Vehicle control apparatus, method of operating the same, and vehicle

Abstract

A vehicle control apparatus includes: information acquisition means configured to acquire information related to at least one motor in a vehicle and information related to a plurality of wheel speed sensors; a calculator configured to determine an estimated wheel speed value based on the information related to the at least one motor and the information related to the plurality of wheel speed sensors; and a controller configured to determine a tire air pressure state of a tire corresponding to each of the plurality of wheel speed sensors of the vehicle based on the estimated wheel speed value and the information related to the plurality of wheel speed sensors.

Description

Technical Field

[0001] This invention relates to a vehicle control device, its operating method, and a vehicle. Background Technology

[0002] Generally, vehicle tires transmit the vehicle's driving force, braking force, and lateral forces to the road surface, while supporting the vehicle's load on the road and functioning as springs and shock absorbers to reduce impact on the road surface. When a vehicle's tires are inflated too high or too low, the tires may burst or the vehicle may become prone to skidding, leading to serious accidents. Furthermore, increased fuel consumption reduces fuel economy, shortens tire life, and reduces ride comfort and braking power. Therefore, drivers must continuously check tire pressure for abnormalities, and if any abnormality is found, the tires must be replaced.

[0003] Currently, vehicles equipped with tire pressure monitoring systems detect low tire pressure using sensors and then notify the user. Conversely, if the vehicle does not have tire pressure sensors attached, low tire pressure is determined indirectly by measuring the rotational speed of each wheel using wheel speed sensors.

[0004] The information disclosed in the background section of this invention is only intended to enhance the understanding of the general background of this invention and should not be construed as an admission or suggestion of any kind that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] Various aspects of the present invention aim to provide a vehicle control device configured to determine tire pressure status even when at least one wheel speed sensor fails.

[0006] The technical objectives of the exemplary embodiments included in this specification are not limited to those described above, and those skilled in the art can clearly understand other unmentioned technical objectives from the description of the present invention.

[0007] An exemplary embodiment included in this specification provides a vehicle control device, comprising: an information acquisition device configured to acquire information related to at least one motor in the vehicle and information related to a plurality of wheel speed sensors; a calculator configured to determine an estimated wheel speed value based on the information related to the at least one motor and the information related to the wheel speed sensors; and a controller configured to determine the tire pressure state corresponding to each of the wheel speed sensors in the vehicle based on the estimated wheel speed value and the information related to the wheel speed sensors.

[0008] In various exemplary embodiments of the present invention, information associated with at least one motor may include the number of revolutions per minute of at least one motor, and information associated with multiple wheel speed sensors may include fault information of multiple wheel speed sensors and wheel speed values ​​measured by multiple wheel speed sensors.

[0009] In various exemplary embodiments of the present invention, at least one motor may include at least one of a first motor connected to the front wheel of the vehicle and a second motor connected to the rear wheel of the vehicle, and the wheel speed sensor may include a first wheel speed sensor and a second wheel speed sensor engaged with the front wheel of the vehicle, and a third wheel speed sensor and a fourth wheel speed sensor engaged with the rear wheel of the vehicle.

[0010] In various exemplary embodiments of the present invention, the calculator can determine a first estimated wheel speed value of the first wheel speed sensor based on the revolutions per minute of the first motor and the wheel speed value measured by the second wheel speed sensor when the first wheel speed sensor malfunctions.

[0011] The calculator can determine a second estimated wheel speed value from the second wheel speed sensor based on the revolutions per minute of the first motor and the wheel speed value measured by the first wheel speed sensor when the second wheel speed sensor fails.

[0012] In various exemplary embodiments of the present invention, the calculator can determine a first estimated wheel speed value of the first wheel speed sensor and a second estimated wheel speed value of the second wheel speed sensor based on the revolutions per minute of the first motor when both the first wheel speed sensor and the second wheel speed sensor fail.

[0013] In various exemplary embodiments of the present invention, the calculator can determine a third estimated wheel speed value of the third wheel speed sensor based on the revolutions per minute of the second motor and the wheel speed value measured by the fourth wheel speed sensor when the third wheel speed sensor malfunctions. The calculator can also determine a fourth estimated wheel speed value of the fourth wheel speed sensor based on the revolutions per minute of the second motor and the wheel speed value measured by the third wheel speed sensor when the fourth wheel speed sensor malfunctions.

[0014] In various exemplary embodiments of the present invention, the calculator can determine the third estimated wheel speed value of the third wheel speed sensor and the fourth estimated wheel speed value of the fourth wheel speed sensor based on the revolutions per minute of the second motor when both the third wheel speed sensor and the fourth wheel speed sensor fail.

[0015] In various exemplary embodiments of the present invention, the information associated with the multiple wheel speed sensors includes wheel speed values ​​measured by the multiple wheel speed sensors and resonant frequency values ​​measured by the multiple wheel speed sensors. The controller can be configured to determine the effective rolling radius of the tire based on the wheel speed values ​​measured by the multiple wheel speed sensors and the estimated wheel speed values, and to determine whether the tire is under-pressure based on the resonant frequency values ​​measured by the multiple wheel speed sensors and the effective rolling radius of the tire.

[0016] In various exemplary embodiments of the invention, an output device may be further included, electrically connected to the controller and configured to output information relating to whether at least one tire is underinflated when the controller determines that at least one tire is underinflated.

[0017] An exemplary embodiment included in this specification provides a method for operating a vehicle control device, comprising the following steps: acquiring information related to at least one motor in the vehicle; acquiring information related to wheel speed sensors in the vehicle; determining an estimated wheel speed value based on the information related to at least one motor and the information related to multiple wheel speed sensors; and determining the tire pressure state corresponding to each of the wheel speed sensors based on the estimated wheel speed value and the information related to the wheel speed sensors.

[0018] In various exemplary embodiments of the present invention, information associated with at least one motor may include the number of revolutions per minute of at least one motor, and information associated with wheel speed sensors may include fault information of multiple wheel speed sensors and wheel speed values ​​measured by multiple wheel speed sensors.

[0019] In various exemplary embodiments of the present invention, at least one motor may include at least one of a first motor connected to the front wheel of the vehicle and a second motor connected to the rear wheel of the vehicle, and the wheel speed sensor may include a first wheel speed sensor and a second wheel speed sensor engaged with the front wheel of the vehicle, and a third wheel speed sensor and a fourth wheel speed sensor engaged with the rear wheel of the vehicle.

[0020] In various exemplary embodiments of the present invention, determining an estimated wheel speed value based on information associated with at least one motor and information associated with a wheel speed sensor may include: determining a first estimated wheel speed value of the first wheel speed sensor based on the revolutions per minute of the first motor and the wheel speed value measured by the second wheel speed sensor when the first wheel speed sensor fails; and determining a second estimated wheel speed value of the second wheel speed sensor based on the revolutions per minute of the first motor and the wheel speed value measured by the first wheel speed sensor when the second wheel speed sensor fails.

[0021] In various exemplary embodiments of the present invention, determining the estimated wheel speed value based on information related to at least one motor and information related to a wheel speed sensor may include: when both the first wheel speed sensor and the second wheel speed sensor fail, determining a first estimated wheel speed value of the first wheel speed sensor and a second estimated wheel speed value of the second wheel speed sensor based on the revolutions per minute of the first motor.

[0022] In various exemplary embodiments of the present invention, determining an estimated wheel speed value based on information associated with at least one motor and information associated with a wheel speed sensor may include: determining a third estimated wheel speed value of the third wheel speed sensor based on the revolutions per minute of the second motor and the wheel speed value measured by the fourth wheel speed sensor when the third wheel speed sensor fails; and determining a fourth estimated wheel speed value of the fourth wheel speed sensor based on the revolutions per minute of the second motor and the wheel speed value measured by the third wheel speed sensor when the fourth wheel speed sensor fails.

[0023] In various exemplary embodiments of the present invention, determining the estimated wheel speed value based on information associated with at least one motor and information associated with a wheel speed sensor may include: when both the third and fourth wheel speed sensors fail, determining a third estimated wheel speed value of the third wheel speed sensor and a fourth estimated wheel speed value of the fourth wheel speed sensor based on the revolutions per minute of the second motor.

