Wheel Slip Estimation Using Correlated Radio Signals
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Solution Overview
Problem
Existing methods for determining vehicle speed over ground in heavy-duty vehicles are unreliable and costly, particularly in environments with multipath radio propagation or obstructed satellite views, and do not accurately account for wheel slip, leading to sub-optimal actuator control performance.
Innovation Solution
A system using at least two antenna elements separated by a distance to correlate radio signals and determine vehicle speed over ground, combined with wheel speed sensors, to accurately calculate wheel slip and improve actuator control latency and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GPS receiver is used to determine vehicle speed over ground, then vehicle speed can be obtained, but the system is prone to error in environments with multipath radio propagation or obstructed satellite views
Solution Approach 1:
The patent introduces an intermediary system (antenna elements with signal correlation processing) that mediates between the unreliable GPS receiver and the wheel slip control system. Instead of directly using GPS speed measurements which are affected by multipath errors, the system processes radio signals through antenna elements separated by a known distance, correlates these signals to determine vehicle speed, and uses this intermediate measurement to calculate wheel slip. This intermediary approach filters out multipath errors while providing reliable speed data for control purposes.
2Measurement precision
If advanced radar systems or vision-based sensors are used to determine vehicle speed over ground, then vehicle speed can be obtained, but these sensors are costly and may be prone to error due to environmental factors
Solution Approach 1:
The patent applies multi-functionality by using existing antenna elements (originally designed for radio communication) to also perform vehicle speed measurement. The same antenna infrastructure that handles communication signals is repurposed to correlate radio signals and extract speed information, eliminating the need for separate dedicated speed sensors. This universal approach reduces device complexity and cost while maintaining measurement precision through signal correlation processing.
3Productivity
If wheel slip based control is implemented, then actuator control latency is reduced and control accuracy is improved, but accurate knowledge of vehicle speed over ground is required which is difficult to obtain reliably
Solution Approach 1:
The patent implements feedback by continuously correlating radio signals received at separated antenna elements to determine current vehicle speed, then using this speed information to calculate wheel slip in real-time. The calculated wheel slip feeds back to the control system to adjust actuator commands, creating a closed-loop control system. This feedback mechanism ensures that the most current and reliable speed data is always used for wheel slip calculation, maintaining both rapid response and high reliability in wheel slip based control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Provides a reliable and cost-effective method for determining both longitudinal and lateral vehicle speeds, enhancing actuator control performance and reducing latency by shifting the control loop closer to the wheel end, thus improving vehicle motion management.
Implementation Method 1
a first processing unit arranged to receive a radio signal via the at least two antenna elements, to correlate the received radio signal from the antenna elements against each other and to determine a speed over ground of the vehicle based on the correlation of the received radio signal at the antenna elements
Data Source
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Figure 3~4B
Figure 5
AI summary
A system for determining a wheel slip λ of a wheel on a heavy-duty vehicle. The system comprises at least two antenna elements separated by a distance,a first processing unit arranged to receive a radio signal via the at least two antenna elements, to correlate the received radio signals against each other and to determine a speed over ground of the vehicle based on the correlation of the received radio signals. The system also comprises a wheel speed sensor arranged to determine a rotational velocity of the wheel, and a second processing unit arranged to determine the wheel slip of the wheel based on the rotational velocity of the wheel and on the speed over ground of the vehicle.