SE546558C2 - Vehicle velocity measurement system and a method based on signals from a rotation sensor - Google Patents

Abstract

Systems and methods for determining a speed of a vehicle (102). The vehicle (102) includes a sensor ring (104) coupled to and rotatable with a propulsion component of the vehicle (102), and includes a rotation sensor (106) proximate the sensor ring. The rotation sensor (106) generates a first and second signal each corresponding to a rotation of the sensor ring (104) caused by a rotation of the propulsion component. At least one of the first signal or the second signal includes distortion. A processor is configured to construct a third signal from the first signal, divide the third signal by the second signal to produce a fourth signal, and determine a velocity of the vehicle (102) based on the fourth signal.

Description

BßiCKíÉrR()líND lllilillå Drivers irely on a *Jehicleis speed gauge to ensure cornpliztnce vvitli tlrivdrig laws and avoid, alangeroiis rnaneuvfers, and several vehicle control tunctioris rely on vehicle cveloeity as an iriput pararneter. Xfehiicles shioultl thus lie contigtiretl to deterniine and report cvehicle cveloeity rapidljyf" and With a high degree of precision.

Slíhfllvlßxlšïçï' Hlilhfl ln one exaniiale, a, intethrotl for nufzisuifiiig a velocity of a, *vehicle iiicliirliiig a, sfisiisor ring criupled to and rotatahle With a propulsiiin conipoiierit of the vehicle and a rotation sensor' proxirriztte the sensor ring that gerierates signals cririrespiiniling to a rotatiori of the serisor ring includes generating, by thie rotation sensor, a first signal and a second signal. Eacli of the 'lirst and second signals corresptinds to a rotation of the sensor ring caused by' a rotation tlf the iiropulsitvn etinipoiieiit, At least one of the lirst signal or the second signal iiicludes distortioii, The inethod further iricludes constructing a third signal frorn thic first signal, geiieratirig a fotirth signal hy per "flrniaiice of a divisifln operation using the third signal and the second signal, and deternrining a speed anti/oi' moving direction of the vehicle based on the fourth signal. lilililšl ln a tiirthei' exainple, a ifelocity' nieasureinent system for a vehicle includes a sensor ring eriuplcil to and rotatahle cvvitli ajproiiulsirßri component of the vfeliicle. The systern also iricltides a rotation sensor proxirnate the sensor ring that, responsive to a rotation of the sensor ring, generates a first signal and a second signal each correspoiiding to the rotation of the sensor ring. At least one rifthe first signal or the second signal includes ilistortion. Thie systern furthier includes a controller operatively' coupled to the rotation sensor. "flie controller is eonfigured to construct a third signal froni the first signal, generate a fourth signal hy performance of a division orveratioii using the third signal and the second siginal, and deterinlne a speed and/or nioviiig direction of the vehicle based on the fourth signal.

BRIEF llESCKlPlflON Ûli' DRlÅXÅQTlNGS lllililrllå Flf. l is a sclieniatic iliagrarn illustrating a cvelocity rncastirenierit systern of a vehicle. 100051 FEG. 2 is a fiovvch art iihistratirig a niethiod for deternrinirig vehicie yfehicityf. 100061 FIG, 3 is a, grziph ihustrating signais that niziy he generated hy a rotation seensor in the syfstern of FIC.

H1007§ FIC. 4 is a grapii ilhistrating phase angies corresrioridiiig to the signais of Fišlišš. 3. 100081 NG. 5 is a, graph i iinstifating a signai that may 'oe gfenerattfd ironi the signais otfiG. 3 to deterrnirie yeiiicie yfehicity.

DEÉZLÃILED DESCÉÉ-åiiyflfšrš í0009fi Eicecftroincaigncëtic sensors for inceasiiriiig vehicif: velocityf zire susceifitihie to iioise, tvhich niay lineariy' iricrease as a furictiriri iifincreztsirig vehicity. For e;xziniple, vehicie cornporients proxiniate to such a sensor may iiiterfere vtfith niagrretic fieids ineasured by the sensor, and rnay therehy introduce distortiori in the sensor"s oiitrrnt. To coniperisate for this distortion and determine vehicle *veiocityg a vehicle may he configureri to apiçi1y reiativeiy complex frequency filters and counters to the sensor"s rintpiit, These processes increase the tirne needed to deterrnine tveiiicie veiricityfl, tviiicii rnay iiave changed hy the time the rieterrniried *veiocityf is reläiorted to the driver or to other functions of the vehicie dependent ori vehicie veiricity' (icäga, control and diagnostic tiiiictioris). 100110 FIG. 1 iilnstrates a systern 100 of a *vehicie 102 that may determine a tvelocity of the vehicie 102 tivritiiont using the relatively cornpiex fieqneiicy filters and cmtnters described above. As a resait, the syfstem 100 may determine and report the vehicleïs 102 tfeiocity' in iess tinre. The time ivetvfeen the vehicie 102 traye1ing at a giveii tvelocity and the driver and other ifeliicle fiinctirins hecorning avyare of this yfeiricity rnay tiius he reduced, therehy improving driver avvfareiiess and the performance of veiocity-depentieiit vehicle ftinctions.