[0024] In various exemplary embodiments of the present invention, the information associated with the wheel speed sensor may include the wheel speed value measured by the wheel speed sensor and the resonant frequency value measured by the wheel speed sensor, and determining the tire pressure state corresponding to each of the wheel speed sensors based on the estimated wheel speed value and the information associated with the wheel speed sensor may include: determining the effective rolling radius of the tire based on the wheel speed value measured by the wheel speed sensor and the estimated wheel speed value; and determining whether the tire is under-pressure based on the resonant frequency value measured by the wheel speed sensor and the effective rolling radius of the tire.

[0025] An exemplary embodiment included in this specification provides a vehicle including: a plurality of wheels; a plurality of wheel speed sensors for measuring wheel-related information; and a controller configured to: acquire information related to the wheel speed sensors and acquire information related to at least one motor; determine estimated wheel speed values ​​for the plurality of wheels based on the information related to the wheel speed sensors and the information related to at least one motor; and determine the tire pressure state corresponding to each of the wheel speed sensors based on the estimated wheel speed values ​​and the information related to the wheel speed sensors.

[0026] In various exemplary embodiments of the present invention, information related to the wheel speed sensor may include whether the wheel speed sensor is faulty and the wheel speed value measured by the wheel speed sensor, and information related to at least one motor may include the number of revolutions per minute of at least one motor.

[0027] In various exemplary embodiments of the present invention, the wheels may include a first wheel, a second wheel, a third wheel, and a fourth wheel; the wheel speed sensors may include a first wheel speed sensor that measures information related to the first wheel, a second wheel speed sensor that measures information related to the second wheel, a third wheel speed sensor that measures information related to the third wheel, and a fourth wheel speed sensor that measures information related to the fourth wheel; and at least one motor may include at least one of a first motor connected to the first wheel and the second wheel and a second motor connected to the third wheel and the fourth wheel.

[0028] When at least one wheel speed sensor fails, the vehicle control device according to the exemplary embodiments included in this specification can estimate the wheel speed value of the failed wheel speed sensor and determine whether the vehicle tires are underinflated based on the estimated wheel speed value.

[0029] The methods and apparatus of the present invention have other features and advantages that may be apparent from the accompanying drawings incorporated herein by reference or set forth in more detail in the drawings, which together serve to explain certain principles of the invention. Attached Figure Description

[0030] Figure 1 A vehicle according to an exemplary embodiment included in this specification is shown.

[0031] Figure 2 This specification illustrates a vehicle control device according to an exemplary embodiment included in this specification.

[0032] Figure 3 A graph showing wheel speed values ​​measured by multiple wheel speed sensors according to an exemplary embodiment included in this specification.

[0033] Figure 4 A graph showing the revolutions per minute of multiple motors according to exemplary embodiments included in this specification.

[0034] Figure 5 A comparison chart showing estimated wheel speed values ​​and wheel speed values ​​measured by wheel speed sensors according to exemplary embodiments included in this specification is provided.

[0035] Figure 6 A vehicle according to another exemplary embodiment included in this specification is shown.

[0036] Figure 7 Vehicles according to various exemplary embodiments included in this specification are shown.

[0037] Figure 8 A flowchart illustrating a method of operating a vehicle control device according to an exemplary embodiment included in this specification is shown.

[0038] Figure 9 A flowchart illustrating a method of operating a vehicle control device according to an exemplary embodiment included in this specification is shown.

[0039] It is understood that the accompanying drawings illustrate a simplified description of various features that describe the basic principles of the invention and are not necessarily drawn to scale. Specific design features of the invention as included herein, including, for example, specific dimensions, orientations, positions, and partial shapes, will be determined in part by the specific intended application and environment of use.

[0040] In the accompanying drawings, reference numerals refer to the same or equivalent parts in all the drawings. Detailed Implementation

[0041] Various embodiments of the present invention will now be described in detail with reference to the exemplary accompanying drawings. While the invention will be described in conjunction with exemplary embodiments, it should be understood that this description is not intended to limit the invention to the exemplary embodiments. On the other hand, the invention is intended to cover not only the exemplary embodiments of the invention, but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the invention as defined herein.

[0042] Hereinafter, some exemplary embodiments of the present invention will be described in detail with reference to the exemplary accompanying drawings. It should be noted that when adding reference numerals to the constituent elements of the various drawings, the same constituent elements are used with as many reference numerals as possible, even if they are shown in different drawings. Furthermore, in describing exemplary embodiments of the present invention, detailed descriptions of related well-known configurations or functions will be omitted if it is determined that such detailed descriptions interfere with the understanding of the exemplary embodiments of the present invention.

[0043] In describing the constituent elements of various exemplary embodiments of the present invention, terms such as first, second, A, B, (A), and (B) may be used. These terms are used only to distinguish constituent elements from other constituent elements, and the nature, order, or sequence of constituent elements is not limited by these terms. Furthermore, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the various exemplary embodiments of the present invention pertain, unless specifically defined. Terms defined in general dictionaries should be interpreted as having a meaning matching the terminology in the relevant technical context, and should not be interpreted as having an idealized or overly formal meaning unless explicitly defined in this specification.

[0044] Figure 1 A vehicle according to an exemplary embodiment included in this specification is shown.

[0045] refer to Figure 1 The vehicle 1000 according to the exemplary embodiments included in this specification may include a plurality of wheels 1100, a plurality of wheel speed sensors 1200, a plurality of motors 1300, and a controller 1400.

[0046] Wheel 1100 may include a first wheel 1110, a second wheel 1120, a third wheel 1130, and a fourth wheel 1140. For example, the first wheel 1110 may be located on the left front wheel of vehicle 1000, the second wheel 1120 may be located on the right front wheel of vehicle 1000, the third wheel 1130 may be located on the left rear wheel of vehicle 1000, and the fourth wheel 1140 may be located on the right rear wheel of vehicle 1000. However, the exemplary embodiments included in this specification are not limited thereto, and wheel 1100 may include fewer or more wheels.

[0047] Wheel speed sensor 1200 measures the rotational speed of wheel 1100. For example, wheel speed sensor 1200 may include a first wheel speed sensor 1210, a second wheel speed sensor 1220, a third wheel speed sensor 1230, and a fourth wheel speed sensor 1240. The first wheel speed sensor 1210, the second wheel speed sensor 1220, the third wheel speed sensor 1230, and the fourth wheel speed sensor 1240 can respectively measure the rotational speed of the corresponding first wheel 1110, second wheel 1120, third wheel 1130, and fourth wheel 1140.

[0048] The motor 1300 may be connected to the wheel 1100. For example, the motor 1300 may include a first motor 1310 and a second motor 1320. The first motor 1310 may be connected to the first wheel 1110 and the second wheel 1120 of the front wheels of the vehicle 1000, and the second motor 1320 may be connected to the third wheel 1130 and the fourth wheel 1140 of the rear wheels of the vehicle 1000.

[0049] The controller 1400 can be connected to the wheel speed sensor 1200 and the motor 1300. For example, the controller 1400 can be connected to the first wheel speed sensor 1210, the second wheel speed sensor 1220, the third wheel speed sensor 1230, the fourth wheel speed sensor 1240, the first motor 1310 and the second motor 1320, or it can be connected to the first wheel speed sensor 1210, the second wheel speed sensor 1220, the third wheel speed sensor 1230, the fourth wheel speed sensor 1240, the first motor 1310 and the second motor 1320 simultaneously.

[0050] The controller 1400 can acquire information related to each wheel speed sensor 1200 from the wheel speed sensors 1200 and information related to each motor 1300 from the motor 1300. For example, the information related to the wheel speed sensors 1200 includes information about whether the wheel speed sensors 1200 are faulty and the wheel speed of the wheel 1100 measured by the wheel speed sensors 1200. Furthermore, the information related to the motors 1300 may include the number of revolutions per minute (RPM) of the motors 1300.

