Method and device for transmitting speed information of a vehicle

Abstract

Methods and apparatus are provided for transmitting speed information of a vehicle. The method includes: receiving first speed information of a vehicle from an electronic stability control (ESC) device, the first speed information being based on information of a plurality of wheels of the vehicle; averaging the first speed information; converting the averaged first speed information into second speed information of the vehicle based on the first period; and outputting second speed information based on the second period and the minimum output frequency, where the first speed information is a digital signal and the second speed information is an analog signal.

Description

Technical Field

[0001] The present disclosure relates to a method and apparatus for transmitting speed information of a vehicle, and more particularly, to a method and apparatus by which an electronic stability control (ESC) device transmits the speed information of the vehicle to a microcontroller unit (MCU) using a digital signal, and the MCU transmits the speed information of the vehicle to a global navigation satellite system (GNSS) using an analog signal. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] An Electronic Stability Control (ESC) device is a device that controls the posture of a vehicle to prevent the vehicle from skidding and helps ensure stable driving. A Global Navigation Satellite System (GNSS) is a satellite navigation system that uses artificial satellites to calculate the position, altitude, and speed of moving objects throughout the earth. The ESC device or instrument panel in a vehicle transmits the speed information of the vehicle to the GNSS using an analog signal. Here, the speed information of the vehicle corresponds to a frequency input as a hard-wired signal. When there is no satellite signal, the GNSS uses this frequency to perform dead reckoning (DR) calculations.

[0004] When the ESC device transmits the speed information of the vehicle to the GNSS using an analog signal, distortion may occur in the speed information of the vehicle. If the distorted speed information of the vehicle is used in the DR calculation, errors may occur in the vehicle position indication and navigation functions. Therefore, it is necessary to transmit the speed information of the vehicle to the GNSS so that the speed information of the vehicle is not distorted. Summary of the invention

[0005] According to an embodiment of the present disclosure, a method for transmitting speed information of a vehicle includes: receiving first speed information of the vehicle from an electronic stability control (ESC) device, the first speed information being information based on multiple wheels of the vehicle; averaging the first speed information; converting the averaged first speed information into second speed information of the vehicle based on a first period; and outputting second speed information based on a second period and a minimum output frequency, wherein the first speed information is a digital signal and the second speed information is an analog signal.

[0006] According to an embodiment of the present disclosure, a device for transmitting speed information of a vehicle includes a non-volatile memory and at least one processor, wherein the at least one processor is configured to: receive first speed information of the vehicle from an electronic stability control (ESC) device, the first speed information being information based on multiple wheels of the vehicle; average the first speed information; based on a first period, convert the averaged first speed information into second speed information of the vehicle; and output second speed information based on a second period and a minimum output frequency, wherein the first speed information is a digital signal and the second speed information is an analog signal.

[0007] According to an embodiment of the present disclosure, a non-transitory computer-readable recording medium storing instructions is provided, wherein the instructions, when executed by a computer, cause the computer to perform: receiving first speed information of a vehicle from an electronic stability control (ESC) device, the first speed information being information based on a plurality of wheels of the vehicle; averaging the first speed information; converting the averaged first speed information into second speed information of the vehicle based on a first period; and outputting the second speed information based on a second period and a minimum output frequency, wherein the first speed information is a digital signal and the second speed information is an analog signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a diagram illustrating a prior art method for transmitting speed information of a vehicle.

[0009] Figure 2 is a diagram illustrating a method for transmitting speed information of a vehicle according to an embodiment of the present disclosure.

[0010] Figure 3 is a diagram illustrating a method in which a microcontroller unit (MCU) converts speed information of a vehicle from a digital signal into an analog signal according to an embodiment of the present disclosure.

[0011] Figure 4 is a diagram illustrating a method in which an MCU according to an embodiment of the present disclosure converts speed information of a vehicle from a digital signal into an analog signal using a correction process.

[0012] Figure 5A , Figure 5B , Figure 5C ,and Figure 5D is a diagram illustrating a method in which an MCU according to an embodiment of the present disclosure converts speed information of a vehicle from a digital signal into an analog signal using a correction algorithm.

[0013] Figure 6 is a diagram illustrating a process in which an MCU outputs a frequency of 0 Hz to prevent a glitch according to an embodiment of the present disclosure.

[0014] Figure 7 is a diagram illustrating a process in which an MCU outputs speed information of a vehicle as a frequency according to another embodiment of the present disclosure.

