# US 10,871,500 B2 · Vehicle and a control method thereof

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- Number: US 10,871,500 B2
- Document ID: US10871500B2
- Status: Granted
- Kind: B2
- Application number: 15/949,829
- Filed: 2018-04-10
- Published: 2019-06-06
- Granted: 2020-12-22
- Earliest claimed: 2017-12-05
- Assignees: Hyundai Motor Company; Kia Motors Corporation
- Applicants: Hyundai Motor Company; Kia Motors Corporation
- Inventors: SungYun Kim; Sukki Min; Jongmo Kim; DaeHwan Kim; Bongchul Ko
- Web page: https://patentgrep.com/patent/US10871500B2

## CPC

- G01P 1/12: Recording devices (indicating working conditions of vehicles G07C5/00)
- B60W 40/105: Speed
- B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces}
- G01P 7/00: Measuring speed by integrating acceleration (measuring travelled distance by double integration of acceleration G01C21/16)
- B60W 2050/002: {Integrating means}
- B60W 2050/0022: {Gains, weighting coefficients or weighting functions}
- B60W 2510/182: Brake pressure, e.g. of fluid or between pad and disc
- B60W 2520/28: Wheel speed
- B60W 2520/30: Wheel torque
- B60W 2552/40: Coefficient of friction
- Y02T 10/72: Electric energy management in electromobility
- G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

A vehicle, and a method of controlling a vehicle, is capable of selecting a wheel speed that is most appropriate to obtain a speed of the vehicle from among wheel speeds of the vehicle to obtain an accurate speed of the vehicle. The vehicle includes a sensor configured to obtain wheel speed information of at least one wheel. The vehicle also includes a controller configured to select wheel speed information from among the wheel speed information of the at least one wheel based on a driving state of the vehicle and configured to determine a speed of the vehicle based on the selected wheel speed information.

## Claims

### Claim 1

A vehicle comprising:
a sensor configured to obtain wheel speed information of at least one wheel; and
a controller configured to select wheel speed information from among the wheel speed information of the at least one wheel based on a driving state of the vehicle, and to determine a speed of the vehicle based on the selected wheel speed information,
wherein if the driving state of the vehicle is determined as a state in which a driving force is generated, the controller selects wheel speed information including a slowest wheel speed from among the wheel speed information of the at least one wheel,
wherein, if a wheel to which the driving force is not transferred exists in the at least one wheel, the controller selects wheel speed information including a wheel speed of the wheel to which the driving force is not transferred,
wherein, if the driving state of the vehicle is determined as a state in which a predetermined brake control is applied, the controller applies a weight to the wheel speed information of the at least one wheel based on a brake pressure applied to the at least one wheel, and
wherein the weight applied by the controller is decided by the brake pressure and a road friction coefficient.

### Claim 2 (depends on 1)

The vehicle according to claim 1, wherein, if the driving state of the vehicle is determined as a state in which a brake force is generated, the controller selects the wheel speed information including a fastest wheel speed from among the wheel speed information of the at least one wheel.

### Claim 3 (depends on 1)

The vehicle according to claim 1, wherein the controller applies a predetermined weight to the selected wheel speed information,
determines an acceleration of the vehicle based on the selected wheel speed information to which the predetermined weight is applied, and
integrates the acceleration of the vehicle to determine the speed of the vehicle.

### Claim 4 (depends on 3)

The vehicle according to claim 3, wherein the controller obtains the road friction coefficient of a road on which the vehicle travels and changes the predetermined weight based on a magnitude of the road friction coefficient.

### Claim 5 (depends on 3)

The vehicle according to claim 3, wherein the controller changes the predetermined weight based on the brake pressure applied to the at least one wheel.

### Claim 6

A method of controlling a vehicle, the method comprising:
obtaining wheel speed information of at least one wheel;
selecting wheel speed information from among the wheel speed information of the at least one wheel based on a driving state of the vehicle; and
determining a speed of the vehicle based on the selected wheel speed information,
wherein the selecting of the wheel speed information from among the wheel speed information of the at least one wheel comprises, if the driving state of the vehicle is determined as a state in which a driving force is generated, selecting wheel speed information including a slowest wheel speed from among the wheel speed information of the at least one wheel,
wherein the selecting of the wheel speed information from among the wheel speed information of the at least one wheel comprises, if a wheel to which the driving force is not transferred exists in the at least one wheel, selecting wheel speed information including a wheel speed of the wheel to which the driving force is not transferred,
wherein the determining of the speed of the vehicle comprises, if the driving state of the vehicle is determined as a state in which a predetermined brake control is applied, applying a weight to the wheel speed information of the at least one wheel based on a brake pressure applied to the at least one wheel, and
wherein the weight applied to the wheel speed information is decided by the brake pressure and a road friction coefficient.

### Claim 7 (depends on 6)

The method according to claim 6, wherein the selecting of the wheel speed information from among the wheel speed information of the at least one wheel comprises, if the driving state of the vehicle is determined as a state in which a brake force is generated, selecting the wheel speed information including a fastest wheel speed from among the wheel speed information of the at least one wheel.

### Claim 8 (depends on 6)

The method according to claim 6, wherein the determining of the speed of the vehicle comprises:
applying a predetermined weight to the selected wheel speed information;
determining an acceleration of the vehicle based on the selected wheel speed information to which the predetermined weight is applied; and
integrating the acceleration of the vehicle to determine the speed of the vehicle.

### Claim 9 (depends on 8)

The method according to claim 8, wherein the determining of the speed of the vehicle comprises:
obtaining the road friction coefficient of a road on which the vehicle travels; and
changing the predetermined weight based on a magnitude of the road friction coefficient.

### Claim 10 (depends on 8)

The method according to claim 8, wherein the determining of the speed of the vehicle comprises changing the predetermined weight based on the brake pressure applied to the at least one wheel.