[go: up one dir, main page]

WO2021111170A1 - Système de mesure de vitesse - Google Patents

Système de mesure de vitesse Download PDF

Info

Publication number
WO2021111170A1
WO2021111170A1 PCT/IB2019/060416 IB2019060416W WO2021111170A1 WO 2021111170 A1 WO2021111170 A1 WO 2021111170A1 IB 2019060416 W IB2019060416 W IB 2019060416W WO 2021111170 A1 WO2021111170 A1 WO 2021111170A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
vehicle
rotation
sensor
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2019/060416
Other languages
English (en)
Inventor
Jimmy ENGMAN
Eivind VIKEBØ
Ole Jonny Waerp
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KA Group AG
Original Assignee
KA Group AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KA Group AG filed Critical KA Group AG
Priority to DE112019007930.1T priority Critical patent/DE112019007930T5/de
Priority to SE2250727A priority patent/SE546558C2/en
Priority to CN201980102720.XA priority patent/CN114787635B/zh
Priority to PCT/IB2019/060416 priority patent/WO2021111170A1/fr
Publication of WO2021111170A1 publication Critical patent/WO2021111170A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/46—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets

Definitions

  • a method for measuring a velocity of a vehicle including a sensor ring coupled to and rotatable with a propulsion component of the vehicle and a rotation sensor proximate the sensor ring that generates signals corresponding to a rotation of the sensor ring includes generating, by the rotation sensor, a first signal and a second signal. Each of the first and second signals corresponds to a rotation of the sensor ring caused by a rotation of the propulsion component. At least one of the first signal or the second signal includes distortion.
  • the method further includes constructing a third signal from the first signal, generating a fourth signal by performance of a division operation using the third signal and the second signal, and determining a speed and/or moving direction of the vehicle based on the fourth signal.
  • a velocity measurement system for a vehicle includes a sensor ring coupled to and rotatable with a propulsion component of the vehicle.
  • the system also includes a rotation sensor proximate the sensor ring that, responsive to a rotation of the sensor ring, generates a first signal and a second signal each corresponding to the rotation of the sensor ring. At least one of the first signal or the second signal includes distortion.
  • the system further includes a controller operatively coupled to the rotation sensor. The controller is configured to construct a third signal from the first signal, generate a fourth signal by performance of a division operation using the third signal and the second signal, and determine a speed and/or moving direction of the vehicle based on the fourth signal.
  • FIG. 1 is a schematic diagram illustrating a velocity measurement system of a vehicle.
  • FIG. 2 is a flowchart illustrating a method for determining vehicle velocity.
  • FIG. 3 is a graph illustrating signals that may be generated by a rotation sensor in the system of FIG. 1.
  • FIG. 4 is a graph illustrating phase angles corresponding to the signals of FIGS. 3.
  • FIG. 5 is a graph illustrating a signal that may be generated from the signals of FIG.
  • Electromagnetic sensors for measuring vehicle velocity are susceptible to noise, which may linearly increase as a function of increasing velocity.
  • vehicle components proximate to such a sensor may interfere with magnetic fields measured by the sensor, and may thereby introduce distortion in the sensor’s output.
  • a vehicle may be configured to apply relatively complex frequency filters and counters to the sensor’s output. These processes increase the time needed to determine vehicle velocity, which may have changed by the time the determined velocity is reported to the driver or to other functions of the vehicle dependent on vehicle velocity (e.g ., control and diagnostic functions).
  • FIG. 1 illustrates a system 100 of a vehicle 102 that may determine a velocity of the vehicle 102 without using the relatively complex frequency filters and counters described above. As a result, the system 100 may determine and report the vehicle’s 102 velocity in less time. The time between the vehicle 102 traveling at a given velocity and the driver and other vehicle functions becoming aware of this velocity may thus be reduced, thereby improving driver awareness and the performance of velocity-dependent vehicle functions.
  • the system 100 may include a sensor ring 104, a rotation sensor 106, and a controller 108.
  • the sensor ring 104 may be coupled to a propulsion component of the vehicle 102.
  • the propulsion component may rotate with movement of the vehicle 102 in the forward or reverse direction.
  • the propulsion component may rotate, such as under the power of an engine of the vehicle 102, to propel the vehicle 102 in the forward or reverse direction.
  • the propulsion component may be a part of the drivetrain of the vehicle 102.
  • the direction and rate of rotation of the propulsion component may correspond to the velocity of the vehicle 102.
  • the sensor ring 104 may form a concentric relationship with the propulsion component, and may rotate with the propulsion component. The direction and rate of rotation of the sensor ring 104 may thus also correspond to the velocity of the vehicle 102.
  • the propulsion component may be a rod 110, such as a drive shaft or axle shaft of the vehicle 102.
  • the sensor ring 104 may be coupled to the propulsion component by being wrapped around the rod 110.
  • the propulsion component may be a wheel of the vehicle 102.
  • the sensor ring 104 may be coupled to the propulsion component by being mounted to an inside surface of the wheel.
  • the sensor ring 104 may also be coupled to and rotatable with multiple propulsion components of the vehicle 102 at the same time, such as both a rod 110 of the vehicle 102 and a wheel of the vehicle 102 attached to the rod 110.
  • the sensor ring 104 may include a plurality features 112 distributed along and forming a curved outer surface of the sensor ring 104.
  • the features 112 may encircle the rotational axis of the sensor ring 104, and may face radially outward from the rotational axis of the sensor ring 104.
  • the features 112 may be evenly distributed along the outer surface of the sensor ring 104 such that the size of each feature 112 along the outer surface is substantially equal.
  • the features 112 may rotate with the sensor ring 104.
  • the direction and rate of rotation of the features 112 may also correspond to the velocity of the vehicle 102.