HBÜHE The systern 100 may inciude a sensor ring 104, a rotation sensor 106, and a contro11er° 108. Tile sensor ring 104 niay be craujpleti to a proläiu1siori component ofthe vehicle 102. The propulsioii cornpoiient rnay rotate ivith rnovenieiit of the vehicle 102 in the forvvard or reverse direction. For instance, the proptiisioii coinporient may rotate, such as Linder' the povver' (if an engine of the vehicie 102, to propel the vehicle 102 in the foirvlarti or reverse direction. As an example, the propuisirin cornponerit niay be a part of the drivetrairi of the vehicle 102. The direction and rate of rotation of the iiroptiisioii cornponent rnay corresiioiid to the veiocity' of the vehicle 102. 'fhe sensor ring 104 rnay form a concentric reiationsiiip vvith the iiroptiisioii component, and may rotate tvith the propulsion cornprineiit. 'fhe direction and rate of rotation of the sensor ring 104 may thus fi ¿. aiso eorresriririri to the veEotdty of the vehieie 100121 Ås shovvn in the iiiustrateti tfxarnpitf, the raropiiisiriri component rnay he a rod. E 10, sucir as a drive shaft or axEe shaft of the Vehieie 102. in this case, the sensor ring 104 rnay he eourderi to the propuisitvn cornponent ihy heing rvrztppeti around the rod i 10. As another exarnpie, the propuEsirin component rnay he a wvhecfi of the vehicEf: 102. in this ease. the sensor ring 104 array he eriutned to the riro1isu1sior1 ernnrmrierrt hy heing rnounted to an inside surface of the ufheei. The sensor ring 104 rnay aEso he eoupied to and rotatahie witii niu1tip1e propuisitin components of the vehieie 102 at the sarne tirne, sucir as hoth a rod 1 10 of the vehicEe 102 and a whee1 of the svehi e1e 102 attarfiïied to the rod E 1011131 The sensor ring 104 rrray irrc1utie a piuraiitjy' features EEIZ fiistriituteti a1ong and fiorrnin g a etirveti outer strrfaee of the serisor rirrg E04. Tile features 1 12 rnay eneire1e the rotati ona1 aXis of the serisor ring E04, aiid rnay face radia11y otitvvarti troni the rotationa1 axis of the sensor ring E04. The features 1 12 rnay he eveniy tiistrihtited a1ong the outer surface of the sensor ring 104 sueh that the size of each teatrire i 12 a1ong the outer surface is sithstantia11y' equai. Tile ferttitres 112 nray rotate With the sensor ring 104. Corresporrdingiyg the riireetiorr and rate of rotation of the ferttures E ifl rnay a1so corresnorrd to the Veioeity of the vehicie i 1110141 Responsive to rotation of the sensor ring 104, the rotation sensor E 06 niay geiierate signais eorresponfdiiig to the rotation of the sensor ring 104 and iridicatirrg the Veioeity of the Vehieie 102. in partieuiar, the rotation sensor 106 rnay ineiude a tiiuraiity of sith~scnsors 1 16, such as a su1>~sensor 116161 and a suh-serisor 11613. Each stifta-sensor' 116 rnay he eonfigureri to deteet 'vvhen a teatrire i 12 of the sensor ring 104 rotates past the rotation sensor 106, 'and to generate a signa1 iiiriicatisfe of feature 112 passage over tirne. The tireqriteiiey of the signais generated hy the suh-serisors 116 nray retiect the rfitation rate of the sensor ring 104, and niay thus eorresiiorrti to the speed of the Vehieie 102. As expiairted in rnore detaii heiotv, the tirning of the generated signaEs nray refiect the direction of rfitation of the sensor ring 100151 The stih-sensors 1 16 rnay he haii-effeet serisors configured to detect niagnetic fieids forrned hetnfeen the features E12. in partieuiar, the features 112 rnay inciude one or rnore inortii poie features 112A and one or nrore south po1e "eatures 112151. The one or rnore north poie features 112151 rnay he interspaced vvith the one or rnore south poie features 1 1213 a1ong the outer surfaee of the sensor ring 104. iírtder' this arrangernent, each pair of adjaeent ^eatures 112 nray forrn a rnagnrftir: fieid. As the sensor ring 194 rfotatrfs vvith rnovenieiit of the vehie1e 192, the rnagiiitiirie and direction of the niagnetic fiehi :applied to the rotatlori sensor 1116 rnay regular1y thtetuztte With the changing arigu1ar positions of the features 112 reiative to the rotatiori serisor' 196. Each suh~ sensor 116 rnay *thus he. eontignred to output a perfiodie signa1 inriirftatiiig these .thietiiations over time, the treqnenrfiy of whic1i may etirrrfsponri to the rotation rate. of the srënsor ring 1911161 Each strh-sensor 1 16 niay he conligureri to nieasure a ditferenrt axiai eoniporierit 117 of the niagnetic 'lie1d appiied to the rotation serisrir' 1116. For instance, the suoserisrir' 116A rnay he conflgurerl to rneasnre the rnagnetie fieiri a1ong an axis 117A tangential to the rotational rnoveriient rif the sensor ring 194, and the suh~serisor 11613 rnay he eonfigured to rneasure the rnagrietic feld aiong an axis 11713 that is riorrriai to the rotational nioverrient of the sensor ring 194. Under this arrangernerit, rotation of the sensor ring 194 rnay eause the suh~serisors 116 to gerierate sinusoidai signais p1iase shiftecl hy ninety degrees. 'fhe rotation direction of the seristir ring 194, and eorresponrlingiy the niovernent direction of the tfeiiieie 192, niay he iririicated hased on tv1rethert1ie signa1 generated ihy the suh~serisor 116A 1ear1s the signal generated hy the suh- sensor 1 1613, or Viee versa. 1911171 Sriecificaily, as rotation of the sensor ring 194 eauses a "eattire 1 12.41 to he centerecl on the rotation sensor 196, the suh-serisor 1 16A. rnay output a signrai ievei inriiczttitfe ofa niininiitni riiagrretic t1e1d rnagnitude (e. zero), and the suh~sensor 1 1613 niay rautpiit a signaE 1eVe1 iririieative of a niaxirnuni niagnetie fiehl niagriitude in a given direction (eng, one). ftrrtlier rotation of the seristir ring 194 niay then cause the "feature 1 2A and an aeent feature 1 1213 he ecgtridistant frorn the rotation sensor 1116. 1n this position, dependirig on the rotation direction ofthe sensor ring 194, the strh-sensor 116A niay output a signa1 ievei iridicatiwfe of a niaxirntini rnagrietie field rnagnitude in the given direction g., one), or niay rnrtput a signai 1eVe1 iridicatitfe of a rnaxiniurn niagnetie fiehl in a direction otiposite the given direetion (ragg, riegative one). The suh-serisor 11611 rnay output a signal 1eve1 indicative of a rninirnurrr niagrietic tieid rnagnitude tag., zero). .ftiscoritinited rotation then causes the "eature 11211 to eentered on the rotation sensor 196, the suh~seristir 116141 niay again output a signa1 level inclieatitfe of a rniriirnuni niagrietic fieid rnagnitude (ag, zero), the suh-sensor 11613 rnay output a signal ievei iridicatiwe of a rnaxirnurn rnagnetie fie1c1 niagriitticle in the direction rapposite the given direction (ag, riegatitfe one). ifädditioria1 rotation rnay thereafter eause the feature 11213 and another' feature 112A to he ecgtridistant frorn the rotation sensor' 196. in this riosititin, the sub-sensor 116A rnay output a signal 1eve1 tipposite the signal leyei iarftfviousiy output hy the suh~sensoi~ llóA to indiciatt: a rnaxiintirn inagneti c field niagiiitiitle tag., riegatiye one if rirevitittsiy' one, or one if previottsly riegative one), and the suh-serisoi' i ioB rnay again titittput a signal level iridicativfe ofa niinirnuni rnagrietic field rriagriitutle ( Zero). ltlüišl Thus, continuous rfotatiriii of the sensor ring lllßl niay tfiause the suh~sensrirs i io to generate sinusoitiai signals phase shiñeti lny nintetyf tieg Tees. The output for one of the suh-senstirs i 16, such as the suh~seriscir i itšitä, rnay the laheled as a cosine signai riutput, and the output foirthe other sulæsenstir' lló, such as the sulæserisrir' llólš, niay he laiieietl a sine signal riutput. Rcitatitin of the serisor ring 104 in a given direction rnay cause the sine sigriztl frorn the sine signal tiutput to lead the cosine signal front the cosine signal output hy ninety tiegrees, :trial rotation (rf the sensor ring lll-l in a direction rariposite the given direction rnay cause the cosine signal fironi the