[0051] The controller 1400 can determine the estimated wheel speed of wheel 1100 based on information associated with wheel speed sensor 1200 and information associated with motor 1300. When any wheel speed sensor 1200 fails, the controller 1400 can determine the estimated wheel speed of the failed wheel speed sensor based on the revolutions per minute of any motor 1300 and the wheel speed values ​​measured by other wheel speed sensors (excluding the failed wheel speed sensor).

[0052] The controller 1400 can determine the tire pressure status corresponding to each wheel speed sensor based on information associated with the wheel speed sensor 1200 and the determined estimated wheel speed value. For example, the controller 1400 can determine the tire pressure status corresponding to a faulty wheel speed sensor based on the determined estimated wheel speed value, and if the wheel speed sensor is not faulty, it can determine the tire pressure status corresponding to a non-faulty wheel speed sensor by using the wheel speed value measured by the non-faulty wheel speed sensor.

[0053] The controller 1400 can determine whether at least one of the following tires is under pressure: a first tire coupled to a first wheel 1110 (corresponding to a first wheel speed sensor 1210), a second tire coupled to a second wheel 1120 (corresponding to a second wheel speed sensor 1220), a third tire coupled to a third wheel 1130 (corresponding to a third wheel speed sensor 1230), and a fourth tire coupled to a fourth wheel 1140 (corresponding to a third wheel speed sensor 1240).

[0054] The vehicle 1000 can determine the air pressure status of at least one tire by performing an operation via a controller 1400 that has received information from at least one of the wheels 1100, wheel speed sensors 1200 and motors 1300.

[0055] That is, when it is determined that at least one tire has low pressure, the vehicle 1000 can notify the user whether at least one tire has low pressure and can help the user prevent accidents caused by low tire pressure.

[0056] In an exemplary embodiment of the present invention, when the pressure in at least one tire is lower than a predetermined pressure, at least one tire is determined to be under-pressure.

[0057] The following will be referenced Figure 2A detailed description of a vehicle control device 100 according to an exemplary embodiment included in this specification.

[0058] Figure 2 This specification illustrates a vehicle control device according to an exemplary embodiment included in this specification.

[0059] refer to Figure 2 The vehicle control device 100 according to the exemplary embodiments included in this specification may include an information acquisition device 110, a calculator 120, a controller 130, and an output device 140.

[0060] Figure 1 The vehicle control device 100 and controller 1400 are basically the same.

[0061] The information acquisition device 110 can acquire information related to the motor 1300 in the vehicle 1000 and information related to the wheel speed sensor 1200. For example, the information related to the motor 1300 may include the number of revolutions per minute of the motor 1300, and the information related to the wheel speed sensor 1200 may include fault information of the wheel speed sensor 1200 and the wheel speed value measured by the wheel speed sensor 1200.

[0062] The motor 1300 may include at least one of a first motor 1310 and a second motor 1320. Furthermore, the wheel speed sensor 1200 may include a first wheel speed sensor 1210 and a second wheel speed sensor 1220 connected to the front wheels of the vehicle 1000, and a third wheel speed sensor 1230 and a fourth wheel speed sensor 1240 connected to the rear wheels of the vehicle 1000. That is, the information acquisition device 110 can acquire information related to the first motor 1310, the second motor 1320, the first wheel speed sensor 1210, the second wheel speed sensor 1220, and the third wheel speed sensor 1230.

[0063] In this situation, when the wheel speed value obtained by the wheel speed sensor 1200 exceeds the normal range, or when a short circuit occurs in the connection with the wheel speed sensor 1200 and no wheel speed value is obtained, if an anomaly is detected by checking the communication timer, activity counter value, and cyclic redundancy check (CRC) result from the wheel speed sensor 1200, the information acquisition device 110 can determine that at least one wheel speed sensor 1200 has malfunctioned. Thus, the information acquisition device 110 can obtain fault information about the wheel speed sensor 1200.

[0064] The calculator 120 can determine the estimated wheel speed value based on information related to the motor 1300 and information related to the wheel speed sensor 1200. For example, the calculator 120 can determine the estimated wheel speed value of the faulty wheel speed sensor based on the revolutions per minute of the motor 1300, fault information of multiple wheel speed sensors 1200, and the wheel speed value measured by at least one wheel speed sensor 1200.

[0065] When the first wheel speed sensor 1210 malfunctions, the calculator 120 can determine a first estimated wheel speed value based on the first wheel speed sensor 1210. For example, the calculator 120 can determine the first estimated wheel speed value based on the revolutions per minute (RPM) of the first motor 1310 and the wheel speed value measured by the second wheel speed sensor 1220. The calculator 120 can also determine the first estimated wheel speed value by subtracting the wheel speed value measured by the second wheel speed sensor 1220 from the value obtained by multiplying the RPM of the first motor 1310 by a constant factor.

[0066] When the second wheel speed sensor 1220 malfunctions, the calculator 120 can determine a second estimated wheel speed value based on the second wheel speed sensor 1220. For example, the calculator 120 can determine the second estimated wheel speed value based on the revolutions per minute (RPM) of the first motor 1310 and the wheel speed value measured by the first wheel speed sensor 1210. Alternatively, the calculator 120 can determine the second estimated wheel speed value by subtracting the wheel speed value measured by the first wheel speed sensor 1210 from the value obtained by multiplying the RPM of the first motor 1310 by a constant factor.

[0067] When both the first wheel speed sensor 1210 and the second wheel speed sensor 1220 malfunction, the calculator 120 can determine a first estimated wheel speed value and a second estimated wheel speed value based on the revolutions per minute (RPM) of the first motor 1310. For example, the calculator 120 can assume that the first estimated wheel speed value and the second estimated wheel speed value have the same value; therefore, the first estimated wheel speed value and the second estimated wheel speed value can be determined by multiplying the RPM of the first motor 1310 by a constant factor.

[0068] When the third wheel speed sensor 1230 malfunctions, the calculator 120 can determine a third estimated wheel speed value from the third wheel speed sensor 1230. For example, the calculator 120 can determine the third estimated wheel speed value based on the revolutions per minute (RPM) of the second motor 1320 and the wheel speed value measured by the fourth wheel speed sensor 1240. Alternatively, the calculator 120 can determine the third estimated wheel speed value by subtracting the wheel speed value measured by the fourth wheel speed sensor 1240 from the value obtained by multiplying the RPM of the second motor 1320 by a constant factor.

[0069] When the fourth wheel speed sensor 1240 malfunctions, the calculator 120 can determine a fourth estimated wheel speed value from the fourth wheel speed sensor 1240. For example, the calculator 120 can determine the fourth estimated wheel speed value based on the revolutions per minute (RPM) of the second motor 1320 and the wheel speed value measured by the third wheel speed sensor 1230. Alternatively, the calculator 120 can determine the fourth estimated wheel speed value by subtracting the wheel speed value measured by the third wheel speed sensor 1230 from the value obtained by multiplying the RPM of the second motor 1320 by a constant factor.

[0070] When both the third wheel speed sensor 1230 and the fourth wheel speed sensor 1240 malfunction, the calculator 120 can determine the third and fourth estimated wheel speed values ​​based on the revolutions per minute (RPM) of the second motor 1320. For example, the calculator 120 can assume that the third and fourth estimated wheel speed values ​​have the same value, and thus, the third and fourth estimated wheel speed values ​​can be determined by multiplying the RPM of the second motor 1320 by a constant factor.

[0071] In an exemplary embodiment of the present invention, the controller 130 may include the functionality of the calculator 120.

[0072] The following will be referenced Figures 3 to 5 Describe the accuracy of the estimated wheel speed value determined by calculator 130.

[0073] Figure 3 A graph showing wheel speed values ​​measured by multiple wheel speed sensors according to an exemplary embodiment included in this specification.

[0074] Figure 4 A graph showing the revolutions per minute of a plurality of motors according to exemplary embodiments included in this specification.

[0075] Figure 5 A comparison graph showing the estimated wheel speed value and the wheel speed value measured by the wheel speed sensor according to the exemplary embodiments included in this specification is shown.

