Method and device for determining acceleration and/or deceleration of a moving object

• US 4,408,290 A
• Filed: 01/09/1981
• Issued: 10/04/1983
• Est. Priority Date: 01/14/1980
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kubo, Jun, Honda, Minoru
• Primary Examiner(s): Smith, Jerry
• Application Number:
  US06/223,845
• Time in Patent Office: 998 Days
• Field of Search: 364/565, 364/566, 324/161, 324/162, 361/236, 361/242, 73/511, 73/514, 73/517 R, 73/518
• US Class Current: 702/141
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: G01P 15/165 for measuring angular accelerations
• CPC Class Codes: G01P 3/489 Digital circuits therefor

Abstract

An acceleration sensor acts on the variable-frequency pulses of a speed sensor signal to recognize any variation of the pulse period thereof and to produce an output indicative of the magnitude of the detected variation to within a fixed degree of accuracy. The periods of groups of known, variable number pulse groups are measured with reference to a fixed-frequency clock pulse signal and the measurement periods of successive groups of equal numbers of pulses are compared. If the difference between pulse group periods is zero or less than a predetermined value, the number of pulses in each group is increased in order to increase the total number of clock pulses during the measurement interval. The number of pulses per group is increased until the difference between measured periods exceeds the predetermined value or until the number of pulses per group reaches a predetermined maximum. Acceleration rate calculations and memory control procedures are designed to take into account the variation of the number of pulses per group.

Claims

1. A device for determining the acceleration or deceleration of an object comprising:

a speed sensor for determining the speed of the object and producing a sensor signal in the form a train of pulses, each of a period corresponding to the determined speed of the object;

a clock signal generator for producing a train of clock pulses of a constant frequency;

a counter means for counting the clock pulses and for latching the counted value after a selected number of sensor signal pulses have been received;

a memory means for storing the latched counter values, wherein said memory means renews at least one of the stored values each cycle of device operation in a selected shifting mode;

an arithmetic means for processing the stored values in said memory means and determining the acceleration or deceleration of the object on the basis of any difference between the stored values in said memory means, said arithmetic means producing a command for increasing the number of pulses of the sensor signal over which the clock pulses are to be measured when the difference between the stored value is less than a predetermined value; and

a controller means responsive to said command to determine the number of pulses of the sensor signal over which the clock pulses are measured for a succeeding cycle of device operation, said controller being operative for determining the shifting mode for the values stored in the memory means on the basis of the selected number of pulses, said controller means producing a latch signal for causing said counter means to latch the counted value and a shift control signal for controlling the shifting operation of said memory means.

7. A device as set forth in any one of claims 1 to 6 inclusive, wherein said controller means further generates a reset signal for resetting the output of the arithmetic means, said reset signal being transmitted to said counter means to cause the latter to output the latched counter value.

8. A device as set forth in claim 7, wherein said controller means produces a decision signal when the predetermined number of pulses of the sensor signal of which the duration is to be measured reaches a given maximum value and no resolvable difference between the sensor signal periods is detected, the output of the arithmetic means being responsive thereupon to the decision signal to produce an output indicative of zero acceleration.

9. A device as set forth in claim 7, wherein said memory means comprises a memory control section and wherein said memory sections, and said memory control section is responsive to said reset signal to perform the shifting operation on the contents of said memory sections according to a selected shifting pattern determined by said controller means.

10. A device as set forth in claim 9, wherein each of said memory sections comprise an 8-bit shift register and the latched counter value is inputted to the shift register in the form of an 8-bit binary signal.