  • the rotation sensor 106 may generate signals corresponding to the rotation of the sensor ring 104 and indicating the velocity of the vehicle 102.
  • the rotation sensor 106 may include a plurality of sub-sensors 116, such as a sub-sensor 116A and a sub-sensor 116B.
  • Each sub-sensor 116 may be configured to detect when a feature 112 of the sensor ring 104 rotates past the rotation sensor 106, and to generate a signal indicative of feature 112 passage over time.
  • the frequency of the signals generated by the sub-sensors 116 may reflect the rotation rate of the sensor ring 104, and may thus correspond to the speed of the vehicle 102.
  • the timing of the generated signals may reflect the direction of rotation of the sensor ring 104.
  • the sub-sensors 116 may be hall-effect sensors configured to detect magnetic fields formed between the features 112.
  • the features 112 may include one or more north pole features 112A and one or more south pole features 112B.
  • the one or more north pole features 112A may be interspaced with the one or more south pole features 112B along the outer surface of the sensor ring 104.
  • each pair of adjacent features 112 may form a magnetic field.
  • the magnitude and direction of the magnetic field applied to the rotation sensor 106 may regularly fluctuate with the changing angular positions of the features 112 relative to the rotation sensor 106.
  • Each sub sensor 116 may thus be configured to output a periodic signal indicating these fluctuations over time, the frequency of which may correspond to the rotation rate of the sensor ring 104.
  • Each sub-sensor 116 may be configured to measure a different axial component
  • the sub-sensor 116A may be configured to measure the magnetic field along an axis 117A tangential to the rotational movement of the sensor ring 104
  • the sub-sensor 116B may be configured to measure the magnetic field along an axis 117B that is normal to the rotational movement of the sensor ring 104.
  • rotation of the sensor ring 104 may cause the sub-sensors 116 to generate sinusoidal signals phase shifted by ninety degrees.
  • the rotation direction of the sensor ring 104, and correspondingly the movement direction of the vehicle 102 may be indicated based on whether the signal generated by the sub-sensor 116A leads the signal generated by the sub sensor 116B, or vice versa.
  • the sub-sensor 116A may output a signal level indicative of a minimum magnetic field magnitude (e.g ., zero), and the sub-sensor 116B may output a signal level indicative of a maximum magnetic field magnitude in a given direction (e.g., one). Further rotation of the sensor ring 104 may then cause the feature 112A and an adjacent feature 112B be equidistant from the rotation sensor 106.
  • a minimum magnetic field magnitude e.g ., zero
  • a maximum magnetic field magnitude in a given direction e.g., one
  • the sub-sensor 116A may output a signal level indicative of a maximum magnetic field magnitude in the given direction (e.g., one), or may output a signal level indicative of a maximum magnetic field in a direction opposite the given direction (e.g., negative one).
  • the sub-sensor 116B may output a signal level indicative of a minimum magnetic field magnitude (e.g., zero).
  • the sub-sensor 116A may again output a signal level indicative of a minimum magnetic field magnitude (e.g., zero), the sub-sensor 116B may output a signal level indicative of a maximum magnetic field magnitude in the direction opposite the given direction (e.g., negative one). Additional rotation may thereafter cause the feature 112B and another feature 112A to be equidistant from the rotation sensor 106.
  • a minimum magnetic field magnitude e.g., zero
  • the sub-sensor 116B may output a signal level indicative of a maximum magnetic field magnitude in the direction opposite the given direction (e.g., negative one). Additional rotation may thereafter cause the feature 112B and another feature 112A to be equidistant from the rotation sensor 106.
  • the sub-sensor 116A may output a signal level opposite the signal level previously output by the sub-sensor 116A to indicate a maximum magnetic field magnitude (e.g ., negative one if previously one, or one if previously negative one), and the sub-sensor 116B may again output a signal level indicative of a minimum magnetic field magnitude (e.g., zero).
  • a maximum magnetic field magnitude e.g ., negative one if previously one, or one if previously negative one
  • the sub-sensor 116B may again output a signal level indicative of a minimum magnetic field magnitude (e.g., zero).
  • continuous rotation of the sensor ring 104 may cause the sub-sensors 116 to generate sinusoidal signals phase shifted by ninety degrees.
  • the output for one of the sub-sensors 116 may be labeled as a cosine signal output
  • the output for the other sub-sensor 116 such as the sub-sensor 116B
  • Rotation of the sensor ring 104 in a given direction may cause the sine signal from the sine signal output to lead the cosine signal from the cosine signal output by ninety degrees
  • rotation of the sensor ring 104 in a direction opposite the given direction may cause the cosine signal from the cosine signal output to lead the sine signal from the sine signal output by ninety degrees.
  • the rotation sensor 106 may be configured to communicate the signals generated by the sub-sensors 116 to the controller 108 for processing.
  • the signals generated by the sub-sensors 116 would be clean phase-shifted periodic signals of a substantially same frequency and amplitude.
  • at least one these signals may be distorted by other components proximate the rotation sensor 106.
  • the illustrated example shows a magnetic component 118 proximate the sensor ring 104.
  • the magnetic component 118 may interfere with the magnetic field measured by one of the sub-sensors 116, such as the sub-sensor 116B.
  • the amount of distortion caused by the interference may be proportional to the velocity of the vehicle 102.
  • the magnetic component 118 may be a surface of a wheel, differential, joint, transmission, engine, or clutch of the vehicle 102.
  • the magnetic component 118 may interfere with the magnetic field component generated by the features 112 and measured by the sub-sensor 116B, such as by reducing the magnitude of the measured magnetic field component. Accordingly, the amplitude of the sine signal generated by the sub-sensor 116B may be reduced. The amount of distortion of the sine signal may linearly increase as the velocity of the vehicle 102 increases. Notwithstanding such distortion, the system 100, or more particularly the controller 108, may be configured to determine the velocity of the vehicle 102 from the sine signal without applying complex frequency filters and counters.