[0015] Figure 8 is a diagram illustrating a method for transmitting speed information of a vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] In view of the above circumstances, the present disclosure uses a digital signal to transmit the speed information of the vehicle.

[0017] Furthermore, according to an embodiment, noise intervention in the speed information of the vehicle may be prevented.

[0018] Furthermore, according to an embodiment, a correction algorithm may be applied to speed information of a vehicle transmitted using a digital signal.

[0019] Furthermore, according to an embodiment, the accuracy of dead reckoning (DR) calculation may be improved.

[0020] Furthermore, according to the embodiment, navigation operation performance can be improved and cost can be reduced.

[0021] Problems to be solved by the present disclosure are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

[0022] Hereinafter, some exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals preferably represent the same elements, although the elements are shown in different drawings. In addition, in the following description of some embodiments, for the purpose of clarity and brevity, the detailed description of known functions and configurations incorporated therein will be omitted.

[0023] In addition, various terms such as first, second, A, B, (a), (b), etc. are used only to distinguish one component from another, and do not imply or suggest the substance, order, or sequence of the components. Throughout this specification, when a component "includes" or "contains" a component, the component is intended to further include other components without excluding these components, unless otherwise specifically stated. Terms such as 'unit', 'module', etc. refer to one or more units for processing at least one function or operation, which can be implemented by hardware, software, or a combination thereof.

[0024] The following detailed description and attached Figure 1 The description is intended to describe exemplary embodiments of the present disclosure and is not intended to represent the only embodiments in which the present disclosure can be practiced.

[0025] Figure 1 is a diagram illustrating a prior art method for transmitting speed information of a vehicle.

[0026] refer to Figure 1 , the controller 110 in the vehicle may transmit the speed information of the vehicle to the global navigation satellite system (GNSS) 120. The controller 110 may transmit the speed information of the vehicle to the GNSS 120 using a hard-wire transmission method. For example, the speed information of the vehicle may correspond to wheel information. The hard-wire transmission method may correspond to an analog signal transmission method. When the controller 110 transmits the speed information of the vehicle to the GNSS 120, noise may be introduced into the speed information of the vehicle. If noise is introduced, the speed information of the vehicle may be distorted. Noise may be introduced into the speed information of the vehicle due to mutual noise influence between wires. For example, when the controller 110 transmits speed information with a frequency of 5 Hz to the GNSS 120, the speed information may be changed to a frequency of 7 Hz due to the influx of noise.

[0027] Figure 2 is a diagram illustrating a method for transmitting speed information of a vehicle according to an embodiment of the present disclosure.

[0028] Reference Figure 2 , the wheel sensor 210 may transmit the speed information of the vehicle to the electronic stability control (ESC) device 220. The wheel sensor 210 may be present in the wheel. The wheel sensor 210 may transmit the speed information of the vehicle to the ESC device 220 using an analog signal transmission method. The ESC device 220 may convert the speed information of the vehicle from an analog signal to a digital signal. The ESC device 220 may transmit the speed information of the vehicle to a microcontroller unit (MCU) 230 using vehicle digital communication. As an example, the vehicle digital communication may correspond to a controller area network (CAN) or Ethernet.

[0029] The MCU 230 may receive the speed information of the vehicle (which is a digital signal) from the ESC device 220. The MCU 230 may exist inside the audio-visual navigation system (AVN). The MCU 230 may be responsible for vehicle communication within the AVN. The MCU 230 may convert the speed information of the vehicle (which is a digital signal) into a frequency. The MCU 230 may convert the digital signal into an analog signal. The MCU 230 may transmit the speed information of the vehicle to the GNSS 240 using an analog signal transmission method. The GNSS 240 may perform dead reckoning (DR) by combining the speed information of the vehicle as an analog signal and information input from a gyro sensor or an acceleration sensor. DR may be performed in an area where a satellite radio frequency (RF) signal is not preset or in an area with low sensitivity. For example, an area without an RF signal or with low sensitivity may correspond to an underground parking lot, a tunnel, or an urban building forest.

[0030] Figure 3is a diagram illustrating a method in which an MCU according to an embodiment of the present disclosure converts speed information of a vehicle from a digital signal into an analog signal.

