Method and system for assessing vehicle movement
First Claim
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1. A method for assessing movement of a vehicle having a plurality of wheels, the method comprising the steps of:
- obtaining a plurality of wheel direction values, each of the plurality of wheel direction values pertaining to a direction of wheel rotation of a respective wheel of the plurality of wheels;
calculating, using a controller, an average value of the plurality of wheel direction values;
determining, using said controller, a direction of movement of the vehicle using the average value;
comparing, using said controller, the direction of wheel rotation of each of the plurality of wheels with the direction of movement of the vehicle;
calculating, using said controller, a wheel velocity of each of the plurality of wheels;
applying, using said controller, a rate limit to the wheel velocity of those of the plurality of wheels for which the direction of wheel rotation of the respective wheel is different from the direction of movement of the vehicle, thereby generating adjusted wheel velocities for the plurality of wheels; and
calculating, using said controller, a velocity of the vehicle using the adjusted wheel velocities.
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Abstract
Methods and systems are provided for assessing movement of a vehicle having a plurality of wheels. A plurality of wheel direction values are obtained. Each of the wheel direction values pertains to a direction of wheel rotation of a respective wheel. An average value of the wheel direction values is calculated. A direction of movement of the vehicle is obtained via a controller using the average value. In addition, a signed velocity is determined for and indicative of both forward and reverse motions using the wheel direction values.
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Citations
18 Claims
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1. A method for assessing movement of a vehicle having a plurality of wheels, the method comprising the steps of:
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obtaining a plurality of wheel direction values, each of the plurality of wheel direction values pertaining to a direction of wheel rotation of a respective wheel of the plurality of wheels; calculating, using a controller, an average value of the plurality of wheel direction values; determining, using said controller, a direction of movement of the vehicle using the average value; comparing, using said controller, the direction of wheel rotation of each of the plurality of wheels with the direction of movement of the vehicle; calculating, using said controller, a wheel velocity of each of the plurality of wheels; applying, using said controller, a rate limit to the wheel velocity of those of the plurality of wheels for which the direction of wheel rotation of the respective wheel is different from the direction of movement of the vehicle, thereby generating adjusted wheel velocities for the plurality of wheels; and calculating, using said controller, a velocity of the vehicle using the adjusted wheel velocities. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 17, 18)
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9. A method for assessing movement of a vehicle having a plurality of wheels, the method comprising the steps of:
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calculating, using a controller, a wheel velocity of each of the plurality of wheels; applying, using said controller, a rate limit to the wheel velocity of those of the plurality of wheels for which a direction of wheel rotation is different from a direction of movement of the vehicle, thereby generating adjusted wheel velocities for the plurality of wheels; and calculating, using said controller, a velocity of the vehicle using the adjusted wheel velocities. - View Dependent Claims (10, 11)
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12. A system for assessing movement of a vehicle having a plurality of wheels, the system comprising:
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a plurality of sensors, each of the plurality of sensors coupled to and configured to provide signals representative of a direction of wheel rotation of one of the plurality of wheels; and a controller coupled to the plurality of sensors and configured to; generate a plurality of wheel direction values using the signals, each of the plurality of wheel direction values pertaining to a direction of wheel rotation of a respective wheel of the plurality of wheels; calculate an average value of the plurality of wheel direction values; determine a direction of movement of the vehicle using the average value; compare the direction of wheel rotation of each of the plurality of wheels with the direction of movement of the vehicle; calculate a wheel velocity of each of the plurality of wheels; apply a rate limit to the wheel velocity of those of the plurality of wheels for which the direction of wheel rotation is different from the direction of movement of the vehicle, thereby generating adjusted wheel velocities for the plurality of wheels; and calculate a velocity of the vehicle using the adjusted wheel velocities. - View Dependent Claims (13, 14, 15, 16)
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Specification