[0076] refer to Figure 5 It can be seen that the wheel speed values ​​measured by the second wheel speed sensor 1220, the third wheel speed sensor 1230, and the fourth wheel speed sensor 1240 are not significantly different from each other. At the same time, it can be seen that the wheel speed value measured by the first wheel speed sensor 1210 connected to the first wheel 1110 varies greatly.

[0077] refer to Figure 4 It can be seen that the revolutions per minute of the first motor 1310 connected to the first wheel 1110 and the second wheel 1120 are significantly different from the revolutions per minute of the second motor 1320 connected to the third wheel 1130 and the fourth wheel 1140.

[0078] refer to Figure 5 It can be seen that there is no significant difference between the first estimated wheel speed value determined based on the revolutions per minute of the first motor 1310 and the wheel speed value measured by the second wheel speed sensor 1220 and the wheel speed value measured by the first wheel speed sensor 1210. That is, the first estimated wheel speed value determined by the calculator 120 can be similar to the wheel speed value measured by the first wheel speed sensor 1210 with high accuracy.

[0079] exist Figures 3 to 5This specification only shows the first estimated wheel speed value determined by calculator 120 and its accuracy, but it is not limited thereto. That is, calculator 120 can accurately determine all the second, third, and fourth estimated wheel speed values.

[0080] Refer again Figure 2 The controller 130 can determine the tire pressure status corresponding to each wheel speed sensor 1200 of the vehicle 1000 based on the estimated wheel speed value determined by the calculator 120 and information related to the wheel speed sensor 1200.

[0081] If a wheel speed sensor malfunctions, the controller 130 can replace the wheel speed value measured by the malfunctioning wheel speed sensor with an estimated wheel speed value determined by the calculator 120 based on the fault information of the wheel speed sensor 1200. For example, when the first wheel speed sensor 1210 malfunctions, the controller 130 can replace the wheel speed value of the first wheel 1110 with the first estimated wheel speed value; when the second wheel speed sensor 1220 malfunctions, the controller 130 can replace the wheel speed value of the second wheel 1120 with the second estimated wheel speed value; when the third wheel speed sensor 1230 malfunctions, the controller 130 can replace the wheel speed value of the third wheel 1130 with the third estimated wheel speed value; and when the fourth wheel speed sensor 1240 malfunctions, the controller 130 can replace the wheel speed value of the fourth wheel 1140 with the fourth estimated wheel speed value.

[0082] The controller 130 can determine the tire pressure status corresponding to each wheel speed sensor 1200 based on the estimated wheel speed value and the wheel speed value measured by the wheel speed sensor 1200. For example, when it is determined that the wheel speed value of at least one wheel has increased to exceed a reference value, the controller 130 can determine that the tire pressure of the tire coupled to at least one wheel is low.

[0083] The controller 130 can perform a front-to-back comparison, comparing the sum of the speed values ​​of the first wheel 1110 and the second wheel 1120 with the sum of the speed values ​​of the third wheel 1130 and the fourth wheel 1140. Furthermore, the controller 130 can perform a left-to-right comparison, comparing the sum of the speed values ​​of the first wheel 1110 and the third wheel 1130 with the sum of the speed values ​​of the second wheel 1120 and the fourth wheel 1140. The controller 130 can also perform a diagonal comparison, comparing the sum of the speed values ​​of the first wheel 1110 and the fourth wheel 1140 with the sum of the speed values ​​of the second wheel 1120 and the third wheel 1130. In other words, the controller 130 can determine whether the tire corresponding to the wheel speed sensor 1200 is underinflated by front-to-back comparison, left-to-right comparison, and diagonal comparison.

[0084] Simultaneously, the controller 130 can determine whether a tire is underinflated based on information associated with the wheel speed sensor 1200 and an estimated wheel speed value. For example, the information associated with the wheel speed sensor 1200 may include a resonant frequency value and a wheel speed value measured by the wheel speed sensor 1200. The controller 130 can determine the effective rolling radius of the corresponding tire based on the estimated wheel speed value in the case of a faulty wheel speed sensor, and can determine the effective rolling radius of the corresponding tire based on the measured wheel speed value in the case of a fault-free wheel speed sensor. The controller 130 can receive the resonant frequency value of the tire obtained by the information acquisition device 110. The controller 130 can determine whether a tire is underinflated by comparing the effective rolling radius and resonant frequency value of the tire with the effective rolling radius and resonant frequency value of a tire with a predetermined normal pressure.

[0085] Simultaneously, the wheel speed sensor 1200 can measure the tire's resonant frequency value by detecting the pulse wave of the rotational speed pulse wheel coupled to the wheel 1100 and performing a Fourier transform on the pulse wave. Furthermore, when at least one wheel speed sensor 1200 is functioning correctly, the information acquisition device 110 can acquire the resonant frequency value. That is, when all wheel speed sensors 1200 are faulty, the information acquisition device 110 may be unable to obtain the resonant frequency value.

[0086] When at least one tire is determined to be low in pressure, the output device 140 can output information related to whether at least one tire is low in pressure. For example, when it is determined whether a tire is low in pressure and the location of the low-pressure tire is determined, the output device 140 can output whether the tire is low in pressure and the location of the low-pressure tire. When only low pressure is determined without knowing the location of the low-pressure tire, the output device 140 can output information related to whether the tire is low in pressure. Furthermore, when at least one of the wheel speed sensors 1200 malfunctions and it cannot be determined whether the tire is low in pressure due to the malfunction, the output device 140 can output fault information about the tire low pressure detection device. In other words, the output device 140 can notify the user of the tire low pressure or the fault of the low pressure detection device, and the user can repair the vehicle based on the notification, thereby preventing accidents caused by low tire pressure in advance.

[0087] In summary, the vehicle control device 100 according to the exemplary embodiments included in this specification can obtain the revolutions per minute (RPM) of the motor 1300 and fault information of the wheel speed sensor 1200, as well as the wheel speed value measured by the wheel speed sensor 1200, from the information acquisition device 110. The calculator 120 can determine the estimated wheel speed value of the faulty wheel speed sensor based on the RPM of the motor 1300, the fault information of the wheel speed sensor 1200, and the wheel speed value measured by the wheel speed sensor 1200. The vehicle control device 100 can determine whether a tire corresponding to each of the plurality of wheel speed sensors 1200 is underinflated based on the wheel speed value estimated by the controller 130, the wheel speed value measured by the non-faulty wheel speed sensor, and the resonant frequency value. It can also output information related to whether a tire is underinflated to report to the user. That is, the vehicle control device 100 can determine whether a tire is underinflated and report it to the user, and can notify the user of the tire pressure and prevent accidents in the vehicle due to low tire pressure.

[0088] The following will be referenced Figure 6 and Figure 7 Other exemplary implementations included in this specification are described.

[0089] Figure 6 A vehicle according to another exemplary embodiment included in this specification is shown.

[0090] refer to Figure 6 According to another exemplary embodiment contained in this specification, the vehicle 2000 may include a first wheel 2110, a second wheel 2120, a third wheel 2130, a fourth wheel 2140, a first wheel speed sensor 2210, a second wheel speed sensor 2220, a third wheel speed sensor 2230, a fourth wheel speed sensor 2240, a first motor 2310, and a controller 2400.

[0091] refer to Figure 1 The first wheel 2110, the second wheel 2120, the third wheel 2130, and the fourth wheel 2140 can respectively connect with Figure 1 The first wheel 1110, the second wheel 1120, the third wheel 1130 and the fourth wheel 1140 are basically the same.

[0092] refer to Figure 1 The first wheel speed sensor 2210, the second wheel speed sensor 2220, the third wheel speed sensor 2230, and the fourth wheel speed sensor 2240 can be connected with... Figure 1 The first wheel speed sensor 1210, the second wheel speed sensor 1220, the third wheel speed sensor 1230 and the fourth wheel speed sensor 1240 are basically the same.

[0093] refer to Figure 1 The first motor 2310 can be connected with Figure 1 The first motor 1310 in the series is basically the same.

[0094] The controller 2400 can be connected to the first wheel speed sensor 2210, the second wheel speed sensor 2220, the third wheel speed sensor 2230, the fourth wheel speed sensor 2240 and the first motor 2310, and can obtain information from the first wheel speed sensor 2210, the second wheel speed sensor 2220, the third wheel speed sensor 2230, the fourth wheel speed sensor 2240 and the first motor 2310.