11. A device as set forth in claim 10, wherein said shifting mode signal is a 2-bit binary signal.

2. A device for determining the acceleration or deceleration of an object comprising:

a speed sensor means for determining the speed of the object and producing a sensor signal in a form of train of pulses of a period indicative of the determined speed of the object;

a counter means for measuring the total period of a predetermined number of sensor signal pulses and latching the measured period value in response to the last of the predetermined number of sensor signal pulses, said counter means including a clock signal generator for generating a train of clock signal pulses having a fixed period indicative of a unit of time for measurement of the period of the predetermined number of sensor signal pulses;

a memory means for storing the latched period values, said memory means renewing at least one of the stored values according to a selected shifting mode determined on the basis of the result of an immediately preceding cycle of device operation;

an arithmetic means for processing the stored values in said memory means and for determining any acceleration or deceleration of the object on the basis of any difference between the stored values in said memory means, said arithmetic means producing a command for increasing the number of pulses of the sensor signal over which the sensor signal period is measured when the difference between the stored values is less than a predetermined value; and

a controller means responsive to said command to determine the number of pulses of the sensor signal over which the period is measured for a successive cycle of operation, said controller means further determining a shifting mode of the stored values in said memory section of the memory means based on the determined number of pulses, said controller means producing a latch signal for causing said counter means to latch the period value and a shift control signal for controlling the shifting operation of said memory means.

3. A device for determining the acceleration or deceleration of an object comprising:

a speed sensor for determining the speed of the object and producing a sensor signal in a form of pulse having a period corresponding to the determined speed of the object;

a clock signal generator producing a train of pulses having a fixed perod;

a counter means for counting the clock signal pulses and latching the counted value after a predetermined number of sensor signals are received;

a memory means having three memory sections for storing the latched counter value, , each memory section being operable to shift its stored value according to a predetermined shifting mode;

an arithmetic means for processing the stored values in said memory means and determining the acceleration or deceleration of the object based on any difference between the stored values in said memory means, said arithmetic means producing a command for increasing the number of pulses of the sensor signal over which the clock pulses are counted when the difference between the stored value is less than a predetermined value;

a controller means responsive to said command to determine the number of pulses of the sensor signal over which the clock pulses are to be counted for a subsequent cycle of operation, said controller means further determining the shifting mode of the stored value in said memory section of the memory means based on the determined number of pulses, said controller means producing a latch signal for causing said counter means to latch the counter value and a shift control signal for controlling the shifting operation of said memory means; and

a unit for outputting a signal corresponding to the acceleration or deceleration.

4. A device for determining the acceleration or deceleration of an object comprising:

a speed sensor means for determining the speed of the object and producing a sensor signal in the form of a train of pulses having a pulse period indicative of the determined speed of the object;

a counter means for measuring the duration of a predetermined number of sensor signal pulses and latching a measured counter value in response to the last of the predetermined number of sensor signal pulses, said counter means including a clock signal generator for generating a clock pulse signal having a period indicative of a unit time for measurement of the duration of the predetermined number of sensor signal pulses;

a memory means for storing the latched counter value, said memory means including first, second and third memory sections, said first memory section storing a first latched counter value, said second memory means storing a second latched counter value immediately following said first latched counter value, and said third memory section storing a third latched counter value, said first, second and third memory sections being operative to shift the stored values thereof according to a selected one of a plurality of predetermined shifting modes;

an arithmetic means for processing the stored values in said memory means and determining the acceleration or deceleration of the object based on any difference between the stored values in said memory means, said arithmetic means producing a command for increasing the number of pulses of the sensor signal of which the duration is to be measured when the difference between the stored values is less than a predetermined value;

a controller means responsive to said command to determine the number of pulses of the sensor signal of which the duration is to be measured during a subsequent arithmetic operation, said controller means further determining the shifting mode of the stored values in said memory sections of the memory means based on the determined number of pulses, said controller means producing a latch signal for causing said counter means to latch the counter value and a shift control signal for controlling the shifting operation of said memory means; and

an unit for outputting a signal indicative of any acceleration or deceleration.