cosine signal output to lead the sine signal lirorn the sine signal output hyf ninety degrees. lílllijlšl 'lf he rotation sensor ltlti inay lie eonfiguretl to communicate the signals generated hy the suiv-serisors i lti to the controller itltå for processing. ldeztllyf, the sigrials gerierated hy the stth-serisrirs i 16 tvouitl he clean phase~sliifted periodic signals of a suhstaritially sarne fiequency and arnplitude. As described. above, hovvever, at least one these signais niay he distorted liy other components riroxirnate the rotation sensor ltlti. for instanee, the iilustratecl example shftvtfs a rnagrietic coniponerit lliš piroxirnztte the sensor ring lilfll. Tlie rriagnetic cornponent i ilš rnay interfere vyith the rnagnetic field rneastitred hy one of the sulæseristirs lló, such as the suhtfserisrir 1158, 'fhe arnottnt of clistortiori caused hy the iriterfererice rnay lie proportional to the velocity' of the vehicle iÜZ, As sorne non-lirniting examples, the rnagnetie component l iåå rnay he a surface (if a vyheel, differential, joint, transrnissiori, engine, or citttcii of the svehicle illfi. líllfiill Specificallyfl, as the sensor ring 104 rotates With rnovenierit of the vehicle iÜZ, the nragrietic eoniporierit lllš rnay interfere vvith the rnagnetic field component generated hy the features 112 and rneasured hy the suh-serisor iitiB, such as lziy' reciueirig the rnagnitude of the rneasured rnagnetic field coniponerit. iåcctirdiriglyf, the arnplitude of the sine signal gerieirated hyf the suii-serisor iitiB rnay he reduced, The arnount of distortiori of the sine signal niay lineariy increase as the t/eltveity' of the vehicle 162 inereases. Notvtfithstaiidiiig such clistortiori, the systeni lill), or rnore tiarticularly' the controller' iÛS, niay he configured to determine the vfelocity' of the vehicle iÜZ front the sine signal *without atitilying cornplex frequency filters and counters. lílllíll 'lf he controller 108 nray' include a rirocessor' iZi), nrernoiry lZZ, niass stftrage i24, and an input/output (lf/O) interface 126. The controller líilš niay the orieratitfeiy' coutilecl to an in LI: cornniuiiication vvith one or nitire external restiorces via the 1/0 intesrffacc 1261, The external resources rnay iriclurle, vvitliorit lirnitatiori, electronic control units (Etfïlís) 128, a display' 131), and the rotation sensor lllhfll The processor 12.11 niay include one or niore devices: selected ironi niicroproccfssors, rnirftrrr-controllers, digital signal procrfssors, inicrticoiricputrfrfs, crsntral processing rrnits, lieltl prograrrrrnahie gate zirrays, prograniniztihle logic devices, state rnachiries, logic circuits, ariaicig circuits, digital circuits, or ariy other devices that rnariipulate signrals (arialog or' digital) hased on operational instructions stored in the niernory 122. The rneniory 122 niay include a single niernory device or' a plurality' rillrnernriry devices iriclrirlirig, htit rrot liniited, to read-rinlj; rnerrioiy (RUB/l), raridorrr access rnernory (Rrällvil), voiatile rnenitiry, non-*Jolatiie niernory, static raridorn access rnerrioryf (SRAM), dynaniic randoni access rnernory (DRr/fihil), tlash rnenitiry, cache niernory, or any other' device capahle of storing inforniation. "llhe niass storage 124 rnay include one or rnore persistent data storage devices such a hard drive, tipticztl drive, tape drive, rion-vrilzttile solid~ state device, or any other device capahie tifpersistently storing irifrirrrizrtiori. lllllšfšl The processor' 120 niay tiperate under the control of an riperatirig systern (Û/S) l32 and one or niore cornptrter' stiftware applications, such as a XIeIocity' application 134, residing in rnerrioryf l22. The (It/S l32 niay he crintigsured to nianage controller' resources so the veiocitgf apiiiicatitiri 134 niay he executed hy the processor' 120. /~^\1ternativ'e1j~,f, the processor' 129 rnay execute the yfelocity' application 134 tlirectly; in vvhicli case the O/S 132 niay he ornitted. The O/S 132 and velocity' atitilicatiori 134 rnay each he contigured, upon exectrtiori hy the processor' 120, to iniplenierit the functions, features, and processes of the controller 108 described herein. Specificalljy, the O/S 132 and tfelocity' ariplicatitin 134 rnay each he enihodied hy a set of cornputer- executalile instructions residirig in niernory 22 and coniriiled or interpreted frorn a *variety of rirograrnrnirig languages and/or technologies, iricltidirig, *vvithout lirnitation, and either alone or' in conilvirizrtiriri, Java, (I, Tri", (24, Ohjectisfse I, Fortrarr, Pascal, Java Script, Python, Perl, and Pig/SQL. Each set of cornputer-executahle instructions rnay he configured, upon exectrtiori Why' the processor 120, to cause the rirocessor lZil to iniplenierit the furictioris, features, and processes of the rirograrn ernhodied hy the iristruction set, The rneniory 122 niay a1so include one or niore data structures used hy the processor' 1213, íš/S 132, and/far Velocity application 134 to store and rnaniptilate data, íhtllfšél] an example, the Velocity application l34 rnay he configuretlt, upon execiiti on hy the processor' E20, to receive signals tironi the rotation sensor ltlo corresrioridirrg to a niovernent of the vehicle lill At least orre of the signals niay irichtrie distortiori induced liy other crinrporierrts of the yfelfticle H32. The t/eloctity' application E34 may he rftonli gured to generate a division signal frorn the received signals that ratiomtftrieally' iridicates the Velocity of the vehicle lÛZ. The velocityf aprilicatitin E34 niay the corrligttreri to therr determine the "velocityf of the vehicle ltl2 hased on the division signal. Additional details of this process are descrihetl in rnore detail lielmv. illtflši A datahase, such as a tfelocity tahle lSo, rnay reside on the rnass storage l24, and rnay he used to collect and rirganize data used hy the yelocity' aripliczttiriri E34. The datahase niay iricltitrie data and supporting data struetures that store and tirgariiïfie the data. The database rnay he arranged tyitli ariy riatahase organization or structure iricltitriirig, hut not limited to, a relatiorral dataliase, a hierarchical tlataihase, a nettyotrk datahase, or eonihinations thereof. A datahase rnariagenient syfsteni in the liorrn of a cornputer' sottvvare application executing as instructions on the processor lf/lt) rnay he used to access the information or data storeri in records of the datahase in response to a query, swhere a Query rnay he dyfriarnicallyf deternrirreri and executeri hy the Û/S lšêï or Velocity' application lšd. illllštš] The Velocity' tahle lfštš rnay the a strired loolruti tahle iriclttriing data associating a plurality rifsignal characteristics vvith riitlerent vehicle speeds. Srveciticztllyf, the yelocity' tahle lflo niay he gerierated lay' protielling the *vehicle lÛIZ at tfariotis speeds as iridicated hy an external speed serisor, identifying a eharacteristie frorn the signals generated hy the rotation sensor Etlti for each speed, and associating the signal ch aracteristi e tvith the speed 'for tylrieii the signal eharacteristic *Was identified in the *Velocity tahle lfišti. tlpon later executiori hy the processor 12th the Velocity' application l34 rnay he corifignred to query the yelrieity tahle E36 hased on the signals received front the rotation serisor ltlti to determine the speed of the vehicle líl illllšfl The l/í) interface l26 of the controller llltå rnay jproyfitie one or more niaclrine interfaces that otieratitfely' cotrple the processor' IZÛ to ritlier' devices and systems, such as the EC U s lZS, clisplay E30, and rotation serisor lílo. The Velocity application lšd rnay therehy' vvork cooperatiyely' swith external resources hy crinnrruriicating via the l/t) iriterface l26 to riroyfide the various features, furictitins, atitilicatioris, rirocesses, and niodules of the controller E08 described herein.

