# US 2019/0168763 A1 · Control system of drive wheel of vehicle and control method of drive wheel of vehicle using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168763 A1 - Document ID: US20190168763A1 - Status: Published application - Kind: A1 - Application number: 15/974,127 - Filed: 2018-05-08 - Published: 2019-06-06 - Earliest claimed: 2017-12-05 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Jang Hyun Jung - Web page: https://patentgrep.com/patent/US20190168763A1 ## CPC - B60W 30/18181: {Propulsion control with common controlling member for different functions} - B62D 7/148: {provided with safety devices} - B60W 10/20: including control of steering systems - B60W 40/12: related to parameters of the vehicle itself {, e.g. tyre models} - B62D 7/1581: {characterised by comprising an electrical interconnecting system between the steering control means of the different axles} - B60W 2520/28: Wheel speed - B60W 2720/24: Direction of travel - B60W 2720/28: Wheel speed - 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 - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A control system of a wheel of a vehicle includes: a wheel speed sensor configured to measure a wheel speed of wheels of the vehicle; a data storage configured to store data relating to a plurality of abnormal patterns based on a slip state or a lock state of each wheel; and a controller configured to extract wheel speed pattern data using wheel speeds measured from the wheel speed sensor, to compare the extracted wheel speed pattern data with the stored data relating to the plurality of abnormal patterns, to determine an abnormal pattern among the plurality of abnormal patterns most similar to the extracted wheel speed pattern data according to the comparison, and to detect an abnormal wheel among the wheels of the vehicle based on the determined abnormal pattern. ## Claims ### Claim 1 A control system of a wheel of a vehicle, comprising: a wheel speed sensor configured to measure a wheel speed of wheels of the vehicle; a data storage configured to store data relating to a plurality of abnormal patterns based on a slip state or a lock state of each wheel; and a controller configured to extract wheel speed pattern data using wheel speeds measured from the wheel speed sensor, to compare the extracted wheel speed pattern data with the stored data relating to the plurality of abnormal patterns, to determine an abnormal pattern among the plurality of abnormal patterns most similar to the extracted wheel speed pattern data according to the comparison, and to detect an abnormal wheel among the wheels of the vehicle based on the determined abnormal pattern. ### Claim 2 (depends on 1) The control system according to claim 1, wherein the controller is further configured to extract a plurality of correlation data based on the comparison of the extracted wheel speed pattern data with the stored data relating to the plurality of abnormal patterns, to determine the abnormal pattern based on the extracted plurality of correlation data, and to detect the abnormal wheel based on the determined abnormal pattern and vehicle operation state information. ### Claim 3 (depends on 2) The control system according to claim 2, wherein the determined abnormal pattern has a largest correlation data value among the plurality of correlation data ### Claim 4 (depends on 2) The control system according to claim 2, wherein the vehicle operation state information indicates whether the vehicle is accelerating or braking. ### Claim 5 (depends on 2) The control system according to claim 2, wherein the controller is further configured to calculate an average wheel speed of the wheels except for the detected abnormal wheel and to control steering of a rear wheel of the vehicle based on the calculated average wheel speed of the wheels except for the detected abnormal wheel. ### Claim 6 (depends on 1) The control system according to claim 1, wherein the controller is further configured to control an actuator positioned between the wheels of the vehicle and to control steering of a wheel among the wheels of the vehicle. ### Claim 7 (depends on 1) The control system according to claim 1, wherein the controller is further configured to determine whether to steer a rear wheel of the vehicle in the same direction as a front wheel of the vehicle or in an opposite direction of the front wheel based on an average wheel speed and a predetermined speed stored in the data storage. ### Claim 8 (depends on 7) The control system according to claim 7, wherein the controller is further configured to steer the rear wheel in the opposite direction off the front wheel when the average wheel speed is less than or equal to the predetermined speed. ### Claim 9 (depends on 7) The control system according to claim 7, wherein the controller is further configured to steer the rear wheel in the same direction as the front wheel when the average wheel speed is greater than the predetermined speed. ### Claim 10 (depends on 