  • the controller 108 may include a processor 120, memory 122, mass storage 124, and an input/output (I/O) interface 126.
  • the controller 108 may be operatively coupled to an in communication with one or more external resources via the I/O interface 126.
  • the external resources may include, without limitation, electronic control units (ECUs) 128, a display 130, and the rotation sensor 106.
  • ECUs electronice control units
  • the processor 120 may include one or more devices selected from microprocessors, micro-controllers, digital signal processors, microcomputers, central processing units, field programmable gate arrays, programmable logic devices, state machines, logic circuits, analog circuits, digital circuits, or any other devices that manipulate signals (analog or digital) based on operational instructions stored in the memory 122.
  • the memory 122 may include a single memory device or a plurality of memory devices including, but not limited, to read-only memory (ROM), random access memory (RAM), volatile memory, non-volatile memory, static random access memory (SRAM), dynamic random access memory (DRAM), flash memory, cache memory, or any other device capable of storing information.
  • the mass storage 124 may include one or more persistent data storage devices such as a hard drive, optical drive, tape drive, non-volatile solid- state device, or any other device capable of persistently storing information.
  • the processor 120 may operate under the control of an operating system (O/S) 132 and one or more computer software applications, such as a velocity application 134, residing in memory 122.
  • the O/S 132 may be configured to manage controller resources so the velocity application 134 may be executed by the processor 120.
  • the processor 120 may execute the velocity application 134 directly, in which case the O/S 132 may be omitted.
  • the O/S 132 and velocity application 134 may each be configured, upon execution by the processor 120, to implement the functions, features, and processes of the controller 108 described herein.
  • the O/S 132 and velocity application 134 may each be embodied by a set of computer- executable instructions residing in memory 122 and compiled or interpreted from a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java, C, C++, C#, Objective C, Fortran, Pascal, Java Script, Python, Perl, and PL/SQL.
  • Each set of computer-executable instructions may be configured, upon execution by the processor 120, to cause the processor 120 to implement the functions, features, and processes of the program embodied by the instruction set.
  • the memory 122 may also include one or more data structures used by the processor 120, O/S 132, and/or velocity application 134 to store and manipulate data.
  • the velocity application 134 may be configured, upon execution by the processor 120, to receive signals from the rotation sensor 106 corresponding to a movement of the vehicle 102. At least one of the signals may include distortion induced by other components of the vehicle 102. The velocity application 134 may be configured to generate a division signal from the received signals that ratiometrically indicates the velocity of the vehicle 102. The velocity application 134 may be configured to then determine the velocity of the vehicle 102 based on the division signal. Additional details of this process are described in more detail below.
  • a database such as a velocity table 136, may reside on the mass storage 124, and may be used to collect and organize data used by the velocity application 134.
  • the database may include data and supporting data structures that store and organize the data.
  • the database may be arranged with any database organization or structure including, but not limited to, a relational database, a hierarchical database, a network database, or combinations thereof.
  • a database management system in the form of a computer software application executing as instructions on the processor 120 may be used to access the information or data stored in records of the database in response to a query, where a query may be dynamically determined and executed by the O/S 132 or velocity application 134.
  • the velocity table 136 may be a stored lookup table including data associating a plurality of signal characteristics with different vehicle speeds. Specifically, the velocity table 136 may be generated by propelling the vehicle 102 at various speeds as indicated by an external speed sensor, identifying a characteristic from the signals generated by the rotation sensor 106 for each speed, and associating the signal characteristic with the speed for which the signal characteristic was identified in the velocity table 136. Upon later execution by the processor 120, the velocity application 134 may be configured to query the velocity table 136 based on the signals received from the rotation sensor 106 to determine the speed of the vehicle 102.
  • the I/O interface 126 of the controller 108 may provide one or more machine interfaces that operatively couple the processor 120 to other devices and systems, such as the ECUs 128, display 130, and rotation sensor 106.
  • the velocity application 134 may thereby work cooperatively with external resources by communicating via the I/O interface 126 to provide the various features, functions, applications, processes, and modules of the controller 108 described herein.
  • the velocity application 134 may be configured to communicate the speed of the vehicle 102 to the display 130.
  • the display 130 may be a speed gauge in view of the driver of the vehicle 102.
  • the velocity application 134 may also be configured to communicate a determined vehicle velocity to the ECUs 128.
  • each ECU 128 may include a processor, mass storage, and memory storing computer-executable instructions that, upon execution by the processor, cause the processor to implement functions, features, and processes of the ECU 128.
  • the ECUs 128 may each be configured to implement one or more vehicle functions that depend on vehicle speed and/or direction. For example, one of the ECUs 128 may be configured to implement cruise control functionality by comparing a current vehicle speed received from the controller 108 to a set vehicle speed. Another ECU 128 may be configured to implement anti-lock braking by monitoring for rapid decelerations based on vehicle speeds received from the controller 108. By determining vehicle velocity without performing relatively complex frequency filtering and counting, the controller 108 may reduce the time in which the ECUs 128 become aware of the vehicle’s speed and/or direction, thus improving reactivity of the vehicle functions implemented by the ECUs 128.