-J lhillfšål For irrsrtancrf, responsive to deterininiiig a spefsd of the vehicle. ltl2, the velocityf apiilicatiriri lšfll nray he erinfigured to crinrrnirnicztte the speed of the vehicle 102 to the display lfßíl. The riisplay lšil rnayf he a speed gauge in "view of the driver of the vehicle 102. The yelocityf apialirïation 134 rnay also he contigured to cornrnuiiicate a, detrfrininfsrl vtsliiclrf Velocity to the ECUs 128. Sirnilar to the controller H18, each ECU 128 rnay iiiclurle a. processor, strirage, and rriernriry' storing cornpirteir~executahle iristructions that, iipon execcuti on hy the processor, cause the processor to iniplenieiit tirrictioris, features, arirl processes of the ECU 128. The ECUs 128 rnay each he crinfigured to i niplern ent one or nio-re vehicle functions that riepend on vehicle speed arid/rir direction. For e;sztrnple, (me of the ECIJs 128 rnay he configured to iniplenierit cruise corrtrol furictirin a1i ty ihy cornparirig a current vehicle speed received iironr the corrtroller' lilli to a set tfeiiiele sïoeed. Anrither' Bifall l2åi rnay he configureri to irnplerrierrt ariti-lrick 'hrakirrg hy rnoriitriririg for' rapid decelerations hased on vehicle speeds received frorn the ctintroliei' lÜS, By deterniining vehicle cvelocity yvitiiririt jierforniiiig relatively crinipiex tirequericy filtering ztnri counting, the controller liltš niay reduce the tirne in 'vvhich the ELCLIs 128 hecorne aware of the cveliicle's speed anti/tär riirectiriri, thus iniiçiirrictfirig reactiyity' ritlthe vehicle functions iniplenierited hy the ECU s 128. lílll29l lilG. 2 illustrates a niethoti 21111) for deterrnining a Velocity' of the vehicle 102, The controller 198 niay he crinfigured, such as trpori executioii of the ifelocity' ztpplicatirari 134, to rverfririrr the niethori lllillšill ln hlock 292, the controller' 163 rnay receive signals frorn the rotation sensor 166. The received signals rnay correspond to a rotatitin of the sensor ring N14 caused lay' rnoyenierit of the vehicle 1112, discusseri ahove. Each receiyeri sigrral nray he generated hy a different suh~ sensor 116 of the rotation sensor 106, arid rnay reflect a rotation rate of the features l 12 past the rotation sensor 106. At least one of the receiveri signals rnay he riistorted lziy iriterference. lf hoth signals are distorted, the level of ciisttirtiori of one signal rnay differ front that of the other signal. The di stortiriii rn ay he propoirtional to the sïoeed of the vehicle 1t iílllšli As discussed ahove, the suh-serisors 116 rnay he configured to generate sinusoidal signals pliase sliiftetl hy ninety degrees. The output front one of the suh-seiisors llo, stieh as the srrh-serrsrir' l 16A, rnay he laheled as the cosine signal rirutput, arirl the riutpirt of the other suh~seiisor llti, stich as the sub-sensor 11613, niay he laheled as a sine signal output. Thus, the signal otitput frorn the srrh-sensor' lloA niay he considered as a cosine signal, and the signal output frorn the sub-sensor l ltilš rnay he. ttoiisidtfred as a sine signal. HG. 3 illristrates a tfrosiiie signal 302 that inay he generated hy the suh~serisor 11offi, arid a sine signal 304 that niay he generated ihy the stth- sensors 1 168, fluring a rnoveriierit cifthe vehicle 102 in tvihicli "velocityf is increased- i/»Xs the Velocity' of the vehicle "102 incrtfztstfs, Which is rcellected in the cosine signal 302 and sine signal 304 hy an increatsiiig frequency, *the ainplistude of the sine. signal 304 ntay hettoine iiicreasiiigly distortcfd. ln the illustraterl example, the cosine signal 302 is relatively' uridisttirtetl. lllllfšïl Referring again to Flšli. 2, in hloch 2014, the criritroller 108 rnay' generate a recoristructed signal troni one (if the signals received frorii the rotation sensor lllo. Specifically, the criritrolier l0åš niay construct a :new signal ironi one of the signals received frorn the rotation sensor lilö, sucli as the relatively undistorted signal, that niatclies the phase of the other signal received frorn the rotation sensor l06, such as the relatively distorted signal. Tile rievvo signal constructecl frorn one of the signals received frtini the rotation sensor 106 rnay he referred to as a recoristrticterl version of the other signal received troin the rotation sensor llló (eg, a reconstructed sine signal generated front the cosine signal 302, a recoristructecl cosine signal generated frorn the sine si gna1 Tillit). itlllšši The controller ltlšš rnay he ctintlgured to generate the reeonstrtieted signal hy recti lyin g and applyfirig a phase sliilt to ririe of the signals received frorn the rotation sensor 'E06 that aiigns the signal With the other signal receiverl irorn the rotation sensor llltš. Speciilcallyf, assurning the rotation sensor 106 is configured to generate sinusoidal signals tihase shifted hy riiriety degrees (egg, the ctisine signal 302 and sine signal 1504), the controller l08 niay calculate the arigles of one of the signa1s received trorn the rotation serisor llltš river tirne. To this end, the controller ltlšš rnay apply' an iriverflse trigonornetric function g., iriverse sine or invferse cosine) to one of the signals under certain quatlrarit assurnptioris. lf applying the iriverfse sine function, the controller' l08 niay he confgtired to assunie the resiilt is Within quadrztnts l and lV froni :to - ti, inclusive). lf applying the inverse cosine function, the controller 108 rnay he configtirecl to b) assurne that the result is *tvithin quadrants l and ll (i. frorn 0 to n, inclusive). lïlCt. 4 illustrates a cosine angle Waotfeforin 3016 shovving the arigles generated ironi the cosine signal 302 using the iriverse cosine function, and a sine angle vvavfeffirni 308 shovtfing arigles generated froni the sine signal 304 *using the inverse sine function. lllllšlll The controller 108 rnay he configured to generate the reconstructed signal 'frorn the tleterniinerl angles hy lviasirig the angles hy an aniourit equal to the configured piiase shift, and applying the trigononietrie liiniïtion of rtiliich *the int/afasi: Was used to calciilate the angles to the lviased ztngles. Speciiically, assnrning the signals receiverl llrcirn the rotation sensor iilo are sinusoidal signals phase shifted hy ninety' degrees, the controller ltlåš niay he crintigtired to addor 'IT suhtract to or honr the angles. Fror instanite, if the angles are genesraterl using *the iiwerse sine furiction, then the controller' lÜS niay he configured to aclcl :to the angles and then apply the sine tiinctioii to the hiased angles to geiterate the reconstructed signal. Equitfaleritlyfi. the controller l G8 inay he configtiretl to generate the reconstructed furiction lay' ariplying the cosine function to the angles calculated tising the inverse sine function, vaithotit explicitly' adding što the angles. lf the angles are generated *using the inverse cosine furictiorr, then the controller lllåš rnay he configurerl to suhtrarft honr the angles and then apply the. crosincf furictitiii to the hiasetl angles to gifrierate the reconstrtictetl signal. Equivalentlyg the controller lílåš inay he configured to generate the reconstriicted function hy applyiiig the sine hnction to the angles calculated using the inyerse cosine liirlctioii, yvitliont explicitly' stihtractiiig froin the angles. llllllššl lilíš. 