1) The control system according to claim 1, wherein the wheel speed pattern data comprises front and rear wheel pattern data indicating a speed difference between corresponding front and rear wheels among the wheels of the vehicle, diagonal wheel pattern data indicating a speed difference between diagonally corresponding wheels, right and left drive wheel pattern data indicating a speed difference between corresponding right and left wheels, and region pattern data. ### Claim 11 (depends on 10) The control system according to claim 10, wherein the wheels of the vehicle comprise a left front wheel, a left rear wheel, a right front wheel, and a right rear wheel. ### Claim 12 (depends on 10) The control system according to claim 10, wherein the front and rear wheel pattern data is derived according to Expression 1 below: ( FL + FR ) - ( RL + RR ) Vave , wherein FL is a left front wheel speed, FR is a right front wheel speed, RL is a left rear wheel speed, RR is a right rear wheel speed, and Vave is an average wheel speed. ### Claim 13 (depends on 10) The control system according to claim 10, wherein the diagonal wheel pattern data is derived according to Expression 2 below: ( FL + RR ) - ( FR + RL ) Vave , wherein FL is a left front wheel speed, FR is a right front wheel speed, RL is a left rear wheel speed, RR is a right rear wheel speed, and Vave is an average wheel speed. ### Claim 14 (depends on 10) The control system according to claim 10, wherein the right and left wheel pattern data is derived according to Expression 3 below: ( FL + RL ) - ( FR + RR ) Vave , wherein FL is a left front wheel speed, FR is a right front wheel speed, RL is a left rear wheel speed, RR is a right rear wheel speed, and Vave is an average wheel speed. ### Claim 15 (depends on 10) The control system according to claim 10, wherein the region pattern data is derived according to Expression 4 below: max(A, B,C)×sign(A, B, C), wherein A is the front and rear wheel pattern data, B is the diagonal wheel pattern data, and C is the right and left wheel pattern data. ### Claim 16 (depends on 2) The control system according to claim 2, wherein the plurality of correlation data is obtained by dividing a covariance result between the wheel speed pattern data and the abnormal pattern data with a product of standard deviation of the wheel speed pattern data and standard deviation of the abnormal pattern data. ### Claim 17 (depends on 16) The control system according to claim 16, wherein: the plurality of correlation data is derived according to Expression 5 below: P x , y = Cov  ( x , y ) σ x  σ y , wherein P is a correlation coefficient, x is the wheel speed pattern data, y is the abnormal pattern data, σx is the standard deviation of wheel speed pattern data, and σy is the standard deviation of abnormal pattern data, and the plurality of correlation data is further derived according to Expression 6 below: Cov  ( x , y ) = ∑ i = 1 N  ( x i - u x )  ( y i - u y ) N - 1 , wherein x is the wheel speed pattern data, y is the abnormal pattern data, ux is average of wheel speed pattern data, and uy is average of abnormal pattern data. ### Claim 18 A control method of a wheel of a vehicle, the method comprising: measuring a wheel speed of wheels of the vehicle using a wheel speed sensor; extracting wheel speed pattern data using wheel speeds measured from the wheel speed sensor; comparing the extracted wheel speed pattern data with data relating to a plurality of abnormal patterns stored in a data storage; determining an abnormal pattern among the plurality of abnormal patterns most similar to the extracted wheel speed pattern data according to the comparison; and detecting an abnormal wheel among the wheels of the vehicle based on the determined abnormal pattern. ### Claim 19 (depends on 18) The method according to claim 18, further comprising: calculating a difference between measured wheel speeds measured from the wheel speed sensor; comparing the difference between the wheel speeds with a predetermined speed value; calculating an average wheel speed when the difference between the measured wheel speeds is less than the predetermined speed value; and extracting wheel speed pattern data when the difference between the measured wheel speeds is greater than the predetermined speed value. ### Claim 20 (depends on 18) The method according to claim 18, further comprising, extracting a plurality of correlation data based on the comparison of the extracted wheel speed pattern data with the stored data relating to the plurality of abnormal patterns; determining the abnormal pattern based on the extracted plurality of correlation data; detecting the abnormal wheel based on the determined abnormal pattern and vehicle operation state information; calculating an average wheel speed of the wheels except for the detected abnormal wheel; and controlling steering of a rear wheel of the vehicle based on the calculated average wheel speed of the wheels except for the detected abnormal wheel.