[0031] refer to Figure 3 , the MCU may receive vehicle communication data, which is a digital signal. The MCU may receive vehicle communication data from the ESC device. For example, if the maximum speed of the vehicle is 500 km / h, the vehicle communication data may correspond to an integer value from 1 to 16000. The vehicle speed per unit of vehicle communication data may be calculated as 0.03125 km / h. The MCU may receive vehicle communication data at regular intervals. For example, the MCU may receive vehicle communication data every 50 ms. The MCU may convert the vehicle communication data into a frequency. The MCU may output the frequency at regular intervals. As an example, the MCU may convert and output a frequency value with a cycle of 50 ms. In the case of a low-speed signal, if the MCU outputs the frequency of the low-speed signal, the MCU may not be able to output other frequencies until the MCU outputs the corresponding frequency. For example, if the MCU outputs a 1 Hz frequency, even if the vehicle speed information changes within 1s, which is the duration of the output 1 Hz frequency, the MCU may not be able to output the changed frequency. Therefore, when the vehicle moves at a low speed and the MCU outputs the frequency of the low-speed signal, it is difficult to immediately reflect the speed change, so an error of tens of meters may occur.

[0032] To prevent such errors, the minimum output frequency can be set when converting data. As an example, the MCU can set the minimum output frequency to 20 Hz, and output 0 Hz instead of outputting the frequency when the frequency of the vehicle communication data is lower than a certain value. In this case, the MCU can process the frequency conversion of the input data every 50 ms. For example, when the MCU receives 2 as the vehicle communication data, the MCU can output a 0 Hz frequency instead of a 2 Hz frequency because the minimum output frequency is 20 Hz. For example, when the MCU receives 80 as the vehicle communication data, the MCU can output a 20 Hz frequency through the conversion logic.

[0033] For example, when the MCU receives 800 as vehicle communication data, the MCU may output a frequency of 200 Hz through the conversion logic. For example, when the MCU receives 1600 as vehicle communication data, the MCU may output a frequency of 400 Hz through the conversion logic. For example, when the MCU receives 16000 as vehicle communication data, the MCU may output a frequency of 4000 Hz through the conversion logic. When performing such output conversion, it may be necessary to perform correction processing on the portion where the output frequency is less than 20 Hz and is output as 0 Hz. In addition, correction processing may be necessary for the portion of the vehicle communication data that is not converted into an integer multiple.

[0034] Figure 4 is a diagram illustrating a method in which an MCU according to an embodiment of the present disclosure converts speed information of a vehicle from a digital signal to an analog signal using a correction process.

[0035] refer to Figure 4 , the vehicle communication data input from the four wheel sensors can be averaged. As an example, the MCU can set the minimum output frequency to 20 Hz. When the MCU receives 80 as the vehicle communication data, the MCU can output the frequency (vehicle communication data / 80)×20. Since the minimum output frequency of 50 ms is 20 Hz, if the MCU receives vehicle communication data corresponding to less than 20 Hz, the corresponding vehicle communication data can be accumulated. That is, if the vehicle communication data input to the MCU is less than 80, the corresponding vehicle communication data can be accumulated. If the vehicle communication data input to the MCU is greater than 80, the MCU can output the frequency (vehicle communication data / 80)×20. Here, the quotient value of (vehicle communication data / 80) is multiplied by 20, and the remainder value can be reflected when the next frequency is output.

[0036] For example, at 0 ms, when the MCU receives 3 as vehicle communication data, the MCU may accumulate vehicle communication data 3 and output a frequency of 0 Hz. At 50 ms, if the MCU receives 5 as vehicle communication data, the MCU may accumulate vehicle communication data 5 and output a frequency of 0 Hz. At 100 ms, if the MCU receives 15 as vehicle communication data, the MCU may accumulate vehicle communication data 15 and output a frequency of 0 Hz. At 150 ms, if the MCU receives 50 as vehicle communication data, the MCU may accumulate vehicle communication data 50 and output a frequency of 0 Hz. At 200 ms, if the MCU receives 80 as vehicle communication data, since the accumulated vehicle communication data is 153, the MCU may output a frequency of 20 Hz and accumulate the remaining vehicle communication data 73.