3 illustrates a recrinstrticted signal Bli) generated front the cosine signal 302 hy applying the irrverse cosine function to the crisirre signal 392 to geiierate the cosine arigle vvayfeforrn šllo, and then applying the sine function to the cosine angle tyaveforin 366. As shontfii in the illnstrated example, the reconstrticted signal 3 lll rnay he a rectified signal in phase 'evitli the other signal (ag, sine signal 394) received frorn the rotation sensor lílo. iílllštšå Re ^erring again to lilíl. 2, responsitfe to generating the reconstructetl signal Bli), the controller lÜS rnay he confignred to generate a ratio signal hy performance of a clivisioit operation using the reconstructed signal and the other signal received froin the rotation sensor lÛti. Specifically, in hlocl: fåíló, the controller l (33 niay hias the reconstrncted signal and the rather' signal received. front the rotation sensor ltlo to tnne randorn noise towards the sensitivity' of the *Velocity dependency. Prior to hiasing these signals, one or hoth fil the signals niay cross zero. 'lf o avoitl an undefinecl restilt in the division operation, the controller lílål niay he confignretl to hias the reconstrncted signal and. the other signal so that neither of these signals crosses zero. The controller lílâš niay he configured to hias the reconstruetetl signal and the other signal hy addinga prerlefrned *Jalne to lztfith signals that canses each signal to he positive. lås an exarnple, referring to the sine signal ÉÛ-l- and the reconstructed signal Bit) illnstrated in lilG. 3, the controller lOS inay he configured to atltl a tfalue of three to each signal. lll lüllåfïll ln hloel: 208, "the eontifoller llltš rnay gfsnerate. the ratio signal (also reteifififd to liereiii as "rlivisiriii signal") hy rverfornring a division iiperatiiin snsing the hi ased reeonstriieted signal and the hiased cither signal ireeeivferl fi'oni the rotation sensor l 06. Fair iiistanee, the controller ltlåš rnay he eonllgiiretl to generate the rlivfisioii signal hy dividing the hiased reeonstrtittfterl signal hy the hiased rather signal Notvvitlistztnding the iaifestfiiee of distortion in the signals rcfeeivled from the rotation sensor ltlo, as the speed of the vehicle l02 tltietitates, the division signal rnay fluetnate in proportion to the eliarrge in speed. Tlie alivisirirr signal niay thns irationietrieztlly' iiidieate the speed of the vehicle lill lllllfšàšl FlG. 5 illtistrates a divisioii signal 3 l 2 that rnay he generated hy divirling the hiased reeorrstmeted signal 3 lll hy' the lviased sine signal Tillit, Where eaeli of the reeoristmeted signal 3 lll and sine signal 304 have lveen hiased hy adding a iiiedetined value (if three to eaeh signal. As shtlvvfii in the illustrated example, the division signal 3 l2 rnay include several peaks 3 l 4 extending ironi reference portions Slå of the division signal 3l2. Tlie peali: fšl4 values ilevease as the veloeity of the tvfehiele l02 inereases. Each peak 3l4 of the division signral 3 l2 niay thus etirrespiinil to a speed of the vfelriele l02 at the tinie instanee When the peak 3l4 tieeurs. i/fis explained in rnore detail heltiw, the timing of the peaks 3l4 relative to the signal froin vvhieli the reeonstrueted signal Was generated (eg, relative to the eosine signal 302) niay inilieztte the rnoving alireetioii of the vfeliiele l llllllšåll ln the exainple illustrated in FlG. 5, the peaks 3l4 of the clivisioii signal 3 l2 extend uiitrfartls frorn the re ^erenoe poititlns 3lti of the division signal 3l2. ln alternative examples, the eontroller llllš niay he eonfigureil to generate division signals sneh that the peal-:s 3l4 extend doviønvifards frtlni the reference portions 3l6. For instanee, rather than divide the reeoristitietecl signal 3l 0 hy the sine signal 304 to generate the division signal 3l2, the controller' l0å ltllldíll ln hloek 2l0, the eontroller lÛS inay deterrnine values of the clivisioii signal at a pretletiiied angle, vvhieli rnay oorrespond to the peaks 3 l 4 of the division signal. ln particular, the ll controller lÛS niay be contiguritfrl to tleterrnirirf each time instance. vvhen the signal front vvhicli the: recorrstructerlv signal is generated is at a precletlinerl angle, such as haserl on a cosine or sine arigle mfavetorrn gerreratecl llroni the signal. For iristance, assurniiig the rotatiorr sensor ltltš contiguretl to gfznerate sinusoirlatl signals vvitli a ninety rlrfgee phase shititt the tfirnitrollrfi* lÛS nray br: configurerl to determine each time instance the irrverse cosihe of the signal lirorrr vtfhich the 'IT reconstrrrttftetl signal is generated is 1-1-, or eqttivalently' each time iristaiice the inverse sine of the signal ironi 'tfvliich the rfeconstructricl signal is generated is zero, taking into consideration the quarlrant assuinptiriris rleseribetl above Every other one of these tiine instances niaty coiresrarnirl to a peak 3l4 in the tlitfision signal, For instance, the division signal 3l2 illustraterl in lïlG 5 includes a, prëak 3l4 every rather tiine instatnce that the ttosirie angle. 'tftfaveforrn 3% illustrated in FlG. f-l generatecl front the cosine signal šflfi signal illustratetl in FlG, 3 is anal equivalentljv every other tinie instance that the inverse sine of the cosine signal 3fl2 is Zero). 'lfhe tinie instances lvetefeen the tinie iristarices corresponrling to the peaks 314 rnay corresporrtl to refereriee portions 316 in the clivisiorr signal. tillhåll 'lfhe controller lOS niay thus he configurerl to identify the riealr 3lf-'l values of the tlivdsiori signal by evaluating the division signal at each tinre instance the signal froin viahich the reconstructed signal is generated corresrionrls to the predefinetl arigle. For instance, at each strch tirne instanee, the controller lÛS rnay be configuretl to determine tvliether the vfalue of the division signal is greater than a tlrresholtl vfalue feg., lill) (or less than a threshold; tfaltie if the controller lÜS is contigured to generate division signals such that the peaks 3 l-rfl exterirl dovvrïova *rls froin the reference rrortifins 3l6). lf so, then the controller lllli rnay be configuretl to identify the *value as a peak 3 l-"l- value of the tlitfision signal. As a further exanirile, for eaclr pair of atlj acent tinre instances in v 'hich the signal froin vvhicli the reconstructerl signal is generatecl corresponds to the preclefirretl angle, the controller lílåš niay he configurerl to tleterinine a value of the tlivision signal at each tinre instance of the pair. 'fhe controller lÜtš nray then he configurecl to tleternrine that the greater of the tlivisiorr signal values rleterniiried for the tiine instance pair (or the lesser of if the controller lÛS is configuretl to generate division signals such that the peaks 3 l-rfl extenrl clov/nvtfarrls frorn the reference portions 3lti) is a peak 3lf-'l *aalue of the tlivdsiori signal.