[0095] When the first wheel speed sensor 2210 malfunctions, the controller 2400 can determine a first estimated wheel speed value for the first wheel speed sensor 2210 based on the revolutions per minute (RPM) of the first motor 2310 and the wheel speed value measured by the second wheel speed sensor 2220. Furthermore, when the second wheel speed sensor 2220 malfunctions, the controller 2400 can determine a second estimated wheel speed value for the second wheel speed sensor 2220 based on the RPM of the first motor 2310 and the wheel speed value measured by the first wheel speed sensor 2210.

[0096] When both the first wheel speed sensor 2210 and the second wheel speed sensor 2220 fail, the controller 2400 can determine the first estimated wheel speed value and the second estimated wheel speed value based on the revolutions per minute of the first motor 2310.

[0097] The controller 2400 can determine the effective rolling radius of the tires coupled to the first wheel 2110, second wheel 2120, third wheel 2130, and fourth wheel 2140 based on the estimated wheel speed values ​​and the wheel speed values ​​measured by the first wheel speed sensor 2210, second wheel speed sensor 2220, third wheel speed sensor 2230, and fourth wheel speed sensor 2240. The controller 2400 can determine the tire condition based on the determined effective rolling radius and resonant frequency value. For example, the controller 2400 can determine whether the tire is underinflated by the aforementioned front-to-rear comparison, diagonal comparison, and left-to-right comparison, and can output information related to whether the tire is underinflated to the user.

[0098] On the other hand, when the third wheel speed sensor 2230 and the fourth wheel speed sensor 2240 malfunction, no motor is connected to them, and the controller 2400 may be unable to determine the estimated wheel speed value. In other words, when the third wheel speed sensor 2230 and the fourth wheel speed sensor 2240 malfunction, the controller 2400 may be unable to detect low tire pressure. Therefore, when either the third wheel speed sensor 2230 or the fourth wheel speed sensor 2240 malfunctions, the controller 2400 may output a fault message for the low tire pressure detection device.

[0099] In other words, according to another exemplary embodiment of the vehicle 2000 contained in this specification, it can be determined whether the tires have a higher density than the tires. Figure 1 The vehicle in question has a more limited low-pressure performance (1000).

[0100] Figure 7 Vehicles according to various exemplary embodiments included in this specification are shown.

[0101] refer to Figure 7 The vehicle 3000 according to various exemplary embodiments included in this specification may include a first wheel 3110, a second wheel 3120, a third wheel 3130, a fourth wheel 3140, a first wheel speed sensor 3210, a second wheel speed sensor 3220, a third wheel speed sensor 3230, a fourth wheel speed sensor 3240, a first motor 3310, a second motor 3320, a third motor 3330, and a controller 2400.

[0102] refer to Figure 1 The first wheel 3110, the second wheel 3120, the third wheel 3130, and the fourth wheel 3140 can respectively connect with Figure 1 The first wheel 1110, the second wheel 1120, the third wheel 1130 and the fourth wheel 1140 are basically the same.

[0103] refer to Figure 1 The first wheel speed sensor 3210, the second wheel speed sensor 3220, the third wheel speed sensor 3230, and the fourth wheel speed sensor 3240 can be connected with... Figure 1 The first wheel speed sensor 1210, the second wheel speed sensor 1220, the third wheel speed sensor 1230 and the fourth wheel speed sensor 1240 are basically the same.

[0104] The first motor 3310 can be connected to the first wheel speed sensor 3210 and the second wheel speed sensor 3220. The second motor 3320 can be connected to the third wheel speed sensor 3230. The third motor 3330 can be connected to the fourth wheel speed sensor 3240.

[0105] The controller 3400 can be connected to the first wheel speed sensor 3210, the second wheel speed sensor 3220, the third wheel speed sensor 3230, the fourth wheel speed sensor 3240, the first motor 3310, the second motor 3320, and the third motor 3330. The controller 3400 can acquire information from the first wheel speed sensor 3210, the second wheel speed sensor 3220, the third wheel speed sensor 3230, the fourth wheel speed sensor 3240, the first motor 3310, the second motor 3320, and the third motor 3330.

[0106] When the first wheel speed sensor 3210 malfunctions, the controller 3400 can determine the estimated first wheel speed; when the second wheel speed sensor 3220 malfunctions, the controller 3400 can determine the estimated second wheel speed. In this case, the method for determining the estimated wheel speed value can be the same as described above. Figure 1 The method by which the controller 1400 determines the first estimated wheel speed value and the second estimated wheel speed value is the same.

[0107] When the third wheel speed sensor 3230 malfunctions, the controller 3400 can determine a third estimated wheel speed value based on the revolutions per minute (RPM) of the second motor 3320. Furthermore, when the fourth wheel speed sensor 3240 malfunctions, the controller 3400 can determine a fourth estimated wheel speed value based on the RPM of the third motor 3330. Therefore, the controller 3400 can... Figure 4 The controller 1400 in the middle determines the third estimated wheel speed value and the fourth estimated wheel speed value more accurately.

[0108] The controller 3400 can determine the effective rolling radius of the tire based on the wheel speed value measured by the wheel speed sensor and the estimated wheel speed value when the wheel speed sensor is faulty. Furthermore, the controller can be configured to determine whether the tire is underinflated based on the resonant frequency value obtained from the wheel speed sensor and the determined effective rolling radius. In other words, the controller 3400 of the vehicle 3000 can be more... Figure 1 The controller 1400 of the vehicle 1000 can more accurately determine the estimated wheel speed value, determine whether the tire is low pressure in more situations, and output information related to whether the tire is low pressure to the user.

[0109] The following will be referenced Figure 8 Describes a method for operating vehicle control equipment 100.

[0110] Figure 8 A flowchart illustrating a method of operating a vehicle control device according to an exemplary embodiment included in this specification is provided.

[0111] refer to Figure 8 The operation method of the vehicle control device 100 according to the exemplary embodiments included in this specification may include: acquiring information related to at least one motor in the vehicle (S100); acquiring information related to a plurality of wheel speed sensors in the vehicle (S200); determining an estimated wheel speed value based on the information related to at least one motor and the information related to the wheel speed sensors (S300); and determining the tire pressure state corresponding to each wheel speed sensor based on the estimated wheel speed value and the information related to the wheel speed sensors (S400).

[0112] The following will be referenced Figure 1 , Figure 2 , Figure 6 and Figure 7 Describe steps S100 to S400 in detail.

[0113] In step S100, which involves acquiring information related to at least one motor in the vehicle, the information acquisition device 110 may acquire information related to at least one motor. For example, in step S100, the information related to at least one motor may include the revolutions per minute (RPM) of at least one motor.

[0114] In step S200, which involves acquiring information related to the wheel speed sensor in the vehicle, the information acquisition device 110 can acquire information related to the wheel speed sensor 1200 in the vehicle. For example, in step S200, the information related to the wheel speed sensor 1200 may include fault information of the wheel speed sensor 1200 and the wheel speed value measured by the wheel speed sensor 1200.

[0115] Meanwhile, wheel speed sensor 1200 may include a first wheel speed sensor 1210 and a second wheel speed sensor 1220 connected to the front wheels of vehicle 1000, and a third wheel speed sensor 1230 and a fourth wheel speed sensor 1240 connected to the rear wheels of vehicle 1000. In this case, wheel speed sensor 1200 may include a first wheel speed sensor 2210 or 3210 (which may be substantially the same as the first wheel speed sensor 1210), a second wheel speed sensor 2220 or 3220 (which may be substantially the same as the second wheel speed sensor 1220), a third wheel speed sensor 2230 or 3230 (which may be substantially the same as the third wheel speed sensor 1230), and a fourth wheel speed sensor 2240 or 3240 (which may be substantially the same as the fourth wheel speed sensor 1240).