5. A device for determining the acceleration or deceleration of an object comprising:

a speed sensor means for determining the speed of the object and producing a sensor signal in the form of pulse signals having a frequency indicative of the determined speed of the object;

a counter means for sequential measurement of the duration of a predetermined number of pulses of the sensor signal pulse and latching the measured counter value in response to the last of the predetermined number of sensor signal pulses said counter means including a clock signal generator for generating clock pulses, the period of which corresponds to a unit of time of measurement, said counter means outputting a latched counter value for each cycle of device operation;

a memory means for receiving the output of said counter means and storing the latched counter value, said memory means including first, second and third memory sections, each of said memory sections shiftably storing one of said latched counter values in a given order and effecting a shifting operation in accordance with a predetermined shifting mode selected from among a plurality of given modes corresponding to the number of pulses of the sensor signal of which the duration is to be measured;

an arithmetic circuit for comparing the stored values from adjacent memory sections to determine any difference therebetween and thereby determine the acceleration or deceleration of the object based on the determined difference, said arithmetic circuit producing a command for increasing the number of pulses of the sensor signal to be measured when absolute value of said difference between the stored values is less than a given value, said arithmetic circuit including an output means for outputting a signal indicative of the acceleration or deceleration of the object; and

a controller means fresponsive to said command to determine the number of pulses of the sensor signal of which the duration is to be measured during a subsequent cycle of device operation, said controller means further determining the shifting mode for controlling the shifting operation of said memory sections based on the number of pulses to be counted, said controller means being operable to count the number of sensor signal pulses inputted thereto and produce a latching signal in response to counting a value corresponding to the determined number of pulses.

6. A device for determining the acceleration or deceleration of an object comprising:

a controller means for receiving a sensor signal produced by a speed sensor, said signal having a period indicative of the speed of the object, and counting a predetermined number of pulses of the sensor signal, said controller means being operable to increase the number of pulses to be counted in a present cycle of device operation based on any change in sensor signal period determined during a previous cycle of device operation and to produce both a latching signal when the counted value becomes equal to the predetermined number, and a shifting mode signal corresponding to the number of pulses to be counted;

a counter means for sequentially measuring the duration of the predetermined number of pulses of the sensor signal and latching the measured counter value responsive to said latching signal said counter means including a clock signal generator for sequentially generating clock pulses having a constant period corresponding to a unit of time of measurement, said counter means outputting the latched counter value at the beginning of each cycle of device operation;

a memory means for receiving the output from said counter means and storing the latched counter value, said memory means including first, second and third memory sections, each of said memory sections shiftably storing one of said latched counter values in a given order, said memory means shifting newly latched counter values and the contents of said memory sections in a predetermined shifting mode selected from among a plurality of shifting modes in accordance with the number of pulses of the sensor signal of which the duration is to be measured; and

an arithmetic circuit for comparing the contents of adjacent memory sections to determine any difference therebetween and to determine the acceleration or deceleration of the object based on the determined difference, said arithmetic means producing a command for increasing the number of pulses of the sensor signal of which the duration is to be measured between stored values is less than a given value, said arithmetic circuit including an output means for outputting the resulting acceleration or deceleration of the object.

12. A device for determining acceleration or deceleration of a rotating wheel of an automotive vehicle comprising:

a controller means for receiving a sensor signal, which is produced by a speed sensor, said sensor signal having a period indicative of the rotational speed of the vehicle wheel, said controller means further counting inputted pulses from the sensor signal and operable to increase the number of pulses to be counted based on any change in sensor signal period determined during a previous cycle of device operation and producing a latching signal when the number of pulses counted becomes equal to a predetermined number and producing a shifting mode signal according to the number of pulses to be counted;

a counter means for sequentially measuring the duration of the predetermined number of pulses of the sensor signal and latching the measured counter value in response to said latching signal, said counter means including a clock signal generator generating clock pulses of a constant period corresponding to a unit of time measurement, said counter means outputting one latched counter value at the beginning of each cycle of device operation;

a memory means for receiving outputs from said counter means and storing the latched counter values, said memory means replacing at least one of the previously stored values with a newly received counter value during each cycle of device operation; and

an arithmetic circuit for comparing a pair of stored values in said memory means in order to determine any difference therebetween and thereby determine the acceleration or deceleration of the wheel based on the determined difference, said arithmetic means producing a command for increasing the number of pulses of the sensor signal of which the duration is to be measured when the absolute value of said difference between the stored value is less than a given value, said arithmetic circuit including an output means for outputting the determined acceleration or deceleration of the wheel.