HPMZE ln hlocl: 2l2, the controller lÜS rnay tleterniirre a *velocity of the vehicle H32 basetl on the rreal: 3l4 values of the divfisioii signal anal the velocity' table l36. ln particular, to huilrl the velocity' table l3ti, the vehicle ltl2 niay he tlriverr at various speecls as rneasurerl by an external sensor. For earth stieetl. a tlivfisioii signal niaty he gfznerated ironi the signals grfiifzratrfd hy the rotation sensor ltlo vvhile the rvehicle lll? travels at that stieerl, as descrihed ahove. The division signial rnay sirnilarljv include a plurality of pealts, each ticcurring at a tirne instance vvhen the signal ironi which the reconstrircted nas generated. rtoififrfsiatiiitis to the predelinetl. angle. A vlatlne hztsed on the pealcs of the tiivisi on signal inay he deterrninrfd and associated ivith the stieetl in the velocity tahle 136. The deterniirrerl vfalrte niay equal the greatest (or lovvest) pealr value or an av'er'age of the peak vfalues. During later operation of the vehicle lGZ, the coritroller lOS rnay determine a speed of the vfeliicle 102 hy querying the *Velocity table lfšö hased on one or niore peak Éšlfll values of a division signal deterniinerl using a predefined arigle as descrihed aliovfe, and resporrsively receiivirig one or rnore speeds corresporrding to the one or rnore rieali; fšl4 values ironi thevelricity tahle l 36. ln one exarnple, the controller 198 niay he configured to average the received speeds to determine a speed ofthe vehicle 1132. lillldfšl lf the velocity tahle lfšo does riot iricliirle a speed eritry' for a deterniiried divisiori signal peak 314 value, the controller 108 niay he corrligirrerl to iriterpolate a speed corresporidirrg to the peak rvfaliie frorn the entries in the velocity tahle 136 surrounding the tiealr value. For instance, the controller' lill? rnay lie contigtired to identify the highest division signal peak value less than the deterrnirrerl rlivisiori signal peak Éšlfll value anid the lovvest division signal peal< rvfaliie greater than the deterrniried division signal peak Slfll *Jalue in the rvelocitv' tahle 136. lïach of the highest division signal value and the lovvest tlivision signal peak value rnay he associated vvith a different speed in the *velocitjyftalile lfišti. "fhe controller lÜS rnaylie configuretl to determine that the deterrnined divfisiorr signal peak 3l4 rvfaliie correspririds to a given speed in vvlricli a ratio of the difference ihetifveen the given srieetl and the speed associated vv/ith the lovvest division signal peak value to the difference hetvveeri the speed associated With the highest divisional signal peak *value and the given speed is stihstantially' equal to a ratio of the difference lietWeen the lov 'est division signal pealr value and the deterrnined division signal pealr Éšlfll value to the difference hetween the deterniined division signal peak 3l4 value and the highest division signal peak value. Ellllddl The controller lill? rnay he configured to determine the rnrivirig direction of the vehicle l (32 hased on a characteristic of the signal front ivhich the reeonstructetl signal is generated vvhen the rieaks Išlfil occur in the division signal. Pts described ahovfe, rotation of the sensor ring lllll in one direction rnay cause the signal generated hy the suh-serisrir lltiA to lead the signal generated hy the stih-sensor llolš, and rotation of the sensor ring ltld in the other direction rnay eaase *the signal generated hy the suh-sfeiisor llóA to lag the signal gencfrzitrfd hy the siih~sensoi~ l ltšlš. ßissurning the rotation serisor' lllo is etinfignred to gerierate sinnsoidztl signals phrase shilterl hy riinety degrees, depenrlirig on Whether the signal used to generate the reconstriietiori sigrial is the leading signal or lagging signal the pealts 3 l 4 ofthe division signal niay rieciir vvheii the signal frorn vvhich the rettoiistrlirttion signal is generatetl exhihits a different ttharacteristie. The crintrrililiëif lílåš niay thus he crinlignreil to deterniine the nioverrient direetiori of the vehicle 192 hased on a eharacteristie of the signal froni Whicli the reeonstriteted signal is generaterl When the igiealvís 3 l 4 riccnr in the tlivisiriii sigrial. lillldšl Specilfieally, if the sigiial ironi vvhieh the reeoiistrncted signal gerierateil is the leading sigrial, tlien the pealts 314 of the clivisiori signal niay iiecui" ritning transitioris riftlie signal lrorn Whicli the reconstriteted sigiial gerierated frorn a rniriirnnrn vfalne to a niaxirnitni value (ie, during a positive slopefi, Alternativfeljy, if the signal front vvhicli the reconstructed signal is generated is the lagging sigiial, the pealvís 3 lll of the clivisiriri sigrial rnay ricctir rlnririg transitioris of the signal 'frorn Which the reconstriieted signal is generaterl ironi a irntxiniurn value to a rniriirniirn value (in, ditririg a riegative slope). For iristztnee, reierririg to FIGS. 36, hecaiise the cosine signal 302 is leading the sine signal 364, the peal lílllétšl 'lf he controller llllš niay thus he configuied to determine a nioveinent direetitln of the vehicle llïl hy ileterrniiiirig vvhetlier the rveal-:s 314 of the clivisiriri signal riccitr Wheri the signal froin vvhicli the reconstincted signal is generated has a positive slope or a negative slope. Responsive to the peal aptilicatioii l34,Ifitlélfïl Referring again to FEG. 2, in block Élßl, *the ttoiitrolirfi" 198 rneay cornernrinicate. the tieterniirierl speed arid/or rlirectiori to the di splay lfšíl for' illustration to the driver anti/ctr to the one or more EQÜU s lfâšš dependent on strch items, as discussed ahove. itltlf-ÉSE The examples described hereiii may enable detffirinining yfrflïiicle Velocity' frorn distortrfd signals tvitlitiut using ttonnilex treqrirfiicyf filtffiring and counting. Ås av restrlt, the tirne lvetvfeen the vehicle travelirig at a given Velocity' and the driver' and other vehicle furrctioris iheeorriing atvare (if this tfeioeity' rrizry he reduced. Such faster reptirtirig niay inipirorife driver' awareriess and the perforniarrce of tfeltieityßrleriendent vehicle tiinctiorrs hy enahlirig faster reactions to eliange in vehicle velocityf. ifltldšfšå ln general, thie routines e;sectiited to irriplenient the ernhodinierits of the inventiori, vvhether' irriplenienterl part of an operating systeni or a specific applicatiori, etinrprarient, program, oliject, module or sequerice of iristruetions, or even a suhset thereof, may he referred to herein as "cornpiiteir program codej' or sirnply "program code." Program code typieallyf cornprises cornpiiter' readahle iristructioris tliat are resident at various tirnes in various rneniriry and storage devices in a coniputer and that, vvhen read and executed ihy one or more processors in a cornputer, cause that cornptiter' to perhrni the operations necessary to execute operations arid/'or elements ernhodying the various aspects of the enihorlirrrents of the invferition. Cramputer' readahle prograrn instructions for carrying out operations of the enihotiirnents of the irrventitin nray he, for example, assernhly language or either source code or olijeet code yvritten in any' eornhination of one or more rirograrnmiiig languages. illllštfl] Various progranr code described herein rnay he irlentilieti hased iipon the atitilieatiori Within that it is irnplernented in spvecific ernhodirneiits (if the inventiori, l-loufetfer, it should he appreciated that any particular program noniericlature that follotvs is used rnerely' for convenience, and thus the iriverition shoitld not he lirnited to use solely in any specific application irleritified arid/oi" irnplied hy such rionrencizrture. Furthermore, given the gerierally endless ntiniher' of rnanners in ivhich computer programs rnay he organized into routines, riroeedtires, niethods, niodtrles, ohj eets, and the like, as i, 'ell as the Various nianners in ivhich fprograrn functionality niay he allocaterl arnorig various software layers that "e residerit tvitliiri a typical conipttter (e.g., operating systerns, libraries, lfälšfs, ariplieatioiis, atuolets, etc.) it shotild he appreciated that the ernhodirnents of the inventiori are not limited to the specific organization and alloeati on of program thnctioriality' described herein. t... LI: ífißšfl] The rarograin :trode emboriied in any of the applications/rntodrriras described heroin is fapable of being irrdivirluaiiy or erillectiteiy distributed :ts a program product in a ovariety of different forrns. in particular, the progranr code may be rhstriituteri using a ec-rnputer" readahle storage medium hafl/iiig rtornputerf readable program instructions thereon for rtausing a processor to carry' out aspects of the enibrirliinents of the iiwrfntirini iíltiššå Éornputer' readahle storage rnerlia, 'vvhich is inhereritly riorutransitriry, niay iriclurie Volatiie and nonwtoiatile, and renirittfatßle and rion-rernriwable tarrgibie rnedia implemented in any rnethori or technology for storage of iriforrnzttiori, srreh as eornputer-readzthie iristruetions, data structures, program niodriles, or other data. (Éorrmuter readaiiie storage rnedia niay furthercineiirde Rräitvíí, RONÃ, erasztble programmable read~oniy niernory (EPRtšii/íí), electrieally' erasaivle progrztniniatile read-rinljy' niernory (lïEPRíštvíl), tlztsli niernory or other' solid state rneniory' technology, portable conipact disc read-only rneniory (CD-Rtllivl), or other optical storage, rnagnetie eassettes, niagrietic tape, rnagnetie :disk storage or rather rnagnetie storage devices, or' any other rnediuni that can be used to store the desired information and *rt/trion can be read "ray a computer. A computer readable storage nieditrni should not be coristrued as transitory signals per se (eg, radio ufaves or other rvrorvagatirrg electromagnetic vvaves, electromagnetic vvaVes riropztgatirrg through a transmissiorr rnedia such as a vvavegtuide, or electrical signals transrnitted through a Wire). Cornpirter' readable program instructions may be diotvniriaded to a cornprtter, another tyrie of [orograrnniable data processing atiioaratus, or another device front a computer reatialiie storage medium or to an external cornptiter' or external storage tievice Via a rietvtfork. illllšfšl Computer readable program iristruetions stored in a cornpirter' readable rnediurn rnay be used to direct a eorrrrvuter, other types of programmable data processing apparatus, or father devices to function in a particular rnaririer, stieh that the iristruetions stored in the computer readalëie rnediuni produce an article of nianufaeture iriclticiirig instructions that implement the tirrictioris, acts, and/or operations specified in the tiouøcharts, settuerice diagrams, arid/oi" block diagranis. The cornputer' tirogram instructions rnay be provided to one or niore proeessors of a general purpose ctiniptiter, a special purpose computer, or other tirogramniabie data processing atmaratus to prodtioe a machine, such that the iristrtiotitins, Which execute Via the one or more proeessors, cause a series of computations to be perforrned to implement the ftinetitins, acts, and/or operations specified in the flott/charts, sequenoe diagranis, anti/or bltielrï diagrams, to ídilšídl in eertziin alternative ifnihodiniifiits, the lfuiietitins, acts, and/or operzititiiis speciticëd ih the ilotveharts, sequehee rliagitztnis, and/ or 'hloek diagranis niay he reerdered, processed serially; anal/iii' processed etineiiirireiitiy' eorisistent »Voith errihodinierits otthe invehti on. híoreower, any of the tltiwtïliaits, stfquenctf tiiagrarns, anti/rar hloek diaigrains may include more or fevver ialoeks *than those illustrateti eonsistent With ifinhodinaifiits ot' the inventioii. itltåšši The terrninolrigy used herein is for' the purpose of ileseiriliiiig particular enihcitiirnents rmly zind not interideol to he linritihg ot' the einhodirn en ts iifthie inven ti on. ßis used H herein, the siiigulai' forms "a", "an" arid "the are iriterided to iiiolutie tiie phiral tiinris as wveil, tiriiess the context eleairljf ihdieates othervvise. lt *vi/ill he liurthier tiridersttirid that the terrns "eoniprises" anal/iir' "eoniprisirrg" Wheri used in this speciticatitiii, speoify thie presence of stated tfeatures, integers, steps, operations, elements, arid/or components, hut do not preolutie the preseriee or addition of one or ntore other features, integers, steps, operations, elenterits, etlnipoiieitts, and/tar groups thereof. Furthermore, to the exterit that the terms "irielutiiesfl ""liat'irig"", "has", "t>v'itii", "eornpriseai offl or itfariaiits thiereof are used in eithier' the rletailed tlesciripti on or the claiiris, such terins are intendetl to he inclusive in a rnaniier similar to the term "eornprisiiig". iílílštši Vt/hile ail of the iriventioii has heen iilustratetl hy a description of Various enihoaiiirnents and ivvhile these ernhmlirrients have lieen :described in considerahle detail, it is not the intention of the fhripiiearit to restriet or in any Way iirnit thie seope of thie appemtletl clairris to such detail. Additional advantages and niotlifieatitlns *will readily' appear to those skilled in the art. The iiiveiititln in its lëroader aspects is therefore not liniited to the stieeifie details, representative apparatus and rnethod, and iliustrative e;sztnipies shows/ii and described. fhecordirigiy, departures inay he made frorn such details tvithout departing frorn the spirit or seorie of the fåtiplieantis general inventiife concept, w-fl -J