  • FIG. 2 illustrates a method 200 for determining a velocity of the vehicle 102.
  • the controller 108 may be configured, such as upon execution of the velocity application 134, to perform the method 200.
  • the controller 108 may receive signals from the rotation sensor 106.
  • the received signals may correspond to a rotation of the sensor ring 104 caused by movement of the vehicle 102, as discussed above.
  • Each received signal may be generated by a different sub sensor 116 of the rotation sensor 106, and may reflect a rotation rate of the features 112 past the rotation sensor 106.
  • At least one of the received signals may be distorted by interference. If both signals are distorted, the level of distortion of one signal may differ from that of the other signal. The distortion may be proportional to the speed of the vehicle 102.
  • the sub-sensors 116 may be configured to generate sinusoidal signals phase shifted by ninety degrees.
  • the output from one of the sub-sensors 116, such as the sub-sensor 116A, may be labeled as the cosine signal output, and the output of the other sub-sensor 116, such as the sub-sensor 116B, may be labeled as a sine signal output.
  • the signal output from the sub-sensor 116A may be considered as a cosine signal
  • the signal output from the sub-sensor 116B may be considered as a sine signal.
  • FIG. 3 illustrates a cosine signal 302 that may be generated by the sub-sensor 116A, and a sine signal 304 that may be generated by the sub sensors 116B, during a movement of the vehicle 102 in which velocity is increased.
  • the amplitude of the sine signal 304 may become increasingly distorted.
  • the cosine signal 302 is relatively undistorted.
  • the controller 108 may generate a reconstructed signal from one of the signals received from the rotation sensor 106. Specifically, the controller 108 may construct a new signal from one of the signals received from the rotation sensor 106, such as the relatively undistorted signal, that matches the phase of the other signal received from the rotation sensor 106, such as the relatively distorted signal.
  • the new signal constructed from one of the signals received from the rotation sensor 106 may be referred to as a reconstructed version of the other signal received from the rotation sensor 106 (e.g ., a reconstructed sine signal generated from the cosine signal 302, a reconstructed cosine signal generated from the sine signal 304).
  • the controller 108 may be configured to generate the reconstructed signal by rectifying and applying a phase shift to one of the signals received from the rotation sensor 106 that aligns the signal with the other signal received from the rotation sensor 106. Specifically, assuming the rotation sensor 106 is configured to generate sinusoidal signals phase shifted by ninety degrees (e.g., the cosine signal 302 and sine signal 304), the controller 108 may calculate the angles of one of the signals received from the rotation sensor 106 over time. To this end, the controller 108 may apply an inverse trigonometric function (e.g., inverse sine or inverse cosine) to one of the signals under certain quadrant assumptions. If applying the inverse sine function, the
  • TC controller 108 may be configured to assume the result is within quadrants I and IV (i.e., from - to
  • FIG. 4 illustrates a cosine angle waveform 306 showing the angles generated from the cosine signal 302 using the inverse cosine function, and a sine angle waveform 308 showing angles generated from the sine signal 304 using the inverse sine function.
  • the controller 108 may be configured to generate the reconstructed signal from the determined angles by biasing the angles by an amount equal to the configured phase shift, and applying the trigonometric function of which the inverse was used to calculate the angles to the biased angles. Specifically, assuming the signals received from the rotation sensor 106 are sinusoidal signals phase shifted by ninety degrees, the controller 108 may be configured to add or subtract - to or from the angles. For instance, if the angles are generated using the inverse sine function, then the controller 108 may be configured to add - to the angles and then apply the sine function to the biased angles to generate the reconstructed signal.
  • the controller 108 may be configured to generate the reconstructed function by applying the cosine function to the angles calculated using the inverse sine function, without explicitly adding - to the angles. If the angles are generated using the inverse cosine function, then the controller 108 may be configured to subtract - from the angles and then apply the cosine function to the biased angles to generate the reconstructed signal. Equivalently, the controller 108 may be configured to generate the reconstructed function by applying the sine function to the angles calculated using the inverse cosine function, without explicitly subtracting - from the angles.
  • FIG. 3 illustrates a reconstructed signal 310 generated from the cosine signal 302 by applying the inverse cosine function to the cosine signal 302 to generate the cosine angle waveform 306, and then applying the sine function to the cosine angle waveform 306.
  • the reconstructed signal 310 may be a rectified signal in phase with the other signal (e.g ., sine signal 304) received from the rotation sensor 106.
  • the controller 108 may be configured to generate a ratio signal by performance of a division operation using the reconstructed signal and the other signal received from the rotation sensor 106. Specifically, in block 206, the controller 108 may bias the reconstructed signal and the other signal received from the rotation sensor 106 to tune random noise towards the sensitivity of the velocity dependency. Prior to biasing these signals, one or both of the signals may cross zero. To avoid an undefined result in the division operation, the controller 108 may be configured to bias the reconstructed signal and the other signal so that neither of these signals crosses zero.
  • the controller 108 may be configured to bias the reconstructed signal and the other signal by adding a predefined value to both signals that causes each signal to be positive. As an example, referring to the sine signal 304 and the reconstructed signal 310 illustrated in FIG. 3, the controller 108 may be configured to add a value of three to each signal. [0037] In block 208, the controller 108 may generate the ratio signal (also referred to herein as “division signal”) by performing a division operation using the biased reconstructed signal and the biased other signal received from the rotation sensor 106. For instance, the controller 108 may be configured to generate the division signal by dividing the biased reconstructed signal by the biased other signal. Notwithstanding the presence of distortion in the signals received from the rotation sensor 106, as the speed of the vehicle 102 fluctuates, the division signal may fluctuate in proportion to the change in speed. The division signal may thus ratiometrically indicate the speed of the vehicle 102.