13. A device for determining the acceleration or deceleration of a rotating wheel of an automotive vehicle comprising:

a controller means for receiving a sensor signal produced by a speed sensor, said signal having a period indicative of the rotational speed of the vehicle wheel, said controller means being operable to count the inputted pulses from the sensor signal and to increment the number of pulses to be counted based on any change in sensor signal period determined from a previous cycle of device operation and to produce a latching signal when the counted value becomes equal to a predetermined number of pulses, and a shifting mode signal according to the number of pulses to be measured;

a counter means for sequentially measuring the duration of the predetermined number of pulses of the sensor signal and latching the measured counter value in response to said latching signal, said counter means including a clock signal generator for generating clock pulses having a constant period corresponding to a unit of time for measurement, said counter means outputting a latched counter value at the beginning of each cycle of device operation;

a memory means for receiving the output from said counter means and storing the latched counter values, said memory means replacing at least one of the stored values with a newly received counter output according to a selected shifting mode determined on the basis of a shifting mode signal from an immediately preceding cycle of device operation; and

an arithmetic circuit for comparing a pair of stored counter values to determine any difference therebetween and to thereby determine the acceleration or deceleration of the wheel based on the determined difference, said arithmetic means being operable to produce a command for increasing the number of pulses of the sensor signal of which the duration is to be measured when the absolute value of said difference between counter values is less than a given value, said arithmetic circuit including an output means for outputting a signal indicative of the acceleration or deceleration of the wheel.

16. The device as set forth in claims 13, 14 or 15, wherein said controller means generates a latching signal when the number of sensor signal pulses received equals the predetermined number of pulses per group.

17. The device as set forth in claim 16, wherein said controller means is responsive to an output of the arithmetic means indicative of the determined number of pulses per group and counts the sensor signal pulses until the counter value equals the predetermined pulse number, said arithmetic means output being incremented at a given rate for each cycle of device operation until a change in the sensor signal duration is detected or until the number of pulses per group reaches a predetermined maximum number.

18. The device as set forth in claim 17, wherein said arithmetic means generates a reset signal in response to the last pulse of each pulse group for resetting the sensor signal pulse count and initiating the shifting operation to thereby delineate each cycle of the device operation and the device is responsive the reset signal to start the next cycle of operation after a predetermined time lag.

19. The device as set forth in claim 18, wherein said memory means is responsive to said reset signal to initiate the shifting operation of the contents thereof according to a pre-selected shifting pattern determined by the controller means.

14. A device for determining the acceleration or deceleration of a rotating wheel of an automotive vehicle including a wheel rotation speed sensor for determining wheel rotation speed and generating a sensor signal having a period proportional to the determined rotational speed of the vehicle wheel, a clock signal generator for generating a clock signal of a fixed period indicative of a unit time of measurement, and arithmetic means for receiving said sensor signal and comparing determined durations of successive groups of sensor signal pulses to determine any change in sensor signal period and to thereby determine the acceleration or deceleration of the wheel based on the determined sensor signal period change said arithmatic means being operable to output a resultant acceleration or deceleration value,

the improvement comprising:

a memory means having memory sections for shiftably storing the measured sensor signal pulse group durations and shifting the contents thereof during each cycle of device operation; and

a controller means for determining the presence of any difference between sensor signal periods and for determining the number of pulses per pulse group over which the duration is measured based on any determined change of period between a preceding cycle of device operation and a current cycle, said controller means being operable to increment the number of pulses per group when the change in the sensor signal period is less than a predetermined value, and to control the shifting operation of the memory section in the memory means.