[0037] At 250 ms, when the MCU receives 150 as the vehicle communication data, since the accumulated vehicle communication data is 223, the MCU may output a frequency of 40 Hz and accumulate the remaining vehicle communication data 63. At 300 ms, when the MCU receives 200 as the vehicle communication data, since the accumulated vehicle communication data is 263, the MCU may output a frequency of 60 Hz and accumulate the remaining vehicle communication data 23. At 350 ms, when the MCU receives 70 as the vehicle communication data, since the accumulated vehicle communication data is 93, the MCU may output a frequency of 20 Hz and accumulate the remaining vehicle communication data 13. At 400 ms, when the MCU receives 40 as the vehicle communication data, since the accumulated vehicle communication data is 53, the MCU may output a frequency of 0 Hz and accumulate the vehicle communication data 53. At 450 ms, when the MCU receives 40 as the vehicle communication data, since the accumulated vehicle communication data is 93, the MCU may output a frequency of 20 Hz and accumulate the remaining vehicle communication data 13.

[0038] Figure 5A , Figure 5B , Figure 5C ,and Figure 5D is a diagram illustrating a method in which an MCU according to an embodiment of the present disclosure converts speed information of a vehicle from a digital signal into an analog signal using a correction algorithm.

[0039] refer to Figure 5A As an example, the MCU may receive vehicle communication data at a period of 50 ms and output a frequency at a period of 50 ms. The MCU may process the conversion logic at a cycle of 5 ms. In the case where a 20 Hz frequency is scheduled to be output in a period of 0 ms to 50 ms and a 0 Hz frequency is scheduled to be output in a period of 50 ms to 100 ms, if the frequency output setting is delayed by even 1 ms at the moment of 50 ms, the 20 Hz frequency output during the period of 0 ms to 50 ms may start in the period of 50 ms to 100 ms. Thus, glitches may occur at 50 ms and unexpected outputs may occur.

[0040] refer to Figure 5B, as an example, the MCU may receive vehicle communication data at a period of 50 ms and output a frequency at a period of 50 ms. The MCU may process the conversion logic at a cycle of 5 ms. In the case where a 20 Hz frequency is scheduled to be output in a period of 0 ms to 50 ms and 0 Hz is scheduled to be output in a period of 50 ms to 100 ms, the frequency is set to 0 Hz in a period of 45 ms to 50 ms to prevent glitches. Therefore, no unexpected output occurs at 50 ms.

[0041] refer to Figure 5C , as an example, the MCU may receive vehicle communication data at a period of 50 ms and output a frequency at a period of 50 ms. The MCU may process the conversion logic at a 5 ms cycle. In the case where a 100 Hz frequency is scheduled to be output in a period of 0 ms to 50 ms and 0 Hz is scheduled to be output in a period of 50 ms to 100 ms, the frequency is set to 0 Hz in a period of 45 ms to 50 ms to prevent glitches. Therefore, no unexpected output occurs at 50 ms.

[0042] refer to Figure 5D , as an example, the MCU may receive vehicle communication data with a period of 50 ms and output a frequency with a period of 50 ms. The MCU may process the conversion logic in a 5 ms cycle. In a case where a 200 Hz frequency is scheduled to be output in a period of 0 ms to 50 ms and 0 Hz is scheduled to be output in a period of 50 ms to 100 ms, if the frequency is set to 0 Hz in a period of 45 ms to 50 ms, the expected 200 Hz frequency may not be output, but 0 Hz may be output. This is because additional pulses are generated in a period of 45 ms to 50 ms only when the frequency is lower than 100 Hz. Therefore, in order to prevent glitches, the frequency is set to 0 Hz in a period of 45 ms to 50 ms only when the output frequency in the period of 0 ms to 50 ms is 100 Hz or less.

[0043] Figure 6 is a diagram illustrating a process in which an MCU outputs a frequency of 0 Hz to prevent glitches according to an embodiment of the present disclosure.

[0044] refer to Figure 6, the MCU may add 5 ms in a loop (S610). The MCU may process the conversion logic in a loop of 5 ms. Before the MCU adds 5 ms, the frequency output value and the 5 ms timing count may be initialized. The MCU may determine whether the current time corresponds to 45 ms (S620). If the current time corresponds to 45 ms (S620-Yes), the MCU may determine whether the frequency output value between 0 ms and 45 ms is 100 Hz or less (S630). If the frequency output value between 0 ms and 45 ms is not 100 Hz or less (S630-No), the MCU may add 5 ms in a loop (S610). Here, the MCU may output the original output frequency between 45 ms and 50 ms. If the frequency output value between 0 ms and 45 ms is 100 Hz or less (S630-Yes), the MCU may output a 0 Hz frequency between 45 ms and 50 ms (S640).