[0116] In vehicle 1000, at least one motor may include a first motor 1310 connected to a first wheel 1110 and a second wheel 1120, and a second motor 1320 connected to a third wheel 1130 and a fourth wheel 1140. Alternatively, at least one motor may include a first motor 2310 connected to a first wheel 2110 and a second wheel 2120 in vehicle 2000. Alternatively, at least one motor may include a first motor 3310 connected to a first wheel 3110 and a second wheel 3120, a second motor 3320 connected to a third wheel 3130, and a third motor 3330 connected to a fourth wheel 3140.

[0117] In addition, refer to Figure 4 Although it is shown that step S200 is performed after step S100, this specification is not limited thereto, and step S200 may be performed before or simultaneously with step S100.

[0118] In step S300, where the calculator 120 determines the estimated wheel speed value based on information related to at least one motor and information related to the wheel speed sensor 1200, the calculator 120 may determine the estimated wheel speed value based on information related to at least one motor and information related to the wheel speed sensor 1200. For example, in step S300, based on fault information of the wheel speed sensor 1200, the calculator 120 may determine the estimated wheel speed value of the faulty wheel speed sensor by using the revolutions per minute of at least one motor and the wheel speed value measured by the wheel speed sensor 1200.

[0119] When there are two motors, in step S300, when the first wheel speed sensor 1210 malfunctions, the calculator 120 can determine a first estimated wheel speed value for the first wheel speed sensor 1210. For example, in step S300, the calculator 120 can determine the first estimated wheel speed value based on the revolutions per minute (RPM) of the first motor 1310 and the wheel speed value measured by the second wheel speed sensor 1220. In step S300, the calculator 120 can determine the first estimated wheel speed value by subtracting the wheel speed value measured by the second wheel speed sensor 1220 from the value obtained by multiplying the RPM of the first motor 1310 by a constant factor.

[0120] When there are two motors, in step S300, when the second wheel speed sensor 1220 malfunctions, the calculator 120 can determine a second estimated wheel speed value from the second wheel speed sensor 1220. For example, in step S300, the calculator 120 can determine the second estimated wheel speed value based on the revolutions per minute (RPM) of the first motor 1310 and the wheel speed value measured by the first wheel speed sensor 1210. In step S300, the calculator 120 can determine the second estimated wheel speed value by subtracting the wheel speed value measured by the first wheel speed sensor 1210 from the value obtained by multiplying the RPM of the first motor 1310 by a constant factor.

[0121] When there are two motors, in step S300, if both the first wheel speed sensor 1210 and the second wheel speed sensor 1220 fail, the calculator 120 can determine a first estimated wheel speed value and a second estimated wheel speed value based on the revolutions per minute (RPM) of the first motor 1310. For example, in step S300, the calculator 120 can assume that the first estimated wheel speed value and the second estimated wheel speed value have the same value, and accordingly, the first estimated wheel speed value and the second estimated wheel speed value can be determined by multiplying the RPM of the first motor 1310 by a constant factor.

[0122] When there are two motors, in step S300, when the third wheel speed sensor 1230 malfunctions, the calculator 120 can determine a third estimated wheel speed value from the third wheel speed sensor 1230. For example, the calculator 120 can determine the third estimated wheel speed value based on the revolutions per minute (RPM) of the second motor 1320 and the wheel speed value measured by the fourth wheel speed sensor 1240. The calculator 120 can determine the third estimated wheel speed value by subtracting the wheel speed value measured by the fourth wheel speed sensor 1240 from the value obtained by multiplying the RPM of the second motor 1320 by a constant factor.

[0123] When there are two motors, in step S300, when the fourth wheel speed sensor 1240 malfunctions, the calculator 120 can determine the fourth estimated wheel speed value from the fourth wheel speed sensor 1240. For example, in step S300, the calculator 120 can determine the fourth estimated wheel speed value based on the revolutions per minute (RPM) of the second motor 1320 and the wheel speed value measured by the third wheel speed sensor 1230. In step S300, the calculator 120 can determine the fourth estimated wheel speed value by subtracting the wheel speed value measured by the third wheel speed sensor 1230 from the value obtained by multiplying the RPM of the second motor 1320 by a constant factor.

[0124] When there are two motors, in step S300, if both the third wheel speed sensor 1230 and the fourth wheel speed sensor 1240 malfunction, the calculator 120 can determine the third and fourth estimated wheel speed values ​​based on the revolutions per minute (RPM) of the second motor 1320. For example, in step S300, the calculator 120 can assume that the third and fourth estimated wheel speed values ​​have the same value, and accordingly, the third and fourth estimated wheel speed values ​​can be determined by multiplying the RPM of the second motor 1320 by a constant factor.

[0125] When there are two motors, in step S300, the calculator 120 can determine the first estimated wheel speed value and the second estimated wheel speed value in the same way as when there are two motors. However, when using only one motor, in step S300, the calculator 120 may be unable to estimate the third estimated wheel speed value and the fourth estimated wheel speed value because no motor is connected to the third wheel 2130 and the fourth wheel 2140.

[0126] When there are three motors, in step S300, the calculator 120 can determine the first estimated wheel speed value and the second estimated wheel speed value in the same way as when there are two motors, the calculator 120 determines the first wheel speed value and the second wheel speed value in step S300.

[0127] In this case, with three motors, in step S300, the second motor 3320 is only connected to the third wheel 3130. Therefore, when the third wheel speed sensor 3230 fails, the calculator 120 can determine the third estimated wheel speed value based on the revolutions per minute of the second motor 3320.

[0128] Similarly, when there are three motors, in step S300, the third motor 3330 is only connected to the fourth wheel 3140. Therefore, when the fourth wheel speed sensor 3240 malfunctions, the calculator 120 can determine the third estimated wheel speed value based on the revolutions per minute of the third motor 3330. In other words, when there are three motors, in step S300, the calculator 120 can determine the third and fourth estimated wheel speed values ​​more accurately than when there are two motors.

[0129] In step S400, the tire pressure state corresponding to each wheel speed sensor is determined based on the estimated wheel speed value and information related to the wheel speed sensor. The controller 130 can determine the tire pressure state corresponding to each wheel speed sensor 1200 based on the estimated wheel speed value determined by the calculator 120 and information related to the wheel speed sensor 1200. For example, the information related to the wheel speed sensor 1200 may include the resonant frequency value and the wheel speed value measured by the wheel speed sensor 1200.

[0130] In step S400, the controller 130 can determine the effective rolling radius of the tire based on the wheel speed value and the estimated wheel speed value measured by the wheel speed sensor 1200, and can determine whether the tire is under-pressure based on the effective rolling radius of the tire and the resonant frequency value measured by the wheel speed sensor 1200.

[0131] The following will be referenced Figure 9 Describe in detail the operation method of the vehicle control device 100.

[0132] Figure 9 A flowchart illustrating a method of operating a vehicle control device according to an exemplary embodiment included in this specification is provided.

[0133] refer to Figure 9 The operation method of the vehicle control device 100 according to the exemplary embodiments included in this specification may include: acquiring information related to the revolutions per minute of at least one motor (S110); acquiring fault information of a plurality of wheel speed sensors and wheel speed values ​​measured by the wheel speed sensors (S210); determining whether a wheel speed sensor is faulty (S310); determining the estimated wheel speed value of the faulty wheel speed sensor (S320); determining the effective rolling radius of the tire (S410); determining whether the tire is under-pressure (S420) and outputting based on the resonant frequency value measured by the wheel speed sensor and the effective rolling radius of the tire (S500).

[0134] In step S110, which involves acquiring information related to the revolutions per minute (RPM) of at least one motor, the information acquisition device 110 can acquire information related to the RPM from at least one motor. For example, Figure 8 Step S100 may include step S110.

[0135] In step S210, which involves acquiring wheel speed sensor fault information and wheel speed values ​​measured by the wheel speed sensor, the information acquisition device 110 can acquire fault information of the wheel speed sensor 1200 and wheel speed values ​​measured by the wheel speed sensor 1200. For example, in step S210, if a faulty wheel speed sensor exists in the wheel speed sensor 1200, the information acquisition device 110 may not acquire the measured wheel speed value. Figure 8 Step S200 may include step S210.