  • FIG. 5 illustrates a division signal 312 that may be generated by dividing the biased reconstructed signal 310 by the biased sine signal 304, where each of the reconstructed signal 310 and sine signal 304 have been biased by adding a predefined value of three to each signal.
  • the division signal 312 may include several peaks 314 extending from reference portions 316 of the division signal 312. The peak 314 values decrease as the velocity of the vehicle 102 increases. Each peak 314 of the division signal 312 may thus correspond to a speed of the vehicle 102 at the time instance when the peak 314 occurs.
  • the timing of the peaks 314 relative to the signal from which the reconstructed signal was generated may indicate the moving direction of the vehicle 102.
  • the peaks 314 of the division signal 312 extend upwards from the reference portions 316 of the division signal 312.
  • the controller 108 may be configured to generate division signals such that the peaks 314 extend downwards from the reference portions 316.
  • the controller 108 may be configured to divide the sine signal 304 by the reconstructed signal 310, which may result in the peaks 314 of the division signal 312 extending downwards from the reference portions 316.
  • the controller 108 may be configured to generate a negative reconstructed signal by applying a phase shift opposite those described above, which may result in the peaks 314 of the division signal 312 extending downwards from the reference portions 316.
  • the controller 108 may determine values of the division signal at a predefined angle, which may correspond to the peaks 314 of the division signal.
  • the controller 108 may be configured to determine each time instance when the signal from which the reconstructed signal is generated is at a predefined angle, such as based on a cosine or sine angle waveform generated from the signal. For instance, assuming the rotation sensor 106 is configured to generate sinusoidal signals with a ninety degree phase shift, the controller 108 may be configured to determine each time instance the inverse cosine of the signal from which the reconstructed signal is generated is -, or equivalently each time instance the inverse sine of the signal from which the reconstructed signal is generated is zero, taking into consideration the quadrant assumptions described above. Every other one of these time instances may correspond to a peak 314 in the division signal. For instance, the division signal 312 illustrated in FIG 5 includes a peak 314 every other time instance that the cosine angle waveform 306 illustrated in
  • FIG. 4 generated from the cosine signal 302 signal illustrated in FIG. 3 is — (and equivalently every other time instance that the inverse sine of the cosine signal 302 is zero).
  • the time instances between the time instances corresponding to the peaks 314 may correspond to reference portions 316 in the division signal.
  • the controller 108 may thus be configured to identify the peak 314 values of the division signal by evaluating the division signal at each time instance the signal from which the reconstructed signal is generated corresponds to the predefined angle. For instance, at each such time instance, the controller 108 may be configured to determine whether the value of the division signal is greater than a threshold value (e.g., 1.2) (or less than a threshold value if the controller 108 is configured to generate division signals such that the peaks 314 extend downwards from the reference portions 316). If so, then the controller 108 may be configured to identify the value as a peak 314 value of the division signal.
  • a threshold value e.g., 1.2
  • the controller 108 may be configured to determine a value of the division signal at each time instance of the pair. The controller 108 may then be configured to determine that the greater of the division signal values determined for the time instance pair (or the lesser of if the controller 108 is configured to generate division signals such that the peaks 314 extend downwards from the reference portions 316) is a peak 314 value of the division signal.
  • the controller 108 may determine a velocity of the vehicle 102 based on the peak 314 values of the division signal and the velocity table 136.
  • the vehicle 102 may be driven at various speeds as measured by an external sensor.
  • a division signal may be generated from the signals generated by the rotation sensor 106 while the vehicle 102 travels at that speed, as described above.
  • the division signal may similarly include a plurality of peaks, each occurring at a time instance when the signal from which the reconstructed was generated corresponds to the predefined angle.
  • a value based on the peaks of the division signal may be determined and associated with the speed in the velocity table 136.
  • the determined value may equal the greatest (or lowest) peak value or an average of the peak values.
  • the controller 108 may determine a speed of the vehicle 102 by querying the velocity table 136 based on one or more peak 314 values of a division signal determined using a predefined angle as described above, and responsively receiving one or more speeds corresponding to the one or more peak 314 values from the velocity table 136.
  • the controller 108 may be configured to average the received speeds to determine a speed of the vehicle 102.
  • the controller 108 may be configured to interpolate a speed corresponding to the peak value from the entries in the velocity table 136 surrounding the peak value. For instance, the controller 108 may be configured to identify the highest division signal peak value less than the determined division signal peak 314 value and the lowest division signal peak value greater than the determined division signal peak 314 value in the velocity table 136. Each of the highest division signal peak value and the lowest division signal peak value may be associated with a different speed in the velocity table 136.