[0045] If the current time does not correspond to 45 ms (S620-No), the MCU may determine whether the current time corresponds to 50 ms (S650). If the current time does not correspond to 50 ms (S650-No), the MCU may add 5 ms in the loop (S610). Here, the MCU may output the original output frequency. If the current time corresponds to 50 ms (S650-Yes), the MCU may output the frequency of the next loop (S660). The frequency of the next loop refers to the frequency of the input vehicle communication data. The MCU may output a frequency between 50 ms and 100 ms.

[0046] Figure 7 is a diagram illustrating a process in which an MCU outputs speed information of a vehicle as a frequency according to another embodiment of the present disclosure.

[0047] refer to Figure 7 , the MCU may receive four wheel data (S710). The MCU may initialize the average value and the average cumulative value of the wheel data before receiving the four wheel data. The four wheel data may correspond to four vehicle communication data. The MCU may average the four wheel data (S720). The MCU may average the four wheel data only when three or more of the four wheel data are valid. The MCU may cumulatively process the wheel data (S730). The MCU may determine whether the accumulated data is 80 or more (S740). If the accumulated data is not 80 or more (S740-No), the MCU may output a 0 Hz frequency (S750). If the accumulated data is 80 or more (S740-Yes), the MCU may output a frequency obtained by dividing the accumulated data by 80 and multiplying the result value by 20 (S760). In this case, the remaining data may be accumulated.

[0048] Figure 8 is a diagram illustrating a method for transmitting speed information of a vehicle according to an embodiment of the present disclosure.

[0049] refer to Figure 8 , the device for transmitting the speed information of the vehicle may receive the first speed information of the vehicle from the ESC device (S810). The device for transmitting the speed information of the vehicle may include an MCU. The device for transmitting the speed information of the vehicle may average the first speed information (S820). Averaging the first speed information may include: averaging the first speed information when information based on a predetermined number of wheels among information based on multiple wheels of the vehicle is valid. The first speed information may correspond to information based on multiple wheels of the vehicle. The device for transmitting the speed information of the vehicle may convert the averaged first speed information based on the first cycle into the second speed information of the vehicle (S830). The device for transmitting the speed information of the vehicle may output the second speed information based on the second cycle and the minimum output frequency (S840). Outputting the second speed information may include outputting a frequency of 0 Hz based on the first cycle, the second cycle and the current output frequency. The output of the second speed information may include outputting a frequency of 0 Hz when the second speed information is less than the minimum output frequency.

[0050] The first speed information may be a digital signal, and the second speed information may be an analog signal. The MCU may transmit the second speed information to the GNSS. The first speed information may be received based on CAN or Ethernet. The first speed information may be received based on a second period.

[0051] According to the present disclosure, there is an effect of transmitting the speed information of the vehicle using a digital signal.

[0052] In addition, according to the embodiment, there is an effect of blocking noise interference in vehicle speed information.

[0053] Furthermore, according to the embodiment, there is an effect of applying a correction algorithm to the speed information of the vehicle transmitted using a digital signal.

[0054] Furthermore, according to the embodiment, there is an effect of improving the accuracy of dead reckoning (DR) calculation.

[0055] Furthermore, according to the embodiment, there is an effect of improving navigation performance and reducing costs.

[0056] Effects that can be obtained from the present disclosure are not limited to the above-mentioned effects, and other effects that are not mentioned can be clearly understood by those skilled in the art from the following description.

[0057] Each element of the device or method according to the present disclosure may be implemented in hardware or software or a combination of hardware and software. The functions of each element may be implemented in software, and a microprocessor may be implemented to execute the software functions corresponding to each element.

[0058] Various embodiments of the systems and techniques described herein can be implemented using digital electronic circuits, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. Various embodiments may include implementations using one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor, which may be a special purpose processor or a general purpose processor, coupled to receive data and instructions from and to a storage system, at least one input device, and at least one output device. A computer program (also referred to as a program, software, software application, or code) includes instructions for a programmable processor and is stored in a "computer readable recording medium."

[0059] The computer-readable recording medium may include all types of storage devices that can store computer-readable data. The computer-readable recording medium may be a non-temporary or non-volatile medium, such as a read-only memory (ROM), a random access memory (RAM), a compact disc ROM (CD-ROM), a magnetic tape, a floppy disk, or an optical data storage device. In addition, the computer-readable recording medium may further include a transient medium such as a data transmission medium. In addition, the computer-readable recording medium may be distributed on a computer system connected via a network, and the computer-readable program code may be stored and executed in a distributed manner.

