configured to check a point in time at which the rotation direction of the driving motor is changed after gear stage shifting, based on the motor speed information obtained by the signal of the motor speed sensor, and at a point in time at which the rotation direction of the driving motor is changed, the direction determining module is configured to determine the information regarding the drive/reverse direction of the motor speed to be the same value as the information regarding the drive/reverse direction of the gear stage.

7. The system according to claim 6, wherein the direction determining module is configured to check a point in time of the motor speed, obtained by the signal of the motor speed sensor, zero-crossing from a positive “

”

value to a negative “

−

”

value, as a point in time at which the rotation direction of the driving motor is changed after the gear stage shifting, and at a point in time of the motor speed zero-crossing from the positive “

”

value to the negative “

−

”

value, the direction determining module is configured to determine the information regarding the drive/reverse direction of the motor speed to be the same value as the information regarding the drive/reverse direction of the gear stage.

8. The system according to claim 6, wherein the direction determining module is configured to maintain the information regarding the drive/reverse direction of the motor speed, which is determined to be the same value as the information regarding the drive/reverse direction of the gear stage, until reaching a next point in time at which the rotation direction of the driving motor is changed after gear stage shifting again.

9. The system according to claim 2, wherein the controller is configured to estimate the wheel speed to which the directionality of wheel rotation, by multiplying the information regarding the drive/reverse direction of the wheel speed determined by the direction determining module with the rotation speed of the wheel obtained from the signal of the wheel speed sensor.

10. The system according to claim 1, wherein the wheel speed sensor includes an encoder.

11. The system according to claim 1, wherein the motor speed sensor includes a resolver.

12. A method for estimating a wheel speed of a vehicle, wherein the vehicle includes a driving motor and a transmission and performs reverse movement using the transmission, the method comprising:

receiving, by a controller, a signal of a wheel speed sensor, a signal of a motor speed sensor, and information regarding a gear stage indicating a current gear stage status of the transmission;

obtaining, by the controller, motor speed information obtained from the signal of the motor speed sensor by a direction determining module and direction information indicating a direction of wheel rotation from the information regarding the gear stage; and

estimating, by the controller, a wheel speed to which the directionality of wheel rotation is added, using real-time direction information obtained by the signal of the wheel speed sensor and by the direction determining module.

13. The method according to claim 12, wherein the obtaining of the direction information includes:

obtaining, by, the controller, information regarding a drive/reverse direction of the gear stage, assigning “

1”

to a forward movement and “

−

1”

to a reverse movement, from gear stage information after termination of a neutral range;

determining, by, the controller, information regarding a drive/reverse direction of the motor speed, which follows the information regarding the drive/reverse direction of the gear stage at a point in time at which the rotation direction of the driving motor is changed, as one of “

1” and

“

−

1”

;

obtaining, by, the controller, information regarding a forward/reverse rotation direction of the motor speed, assigning “

1”

to a forward rotation of the driving motor and “

−

1”

to a reverse rotation of the driving motor; and

determining, by, the controller, the real-time direction information of the wheel rotation, that is information regarding a drive/reverse direction of the wheel speed, from a value obtained by multiplying the determined information regarding the drive/reverse direction of the motor speed with the obtained the information regarding the forward/reverse rotation direction of the motor speed.

14. The method according to claim 13, wherein, at the determining of the information regarding the drive/reverse direction of the motor speed, a point in time at which a rotation direction of the driving motor is changed after gear stage shifting is checked, based on the motor speed information obtained from the signal of the motor speed sensor, and at the point in time at which the rotation direction of the driving motor is changed, the information regarding the drive/reverse direction of the motor speed is determined to be the same value as the information regarding the drive/reverse direction of the gear stage.

15. The method according to claim 14, wherein, as the point in time at which the rotation direction of the driving motor is changed after gear stage shifting, a point in time of the motor speed obtained by the signal of the motor speed sensor zero-crossing, from a positive “

”

value to a negative “

−

”

value, is checked, and at the point in time of the motor speed zero-crossing from the positive “

”

value to the negative “

−

”

, the information regarding the drive/reverse direction of the motor speed is determined to be the same value as the information regarding the drive/reverse direction of the gear stage.

16. The method according to claim 14, wherein the information regarding the drive/reverse direction of the motor speed, determined to be the same value as the information regarding the drive/reverse direction of the gear stage, is maintained until reaching a next point in time as which the rotation direction of the driving motor is changed after gear stage shifting again.

17. The method according to claim 13, further comprising:

estimating, by the controller, a wheel speed, to which directionality of wheel rotation is added, by multiplying the information regarding the drive/reverse direction of wheel speed determined by the direction determining module with a rotation speed of a wheel obtained from the signal of the wheel speed sensor.