  • the controller 108 may be configured to determine that the determined division signal peak 314 value corresponds to a given speed in which a ratio of the difference between the given speed and the speed associated with the lowest division signal peak value to the difference between the speed associated with the highest divisional signal peak value and the given speed is substantially equal to a ratio of the difference between the lowest division signal peak value and the determined division signal peak 314 value to the difference between the determined division signal peak 314 value and the highest division signal peak value.
  • the controller 108 may be configured to determine the moving direction of the vehicle 102 based on a characteristic of the signal from which the reconstructed signal is generated when the peaks 314 occur in the division signal.
  • rotation of the sensor ring 104 in one direction may cause the signal generated by the sub-sensor 116A to lead the signal generated by the sub-sensor 116B
  • rotation of the sensor ring 104 in the other direction may cause the signal generated by the sub-sensor 116A to lag the signal generated by the sub-sensor 116B.
  • the rotation sensor 106 is configured to generate sinusoidal signals phase shifted by ninety degrees, depending on whether the signal used to generate the reconstruction signal is the leading signal or lagging signal
  • the peaks 314 of the division signal may occur when the signal from which the reconstruction signal is generated exhibits a different characteristic.
  • the controller 108 may thus be configured to determine the movement direction of the vehicle 102 based on a characteristic of the signal from which the reconstructed signal is generated when the peaks 314 occur in the division signal.
  • the peaks 314 of the division signal may occur during transitions of the signal from which the reconstructed signal is generated from a minimum value to a maximum value (i.e., during a positive slope).
  • the peaks 314 of the division signal may occur during transitions of the signal from which the reconstructed signal is generated from a maximum value to a minimum value (i.e., during a negative slope). For instance, referring to FIGS.
  • the peaks 314 of the division signal 312 may occur when the cosine signal 302 has a positive slope. If the cosine signal 302 were lagging the sine signal 304, then the peaks 314 of the division signal 312 may occur when the cosine signal 302 has a negative slope.
  • the controller 108 may thus be configured to determine a movement direction of the vehicle 102 by determining whether the peaks 314 of the division signal occur when the signal from which the reconstructed signal is generated has a positive slope or a negative slope. Responsive to the peaks 314 occurring when the signal from which the reconstructed signal is generating has a positive slope, the controller 108 may be configured to determine that the vehicle 102 is moving in a given direction (e.g., forward), and responsive to the peaks 314 occurring when the signal from the reconstructed signal is generated has a negative slope, the controller 108 may be configured to determine that the vehicle 102 is moving in an opposite direction (e.g., reverse).
  • a given direction e.g., forward
  • an opposite direction e.g., reverse
  • the controller 108 may communicate the determined speed and/or direction to the display 130 for illustration to the driver and/or to the one or more ECUs 128 dependent on such items, as discussed above.
  • the examples described herein may enable determining vehicle velocity from distorted signals without using complex frequency filtering and counting. As a result, the time between the vehicle traveling at a given velocity and the driver and other vehicle functions becoming aware of this velocity may be reduced. Such faster reporting may improve driver awareness and the performance of velocity-dependent vehicle functions by enabling faster reactions to change in vehicle velocity.
  • routines executed to implement the embodiments of the invention may be referred to herein as "computer program code,” or simply "program code.”
  • Program code typically comprises computer readable instructions that are resident at various times in various memory and storage devices in a computer and that, when read and executed by one or more processors in a computer, cause that computer to perform the operations necessary to execute operations and/or elements embodying the various aspects of the embodiments of the invention.
  • Computer readable program instructions for carrying out operations of the embodiments of the invention may be, for example, assembly language or either source code or object code written in any combination of one or more programming languages.
  • Computer readable storage media which is inherently non-transitory, may include volatile and non-volatile, and removable and non-removable tangible media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules, or other data.
  • Computer readable storage media may further include RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid state memory technology, portable compact disc read-only memory (CD-ROM), or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and which can be read by a computer.
  • a computer readable storage medium should not be construed as transitory signals per se (e.g., radio waves or other propagating electromagnetic waves, electromagnetic waves propagating through a transmission media such as a waveguide, or electrical signals transmitted through a wire).
  • Computer readable program instructions may be downloaded to a computer, another type of programmable data processing apparatus, or another device from a computer readable storage medium or to an external computer or external storage device via a network.
  • Computer readable program instructions stored in a computer readable medium may be used to direct a computer, other types of programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions that implement the functions, acts, and/or operations specified in the flowcharts, sequence diagrams, and/or block diagrams.
  • the computer program instructions may be provided to one or more processors of a general purpose computer, a special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the one or more processors, cause a series of computations to be performed to implement the functions, acts, and/or operations specified in the flowcharts, sequence diagrams, and/or block diagrams.
  • the functions, acts, and/or operations specified in the flowcharts, sequence diagrams, and/or block diagrams may be re-ordered, processed serially, and/or processed concurrently consistent with embodiments of the invention.
  • any of the flowcharts, sequence diagrams, and/or block diagrams may include more or fewer blocks than those illustrated consistent with embodiments of the invention.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measuring Or Testing Involving Enzymes Or Micro-Organisms (AREA)