[0060] Although the operations are shown as being performed in sequence in the flowcharts / timing diagrams in this specification, this is merely an exemplary description of the technical concept of an embodiment of the present disclosure. In other words, those skilled in the art to which an embodiment of the present disclosure belongs can understand that various modifications and changes can be made without departing from the basic features of the embodiments of the present disclosure, that is, the order shown in the flowchart / timing diagram can be changed and one or more operations in the operation can be performed in parallel. Therefore, the flowchart / timing diagram is not limited to the time sequence.

[0061] Although exemplary embodiments of the present disclosure have been described for illustrative purposes, those skilled in the art will recognize that various modifications, additions, and substitutions are possible without departing from the concept and scope of the claimed invention. Therefore, for the sake of brevity and clarity, exemplary embodiments of the present disclosure have been described. The scope of the technical concept of the present embodiment is not limited by the diagram. Therefore, it will be understood by those of ordinary skill that the scope of the claimed invention is not limited by the embodiments explicitly described above, but by the claims and their equivalents.

[0062] Related Applications

[0063] This application is based upon and claims the benefit of priority from Korean Patent Application No. 10-2023-0099731, filed on Jul. 31, 2023, the entire contents of which are incorporated herein by reference.

Claims

1. A method for transmitting speed information of a vehicle, the method comprising: receiving first speed information of the vehicle from an electronic stability control (ESC) device, the first speed information being based on information of a plurality of wheels of the vehicle; averaging the first speed information; Based on the first period, converting the averaged first speed information into second speed information of the vehicle; as well as outputting the second speed information based on a second period and a minimum output frequency, Wherein, the first speed information is a digital signal, and the second speed information is an analog signal.

2. The method according to claim 1, further comprising: The second speed information is transmitted to a global navigation satellite system (GNSS).

3. The method according to claim 1, wherein: The first speed information is received based on a controller area network (CAN) or Ethernet, and the first speed information is received based on the second period.

4. The method according to claim 1, wherein: The averaging of the first speed information comprises: When information based on a predetermined number of wheels among the plurality of wheels of the vehicle is valid, the first speed information is averaged.

5. The method according to claim 1, wherein: The outputting the second speed information comprises: Based on the first period, the second period and the current output frequency, a frequency of 0 Hz is output.

6. The method according to claim 1, wherein: The outputting the second speed information comprises: When the second speed information is less than the minimum output frequency, a frequency of 0 Hz is output.

7. A device for transmitting speed information of a vehicle, the device comprising: non-transitory memory; as well as at least one processor, Wherein, the at least one processor is configured to: receiving first speed information of the vehicle from an electronic stability control (ESC) device, the first speed information being based on information of a plurality of wheels of the vehicle; averaging the first speed information; Based on the first period, converting the averaged first speed information into second speed information of the vehicle; and outputting the second speed information based on a second period and a minimum output frequency, Wherein, the first speed information is a digital signal, and the second speed information is an analog signal.

8. The device according to claim 7, wherein: The at least one processor is further configured to transmit the second speed information to a global navigation satellite system (GNSS).

9. The device according to claim 7, wherein: The first speed information is received based on a controller area network (CAN) or Ethernet, and the first speed information is received based on the second period.

10. The device according to claim 7, wherein: The at least one processor averages the first speed information when information based on a predetermined number of wheels among the plurality of wheels of the vehicle is valid.

11. The device according to claim 7, wherein: The at least one processor outputs a frequency of 0 Hz based on the first period, the second period, and a current output frequency.

12. The device according to claim 7, wherein: The at least one processor outputs a frequency of 0 Hz when the second speed information is less than the minimum output frequency.

13. A non-transitory computer-readable recording medium storing instructions, wherein: When executed by a computer, the instructions cause the computer to perform the following steps: receiving first speed information of a vehicle from an electronic stability control (ESC) device, the first speed information being based on information of a plurality of wheels of the vehicle; averaging the first speed information; Based on the first period, converting the averaged first speed information into second speed information of the vehicle; as well as outputting the second speed information based on the second period and the minimum output frequency, Wherein, the first speed information is a digital signal, and the second speed information is an analog signal.

Images