15. A device for determining the acceleration or deceleration of a rotating wheel of an automotive vehicle, said device including a wheel rotation speed sensor for determining wheel rotation speed and generating a sensor signal having a pulse period proportional to the determined rotation speed of the vehicle wheel, a clock signal generator for generating a clock signal having a fixed period indicative of a unit of time of measurement, an arithmetic means for receiving said sensor signal and for comparing durations of successive groups of pulses of said sensor signal to determine any change in sensor signal period and to thereby determine any acceleration or deceleration of the wheel rotation speed and to output a resultant acceleration or deceleration value,

the improvement comprising:

a memory means for storing pulse group duration values, said memory means including first, second and third memory sections, said first memory section storing a first pulse group duration value, said second memory means storing a second pulse group duration value, said second pulse group sequentially following said first pulse group, and said third memory section storing a third pulse group duration value, said third group sequentially following said second group, said first, second and third memory sections being operable to shift their respective content values according to a predetermined shifting mode;

a controller means for determining the presence of any change in sensor signal period and for determining a number of pulses per pulse group based on any determined change from a preceding cycle of device operation, said controller device being operable to increment the number of pulses per group when the change in the sensor signal period is less than a predetermined value and to control shifting operation of the memory section in the memory means.

20. A method for determining the acceleration or deceleration of a moving object comprising the steps of:

measuring the current speed of the moving object and producing a first signal having a period corresponding to the determined speed of the object by reference to a clock signal having a constant period which is representative of a unit of time of measurement;

comparing the duration of successive groups of pulses of the sensor signal in order to determine any difference between the durations thereof;

determining the acceleration or deceleration of the object based on any determined difference between the durations; and

discriminating whether the determined difference between the durations exceeds a predetermined value and generating a command for incrementing, at a given rate, the number of pulses of the sensor signal per pulse group of which the duration is subsequently to be measured if the determined difference is less than the predetermined value.

21. The method as set forth in claim 20, wherein a reset signal is generated during the step of determining the acceleration or deceleration, and reset signal acting as start command for starting, a cycle of device operation.

22. The method as set forth in claim 21, wherein said durations are stored in memory means having memory sections for shiftably storing successively determined durations, said memory sections being responsive to the reset signal to perform a shifting operation of the stored values according to a selected shifting pattern determined in accordance with the determined number of pulses per group.

23. The device for determining the acceleration of a moving object comprising:

(a) a speed sensor for outputting a speed sensor signal in the form of a train of pulses, each having an instantaneous period related to the instantaneous speed of the object;

(b) means responsive to the speed sensor signal for timing the duration of a group of a selectable number of sensor signal pulses;

(c) means responsive to said timing means for calculating any difference between the durations of two successive sensor signal pulse groups and calculating the acceleration rate of the object on the basis of said difference and said selectable number of pulses per group; and

(d) control means responsive to said calculating means for selecting the number of sensor signal pulses per pulse group in accordance with said calculated difference.

24. The device of claim 23, wherein said control means increases the number of pulses per pulse group when the calculated difference is less than a predetermined value and resets the number of pulses per group to a predetermined base number when the calculated difference exceeds the predetermined value.

25. The device of claim 24, wherein said control means is operative to continue to increase the number of pulses per group up to a predetermined maximum number until the difference calculated at the completion of the timing of each pulse group equals the predetermined value.

26. The device of claim 25, wherein said control means is operable to reset the number of pulses per group to the base value if the difference calculated after timing a pulse group having the maximum number of pulses is less than the predetermined value.

27. The device of claim 23, further comprising a memory device responsive to said timing means for storing at least the two most recently timed pulse group duration values, said memory device holding the stored values in a predetermined order and being operable, in response to completing the timing of a pulse group, to receive the newly timed duration value and to shift the previously stored values to accommodate the new value in accordance with a shifting mode selected from among a plurality of predetermined shifting modes, and wherein said control means selects the shifting mode of said memory device in accordance with the current number of pulses comprising a pulse group.

28. The device of claim 27, wherein said control means is operable to select the shifting mode in accordance with the currently selected number of pulses in a pulse group and the previously selected number of pulses in a pulse group.