Abstract

L'invention concerne des systèmes et des procédés pour déterminer une vitesse d'un véhicule. Le véhicule comprend un anneau de capteur couplé à un composant de propulsion du véhicule et pouvant tourner avec celui-ci, et comprend un capteur de rotation à proximité de l'anneau de capteur. Le capteur de rotation génère un premier et un deuxième signal correspondant chacun à une rotation de l'anneau de capteur provoquée par une rotation du composant de propulsion. Les signaux correspondent à différents composants de champ magnétique. Le deuxième signal est plus déformé que le premier signal, et la déformation dépend de la vitesse. Un processeur est conçu pour construire un troisième signal qui est une version reconstruite du deuxième signal, mais dérivé du premier signal moins déformé. Un quatrième signal est généré en divisant le troisième signal par le deuxième signal, le quatrième signal étant représentatif de la déformation dépendant de la vitesse. Enfin, la vitesse du véhicule est déterminée sur la base du quatrième signal, à l'aide d'une relation connue entre son amplitude et la vitesse.
PCT/IB2019/060416 2019-12-03 2019-12-03 Système de mesure de vitesse Ceased WO2021111170A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112019007930.1T DE112019007930T5 (de) 2019-12-03 2019-12-03 Geschwindigkeitsmesssystem
SE2250727A SE546558C2 (en) 2019-12-03 2019-12-03 Vehicle velocity measurement system and a method based on signals from a rotation sensor
CN201980102720.XA CN114787635B (zh) 2019-12-03 2019-12-03 速度测量系统
PCT/IB2019/060416 WO2021111170A1 (fr) 2019-12-03 2019-12-03 Système de mesure de vitesse

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2019/060416 WO2021111170A1 (fr) 2019-12-03 2019-12-03 Système de mesure de vitesse

Publications (1)