Claims (10)

1. A rnethod for deteriniriiiig a “veltieity of avehiele “ “ iiinelntltirig a sensor ring and a rotation sensor tflrinpletl to and rotatahle. With a propulsioii component of the *vehicle " tproxiiiriate. the. sensor ring [Lthztt generates signals eorresptiiiding to rotation ofthe sensor ring, the inetliotl eorn prisin g the steps of: gerierating, hy the rotation sensor, a lirst signal and a seeontl signal eaeh eorrestioridirig to a rotatitin of the sensor ring eansetl hy a rotation of the prottalsiori eoniporierit, at least one of the first signal or the second sigrial including distortion; eonstiueting a third signal frorn the first signal; gerierating a tonrtli signal liy perfoririariee till a division operatiorr sasing the third signal and the second signal; deterinining a speed till the svehiele f' ' kr ' \ hased on the fonrth signal; vvhereiri eonstrtieting the third signal florn the first signal etirnprises applying a phase shift to the first signal that ali the first signal tvi th the seeorid signal; and tvhereiii tleterniiiiiiig the speed of the ifeliicle i liased on the fourth signal eornprises: deterrnirring a value till the fourtli signal vvhen the first signal Corresponds to a predetined angle of ninety degrees; and hasetl on the valtie. detennining the speed of the *vehicle t*