[0136] In step S310 of determining whether a wheel speed sensor has malfunctioned, the calculator 120 can determine whether each wheel speed sensor has malfunctioned based on the obtained fault information of the wheel speed sensors 1200.

[0137] In step S320, which determines the estimated wheel speed value of the faulty wheel speed sensor, the calculator 120 may determine the estimated wheel speed value of the faulty wheel speed sensor based on information related to the revolutions per minute of at least one motor and the wheel speed value measured by the wheel speed sensor 1200. For example, the process of determining the estimated wheel speed value by the calculator 120 in step S320 can be substantially the same as the process of determining the estimated wheel speed value by the calculator 120 in step S300 described above.

[0138] In step S410 of determining the effective rolling radius of a tire, if a faulty wheel speed sensor is present, the controller 130 can determine the effective rolling radius of the corresponding tire based on the estimated wheel speed value. Conversely, if a wheel speed sensor is functioning correctly, the controller can determine the effective rolling radius of the corresponding tire based on the wheel speed value measured by the sensor. For example, when the first wheel speed sensor 1210 malfunctions, the controller 130 can determine the effective rolling radius of the tire coupled to the first wheel 1110 based on the first estimated wheel speed value. And when the first wheel speed sensor 1210 is functioning correctly, the controller can determine the effective rolling radius of the tire coupled to the first wheel 1110 based on the wheel speed value measured by the first wheel speed sensor 1210.

[0139] In step S420, the tire pressure is determined based on the resonant frequency value measured by the wheel speed sensor and the effective rolling radius of the tire. When at least one wheel speed sensor of the wheel speed sensor 1200 is not faulty, the controller 130 can obtain the resonant frequency value of the tire and determine whether the tire pressure is low based on the resonant frequency value and the determined effective rolling radius of the tire. For example, the controller 130 can determine whether the tire pressure is low by comparing the effective rolling radius and resonant frequency value of a tire with a predetermined normal pressure with the determined effective rolling radius and resonant frequency value of the tire.

[0140] On the other hand, in step S420, when all wheel speed sensors 1200 are faulty, the controller 130 may not be able to obtain the tire's resonant frequency value, and therefore may determine whether the tire is under-pressure based solely on the tire's effective rolling radius.

[0141] The operation method of the vehicle control device 100 according to the exemplary embodiments included in this specification may further include an output step S500.

[0142] In output step S500, when the controller 130 determines that at least one tire is underinflated, the output device 140 can output information related to the underinflated tire. For example, when determining whether a tire is underinflated and determining the location of the underinflated tire, the output device 140 can output information related to whether the tire is underinflated and the location of the underinflated tire. Furthermore, in output step S500, when only determining whether a tire is underinflated, the output device 140 can output information related to whether the tire is underinflated.

[0143] In output step S500, when at least one of the wheel speed sensors malfunctions and cannot detect whether at least one tire is underinflated, output device 140 can output information related to the tire underinflator detection device malfunction. That is, the user can check whether the tires are underinflated and whether the tire underinflator detection device is malfunctioning based on the information output from output device 140, allowing for vehicle repair and enabling safe driving.

[0144] In another exemplary embodiment included in this specification, a controller connected to the wheel speed sensor 1200 within the vehicle 1000 may use the method described above for determining the estimated wheel speed value to determine the estimated wheel speed value, which can be replaced when the wheel speed sensor 1200 fails. For example, when a failure exists among the multiple wheel speed sensors 1200 as described above, the wheel speed value is used in controllers performing various roles (such as Smart Cruise Control (SCC), Electronic Control Suspension (ECS), and Electronic Stability Control). By using the method for determining the estimated wheel speed value, the functionality of the system can be limited but maintained, thereby reducing the risk of dangerous situations for the driver.

[0145] In another exemplary embodiment included in this specification, in the event of a failure in the RPM information of at least one motor, the vehicle 1000 can reverse the wheel speed determination method to determine the estimated RPM of at least one motor based on the wheel speed value measured by the wheel speed sensor 1200. For example, by configuring a controller for traction control system (TCS) functions to utilize the motor's RPM, the problem of a sudden decrease in TCS function performance due to a failure in the RPM information of at least one motor can be solved by estimating the motor's RPM based on the wheel speed value measured by the wheel speed sensor 1200 and using it in the controller when the RPM information of at least one motor fails.

[0146] The above description is merely an illustration of the technical ideas contained in this specification, and those skilled in the art can make various modifications and changes to the exemplary embodiments included in this specification without departing from the basic characteristics of the exemplary embodiments included in this specification.

[0147] Furthermore, terms related to control devices such as “controller,” “control unit,” “control device,” or “control module” refer to hardware devices, including memory and processor, configured to execute one or more steps interpreted as an algorithmic structure. The memory stores the algorithmic steps, and the processor executes the algorithmic steps to perform one or more processes of the methods according to various exemplary embodiments of the present invention. The control device according to exemplary embodiments of the present invention can be implemented using non-volatile memory configured to store algorithms for controlling the operation of various components of a vehicle or data regarding software commands for executing the algorithms, and the processor is configured to perform the aforementioned operations using the data stored in the memory. The memory and processor can be separate chips. Alternatively, the memory and processor can be integrated into a single chip. The processor can be implemented as one or more processors. The processor can include various logic circuits and operational circuits, can process data according to a program provided from the memory, and can generate control signals based on the processing results.

[0148] The control device may be at least one microprocessor operated by a predetermined program, which may include a series of commands for performing the methods included in the various exemplary embodiments of the present invention described above.

[0149] The invention described above can also be implemented as computer-readable code on a computer-readable recording medium. A computer-readable recording medium is any data storage device capable of storing data that can subsequently be read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROM), random access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and implementations as carrier waves (e.g., transmission over the Internet).

[0150] In various exemplary embodiments of the present invention, each of the above operations may be performed by a control device, and the control device may be configured by multiple control devices or a single integrated control device.

[0151] In various exemplary embodiments of the present invention, the control device may be implemented in hardware or software, or in a combination of hardware and software.

[0152] For ease of explanation and precise definition in this invention, the terms “upper,” “lower,” “inner,” “outer,” “up,” “lower,” “upward,” “downward,” “front,” “rear,” “back,” “inner,” “outer,” “inward,” “outer,” “inner,” “outer,” “forward,” and “backward” are used to describe features of exemplary embodiments with reference to the positions of these features shown in the figures. It should also be understood that the term “connection” or its derivatives refer to both direct and indirect connections.

[0153] The above description of specific exemplary embodiments of the present invention is for illustrative and descriptive purposes. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and various modifications and variations will obviously be made based on the above teachings. The exemplary embodiments were chosen and described to explain some principles of the invention and its practical applications, enabling those skilled in the art to implement and utilize various exemplary embodiments of the invention, as well as various alternatives and modifications thereof. The scope of the invention is defined by the appended invention and its equivalents.

Claims

1. A vehicle control device, comprising: An information acquisition device is configured to acquire information related to at least one motor in a vehicle and information related to multiple wheel speed sensors; A calculator configured to determine an estimated wheel speed value based on information associated with the at least one motor and information associated with the plurality of wheel speed sensors; and The controller is configured to determine the tire pressure status corresponding to each of the plurality of wheel speed sensors of the vehicle based on the estimated wheel speed value and information associated with the plurality of wheel speed sensors; The controller is further configured as follows: When at least one of the plurality of wheel speed sensors fails, the wheel speed value of the failed wheel speed sensor is estimated using information related to the at least one motor and information related to the wheel speed values ​​of the wheel speed sensors that have not failed. as well as Use the estimated wheel speed value to determine the tire pressure.

2. The vehicle control device according to claim 1, in, Information related to the at least one motor includes the number of revolutions per minute of the at least one motor, and The information related to the plurality of wheel speed sensors includes fault information of the plurality of wheel speed sensors and wheel speed values ​​measured by the plurality of wheel speed sensors.

3. The vehicle control device according to claim 2, in, The at least one motor includes at least one of a first motor connected to the front wheel of the vehicle and a second motor connected to the rear wheel of the vehicle, and The plurality of wheel speed sensors include a first wheel speed sensor and a second wheel speed sensor engaged with the front wheels of the vehicle, and a third wheel speed sensor and a fourth wheel speed sensor engaged with the rear wheels of the vehicle.