Publication Number Publication Date
WO2021111170A1 true WO2021111170A1 (fr) 2021-06-10

Family

ID=68848340

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2019/060416 Ceased WO2021111170A1 (fr) 2019-12-03 2019-12-03 Système de mesure de vitesse

Country Status (4)

Country Link
CN (1) CN114787635B (fr)
DE (1) DE112019007930T5 (fr)
SE (1) SE546558C2 (fr)
WO (1) WO2021111170A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060290545A1 (en) * 2005-05-31 2006-12-28 Wolfgang Granig Method for Determining Residual Error Compensation Parameters for a Magnetoresistive Angle Sensor and Method for Reducing a Residual Angle Error in a Magnetoresistive Angle Sensor
US20110121825A1 (en) * 2006-06-21 2011-05-26 Allegro Microsystems, Inc. Methods and apparatus for an analog rotational sensor having magnetic sensor elements
US8587294B2 (en) * 2007-11-20 2013-11-19 Moving Magnet Technologies (Mmt) Angular or linear magnetic position sensor not sensitive to external fields

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4306462A (en) * 1980-03-10 1981-12-22 Borg-Warner Corporation System for measuring torque and speed of rotating shaft
US4695160A (en) * 1981-07-06 1987-09-22 Honeywell Inc. Error cancelling bias system
JPH09226548A (ja) * 1996-02-26 1997-09-02 Toyota Motor Corp 車両制御装置
EP2693221B1 (fr) * 2012-07-30 2017-04-26 Nxp B.V. Arrangement de capteur magnétique
KR101394053B1 (ko) * 2012-12-28 2014-05-09 현대자동차 주식회사 차속 검출 시스템 및 이를 이용한 차속 검출 방법
FR3052250B1 (fr) * 2016-06-06 2020-05-01 Continental Automotive France Dispositif de mesure de position angulaire d'un arbre ou similaire
US10156462B2 (en) * 2016-11-07 2018-12-18 GM Global Technology Operations LLC Error correction in a vector-based position sensing system
US10718827B2 (en) * 2017-08-25 2020-07-21 Infineon Technologies Ag Frequency increasing sensor protocol in magnetic sensing

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060290545A1 (en) * 2005-05-31 2006-12-28 Wolfgang Granig Method for Determining Residual Error Compensation Parameters for a Magnetoresistive Angle Sensor and Method for Reducing a Residual Angle Error in a Magnetoresistive Angle Sensor
US20110121825A1 (en) * 2006-06-21 2011-05-26 Allegro Microsystems, Inc. Methods and apparatus for an analog rotational sensor having magnetic sensor elements
US8587294B2 (en) * 2007-11-20 2013-11-19 Moving Magnet Technologies (Mmt) Angular or linear magnetic position sensor not sensitive to external fields

Also Published As

Publication number Publication date
SE2250727A1 (en) 2022-06-16
DE112019007930T5 (de) 2022-09-22
CN114787635B (zh) 2024-08-16
CN114787635A (zh) 2022-07-22
SE546558C2 (en) 2024-12-03

Similar Documents

Publication Publication Date Title
US10267691B2 (en) Aggregated pulse phase difference torque determination system and method
US6498474B1 (en) Rotational velocity and direction sensing system
US11733260B2 (en) Angle based speed sensor device
Li et al. The measurement of instantaneous angular speed
JPH0373808B2 (fr)
US7104119B1 (en) Method and apparatus for determining rotary position
CN205484398U (zh) 传感装置、传感系统及转向系统
EP3722756B1 (fr) Procédé et dispositif de compensation d'écart de phase
US10401194B2 (en) Sensor for determining at least one rotation characteristic of a rotating element
US20080191691A1 (en) Magnetic encoder assembly
WO2021111170A1 (fr) Système de mesure de vitesse
JP6352540B2 (ja) 検出装置、回転角度検出装置、検出方法、およびプログラム
US10648874B1 (en) Rotary device
CN105683762A (zh) 具有带线性化磁场的磁极转子的用于转速测量的传感器系统
US7135858B2 (en) System with distance sensor for measuring rotational speed of a body
JP6614788B2 (ja) 回転速度計測装置、変速機制御システム及びプログラム
CN1704723A (zh) 四传感器式编码装置
CN100371683C (zh) 四传感器式编码器
CN2194513Y (zh) 角速度、角位移检测器
JPH0587822A (ja) 転がり軸受の回転速度検出装置
CN100343629C (zh) 三传感器式编码器
CN100371684C (zh) 六传感器式编码器
CN100343630C (zh) 四传感器式编码器的存储器写入器
CN100343631C (zh) 三传感器式编码器的存储器写入器
JP2007051983A (ja) 回転検出用エンコーダ

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19818273

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2250727-1

Country of ref document: SE

122 Ep: pct application non-entry in european phase

Ref document number: 19818273

Country of ref document: EP

Kind code of ref document: A1