2. The tnethod of elaiiint l , tvherein the. phase shift is nintestyf degrees. fi.

3. The inethotl of elaiins l or 2, itflieirein deterntining the speed of the *vehicle based on the xfalne eointiirises aeeessiiig a stored loolruri tahle that the value with the speed. fil.

4. The rnethotl of elaiin 3, further eontrxrising tleterniiiiing a niotfiiig direetioii of the Lt based on the value hy deterntiniiig wliether the first signal is in .. ftiasing or deereasing 'ti/lien the tonrth signal equals tlie value.

5. T he niethod of any one of elairns 1-4, valiereiii deterrniiiiiig the speed of the tfehiele :ghased on the fourtli signal eoniririses: lll deternrining a peak valtte of the fottrtli signal; and ighased on the peak ttfahte of the fottrtli signal.

6. 6, The method of any one of clairns lå, wtfhereiri gtfneratirig the tonrtli signal hy performance of the division operation rising the thirtl signal and the seciornl signal tfitirnprises: hiasing the third signal and the sectnlcl signal hy a predelinetl Value; anal dividirig the hiased third signal and the liiaseti second signal. __including a sensor \\ conpled to and rotatahle vaith a rtfrorinlsion cornponent rif the *Jehiele i o nd a rotation iigproxirnate the sensor ring " gthat generates signals correspfinclirig to rotation of the sensor rin , the method coin irising the ste as of: » »TJ generating, hy the rotation sensor, a first signal and a second signal each eorresnonding to a rotation of the seinsor ring f' ' ' caused hy a rotation of the rirotinlsion component, at least one of the first signal or the second signal including distortion; constructing a. third signal frorn the first signal; generating a fourtli signal ihy performance of a division otïveratiori of the third signal and the second signal; and deternfrining a rnoving direction of the vehicle ' ' ihased on the fotirth signal š .\_ vvherein eonstrncting the third signal frorn the first signal cornprises applying a phase shift to the li rst signal that aligiis the first signal witli *the second si gnal; and ,«\ .-\ \ vvherein deterniiriing the rnoving direction of the *aeliicle hased on the fourth signal eonnirises: dcterniining a value of the fonrth signal When the first signal corresriiontls to a predefinecl angle of ninety tlrëgiftfes; and deterniiriing the niovirig direction of the vehicle " __.___ha,sed on Whether the first signal is increasing or decreasing Vtfhen the fourth signal equals the i/alue. a rotation sensor »proxirnlaite the sensor ring “l 'Éftthat, rcsponsive to a rotation of the sensor ring, grtinfrattrës a first signal anti a second signal each tfiorresptintling to the rotati on of the lsensor ring, att lcfast one of tlie lirst signal or seeoiid signal inttluding rlistoition; and '\ S and eonligiired to: eonstruet a tliird signal friini thie first signal hy heing eonfigured to :apply a phase shilt to the first signal that aligns the first signal With tlie seeoiid signal; generate. a liouith signal hy iafifrfiiifniztnee of a division iipcfrzttiiin using the thirtl signal and the second signial; and determine a speed oli tlie Vehiele ' haseal on the lourtli signal hy heing eonfigiiirecl to cleteirniiiie a value of the forurtli signal *vi/lien the first signal erirresivrinals to a predelfinerli arigle of *ï ninety ilegrafes and detfziinine the speed of the vehielf: Nhased on the xfaliie. 9, The systeni Åslllfgqof elaini S, *Wherein the phase shift is ninety' degrees. * eonlfigiired to haserl (in tlie value hy “being eonfigtireal to zieeess a storefl looloip tahle tlizit assoeiates the value tvith the sneedi ll. The systern ____ __of ariy one of elaiiiis åš-lll, “vifhereiii tlie eontroller lvased on tlie ifalue. eonfigiirefl to determine a nioving flireetiriri of the vehicle “ elaiin ll, wvherein the controller eonfigurecl to lÉš. The syst. fl, vvherffin the ehaifaetcfristie is W ether the first signal is increasing or deereaising When the fourth signal equals the Xfaliie. l4. The systeni “of any one of elainis »fi eonfigiireil to deterniine the speed of the wehielel haseil on tlie flniirtli signal hy “being eonfignred to: tleterniine a, peak Value of the fourth signal; and determine the s ieetl of the vehicle f” “yhased on the ,eal< Value of the fotnth siïnal. l \ i* år l 5. The syfstern 'Täšl .\.: ...... ..:.. : .\_. NN of any one of elairns a =¿ tftoiifigured to generate the fioitrth signal hy pierfhrnizinee of the division tiperatitiri using the *third signal and the second gnal hy lveitig eonfigurerl to: hias the third signal altid the seeondi signal hy a predefliied yahie; and diyide the biased third signal and ”the laiased second signal. f the systern .l ti. A coinprising: "ggeonpled to and rotatahle vvitli a iiropnlsioii component of the vehicle a rotation stfnstir " gprtixiineaite the sensor ring " ggthat, rcfsponsive to a rotation of the sensor ring, generates a tlrst signal and a seeond signal each correspriiitliiig to the rotation ot' the serisor' ring, at least one ritithe first signal or tlie second signal iiicliidin g distortitin; and a controller lstirieratiyfely' eoupled to the rotation sensor Vgand ttioiifigured to: e: cotistruet a tiliinl signal fiorn the tirst signal hy heirig erinflgured to applyf a phase shift to the first signal that aligns the tirst signal tyith the seeonrl signal; generate a tintrth signal hy rierforinanee .f a division fiperationi sasing the third signal and the second. signal; altid determine a moving direction of the vehicle 'i ' “f based on the fourth signal hy heirig eonfignretl to deterinine a value of the tourth gnal tylien the first signal etirresptiiitls to a predeflrierl angle fitfninety' degrees and ideterniiiilrig w -äleteififlni-iie-tlie inoving direction till the 'vehicle e ' 7 ghased oli Whether the first signal is ltiereasirig or deereasing *vvheti the liourtli signal eqttals the Value.