4. The vehicle control device according to claim 3, in, The calculator is configured to, when the first wheel speed sensor malfunctions, determine a first estimated wheel speed value from the first wheel speed sensor based on the revolutions per minute of the first motor and the wheel speed value measured by the second wheel speed sensor, and The calculator is configured to determine a second estimated wheel speed value of the second wheel speed sensor based on the revolutions per minute of the first motor and the wheel speed value measured by the first wheel speed sensor when the second wheel speed sensor malfunctions.

5. The vehicle control device according to claim 3, wherein, The calculator is configured to determine a first estimated wheel speed value of the first wheel speed sensor and a second estimated wheel speed value of the second wheel speed sensor based on the revolutions per minute of the first motor when both the first wheel speed sensor and the second wheel speed sensor fail.

6. The vehicle control device according to claim 3, in, The calculator is configured to, when the third wheel speed sensor malfunctions, determine a third estimated wheel speed value from the third wheel speed sensor based on the revolutions per minute of the second motor and the wheel speed value measured by the fourth wheel speed sensor. The calculator is configured to determine a fourth estimated wheel speed value of the fourth wheel speed sensor based on the revolutions per minute of the second motor and the wheel speed value measured by the third wheel speed sensor when the fourth wheel speed sensor malfunctions.

7. The vehicle control device according to claim 3, wherein, The calculator is configured to determine the third estimated wheel speed value of the third wheel speed sensor and the fourth estimated wheel speed value of the fourth wheel speed sensor based on the revolutions per minute of the second motor when both the third wheel speed sensor and the fourth wheel speed sensor fail.

8. The vehicle control device according to claim 1, in, The information associated with the plurality of wheel speed sensors includes wheel speed values ​​measured by the plurality of wheel speed sensors and resonant frequency values ​​measured by the plurality of wheel speed sensors, and The controller is configured to determine the effective rolling radius of the tire based on the wheel speed values ​​measured by the plurality of wheel speed sensors and the estimated wheel speed values, and to determine whether the tire is under-pressure based on the resonant frequency values ​​measured by the plurality of wheel speed sensors and the effective rolling radius of the tire.

9. The vehicle control device according to claim 1, further comprising: An output device, electrically connected to the controller and configured to output information related to whether at least one tire is underinflated when the controller determines that at least one tire is underinflated.

10. A method for operating vehicle control equipment, comprising the following steps: The controller acquires information related to at least one motor in the vehicle. The controller acquires information related to multiple wheel speed sensors in the vehicle. The controller determines the estimated wheel speed value based on information associated with the at least one motor and information associated with the plurality of wheel speed sensors; as well as The controller determines the tire pressure status corresponding to each of the plurality of wheel speed sensors based on the estimated wheel speed value and information associated with the plurality of wheel speed sensors. The steps for determining the estimated wheel speed include: When at least one of the plurality of wheel speed sensors fails, the wheel speed value of the failed wheel speed sensor is estimated using information related to the at least one motor and relevant information about the wheel speed values ​​of the wheel speed sensors that have not failed. Use the estimated wheel speed value to determine the tire pressure.

11. The method according to claim 10, in, Information related to the at least one motor includes the number of revolutions per minute of the at least one motor, and The information related to the plurality of wheel speed sensors includes fault information of the plurality of wheel speed sensors and wheel speed values ​​measured by the plurality of wheel speed sensors.

12. The method according to claim 11, in, The at least one motor includes at least one of a first motor connected to the front wheel of the vehicle and a second motor connected to the rear wheel of the vehicle, and The plurality of wheel speed sensors include a first wheel speed sensor and a second wheel speed sensor engaged with the front wheels of the vehicle, and a third wheel speed sensor and a fourth wheel speed sensor engaged with the rear wheels of the vehicle.

13. The method according to claim 12, wherein, Determining the estimated wheel speed value based on information associated with the at least one motor and information associated with the plurality of wheel speed sensors includes: When the first wheel speed sensor malfunctions, a first estimated wheel speed value of the first wheel speed sensor is determined based on the revolutions per minute of the first motor and the wheel speed value measured by the second wheel speed sensor; and When the second wheel speed sensor malfunctions, a second estimated wheel speed value of the second wheel speed sensor is determined based on the revolutions per minute of the first motor and the wheel speed value measured by the first wheel speed sensor.

14. The method according to claim 12, wherein, Determining the estimated wheel speed value based on information associated with the at least one motor and information associated with the plurality of wheel speed sensors includes: When both the first wheel speed sensor and the second wheel speed sensor fail, the first estimated wheel speed value of the first wheel speed sensor and the second estimated wheel speed value of the second wheel speed sensor are determined based on the revolutions per minute of the first motor.

15. The method according to claim 12, wherein, Determining the estimated wheel speed value based on information associated with the at least one motor and information associated with the plurality of wheel speed sensors includes: When the third wheel speed sensor malfunctions, a third estimated wheel speed value is determined based on the revolutions per minute of the second motor and the wheel speed value measured by the fourth wheel speed sensor. When the fourth wheel speed sensor malfunctions, the fourth estimated wheel speed value of the fourth wheel speed sensor is determined based on the revolutions per minute of the second motor and the wheel speed value measured by the third wheel speed sensor.

16. The method according to claim 12, wherein, Determining the estimated wheel speed value based on information associated with the at least one motor and information associated with the plurality of wheel speed sensors includes: When both the third wheel speed sensor and the fourth wheel speed sensor fail, the third estimated wheel speed value of the third wheel speed sensor and the fourth estimated wheel speed value of the fourth wheel speed sensor are determined based on the revolutions per minute of the second motor.

17. The method according to claim 10, in, The information associated with the plurality of wheel speed sensors includes wheel speed values ​​measured by the plurality of wheel speed sensors and resonant frequency values ​​measured by the plurality of wheel speed sensors, and The process of determining the tire pressure status corresponding to each of the plurality of wheel speed sensors based on the estimated wheel speed value and information related to the plurality of wheel speed sensors includes: The effective rolling radius of the tire is determined based on the wheel speed values ​​measured by the plurality of wheel speed sensors and the estimated wheel speed values; and Whether a tire is underinflated is determined based on the resonant frequency value measured by the plurality of wheel speed sensors and the effective rolling radius of the tire.

18. A vehicle comprising: Multiple wheels; Multiple wheel speed sensors are used to measure information related to multiple wheels; At least one motor connected to the plurality of wheels; and The controller is electrically connected to the plurality of wheel speed sensors and configured as follows: Obtain information related to the plurality of wheel speed sensors and obtain information related to the at least one motor. The estimated wheel speed values ​​of the plurality of wheels are determined based on information associated with the plurality of wheel speed sensors and information associated with the at least one motor, and Based on the estimated wheel speed value and information related to the plurality of wheel speed sensors, the tire pressure status corresponding to each of the plurality of wheel speed sensors is determined; The controller is further configured as follows: When at least one of the plurality of wheel speed sensors fails, the wheel speed value of the failed wheel speed sensor is estimated using information related to the at least one motor and information related to the wheel speed values ​​of the wheel speed sensors that have not failed. as well as Use the estimated wheel speed value to determine the tire pressure.

19. The vehicle according to claim 18, in, Information related to the plurality of wheel speed sensors includes whether the plurality of wheel speed sensors are faulty and the wheel speed values ​​of the plurality of wheels measured by the plurality of wheel speed sensors, and The information related to the at least one motor includes the number of revolutions per minute of the at least one motor.

20. The vehicle according to claim 19, in, The plurality of wheels includes a first wheel, a second wheel, a third wheel, and a fourth wheel. The plurality of wheel speed sensors include a first wheel speed sensor that measures information related to the first wheel, a second wheel speed sensor that measures information related to the second wheel, a third wheel speed sensor that measures information related to the third wheel, and a fourth wheel speed sensor that measures information related to the fourth wheel. The at least one motor includes at least one of a first motor connected to the first wheel and the second wheel and a second motor connected to the third wheel and the fourth wheel.

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