Wheel slip determination for vehicles
A method for assessing slippage of wheels in a vehicle includes the steps of measuring, via a sensor, an initial value of vehicle speed, determining, via a processor, at least one of a minimum vehicle speed and a maximum vehicle speed, and determining, via the processor, wheel slip using the initial value and the at least one of the minimum vehicle speed and the maximum vehicle speed.
1. A method for assessing slippage of wheels in a vehicle, the method comprising the steps of:
measuring, via a sensor, an initial value of vehicle speed;
determining, via a processor, at least one of a minimum vehicle speed and a maximum vehicle speed, the minimum vehicle speed comprising a forward-looking estimate of the minimum speed that the vehicle is capable to be able to obtain under current conditions, and the maximum vehicle speed comprising a forward-looking estimate of the maximum speed that the vehicle is capable to be able to obtain under current conditions; and
determining, via the processor, wheel slip using the initial value and the at least one of the minimum vehicle speed and the maximum vehicle speed.
2. The method of claim 1 , wherein the step of measuring the initial value comprises the step of measuring, via a transmission output shaft speed sensor, an average wheel driven speed of the vehicle.
3. The method of claim 1 , further comprising the step of:
calculating, via the processor, an estimated vehicle speed from data from a prior iteration, wherein the step of determining the wheel slip comprises the step of calculating, via the processor, the wheel slip using the initial value, the estimated vehicle speed, and the at least one of the minimum vehicle speed and the maximum vehicle speed.
4. The method of claim 3 , further comprising the step of:
obtaining, via a memory, prior vehicle acceleration and vehicle speed values from the prior iteration, wherein the step of calculating the estimated vehicle speed comprises the step of calculating, via the processor, the estimated vehicle speed using the prior vehicle acceleration and vehicle speed values.
5. The method of claim 3 , further comprising the steps of:
calculating, via the processor, a bounded vehicle speed using the initial value and the at least one of the minimum vehicle speed and the maximum vehicle speed;
calculating, via the processor, a vehicle speed error using the estimated vehicle speed and the bounded vehicle speed; and
calculating, via the processor, a filtered vehicle speed using the bounded vehicle speed and the vehicle speed error, wherein the step of determining the wheel slip comprises the step of calculating, via the processor, the wheel slip using the initial value and the filtered vehicle speed.
6. The method of claim 1 , wherein:
the step of determining the at least one of the minimum vehicle speed and the maximum vehicle speed comprises the step of determining, via the processor, the minimum vehicle speed and the maximum vehicle speed; and
the step of determining the wheel slip comprises the step of calculating, via the processor, the wheel slip using the initial value, the minimum vehicle speed, and the maximum vehicle speed.
7. The method of claim 6 , wherein the vehicle has an accelerator pedal and a brake pedal, and the method further comprises the steps of:
detecting, via a first sensor, a position of the accelerator pedal; and
detecting, via a second sensor, a position of the brake pedal, wherein:
the step of determining the maximum vehicle speed comprises the step of determining, via the processor, the maximum vehicle speed using the position of the accelerator pedal; and
the step of determining the minimum vehicle speed comprises the step of determining, via the processor, the minimum vehicle speed using the position of the brake pedal.
8. The method of claim 6 , wherein the vehicle has an engine and a brake system, and the method further comprises the steps of:
measuring, via a first sensor, an engine torque value; and
obtaining, via a second sensor, a braking torque value, wherein:
the step of determining the maximum vehicle speed comprises the step of determining, via the processor, the maximum vehicle speed using the engine torque value; and
the step of determining the minimum vehicle speed comprises the step of determining, via the processor, the minimum vehicle speed using the braking torque value.
9. A method of assessing slippage of wheels in a vehicle, the method comprising the steps of:
measuring, via a transmission output shaft speed sensor, an average wheel driven speed of the vehicle;
determining, via a processor, a minimum vehicle speed and a maximum vehicle speed, the minimum vehicle speed comprising a forward-looking estimate of the minimum speed that the vehicle is capable to be able to obtain under current conditions, and the maximum vehicle speed comprising a forward-looking estimate of the maximum speed that the vehicle is capable to be able to obtain under current conditions;
calculating, via the processor, a bounded vehicle speed using the average wheel driven speed, the minimum vehicle speed, and the maximum vehicle speed; and
calculating, via the processor, wheel slip using the average wheel driven speed and the bounded vehicle speed.
10. The method of claim 9 , further comprising the steps of:
calculating, via the processor, an estimated vehicle speed from data from a prior iteration; and
calculating, via the processor, a vehicle speed error using the estimated vehicle speed and the bounded vehicle speed, wherein the step of determining the wheel slip comprises the step of calculating, via the processor, the wheel slip using the average wheel driven speed and the vehicle speed error.
11. The method of claim 10 , further comprising the step of:
calculating, via the processor, a filtered vehicle speed using the bounded vehicle speed and the vehicle speed error, wherein the step of determining the wheel slip comprises the step of calculating, via the processor, the wheel slip using the average wheel driven speed and the filtered vehicle speed.
12. The method of claim 10 , further comprising the steps of:
obtaining, via a memory, prior vehicle acceleration and vehicle speed values from the prior iteration; and
calculating, via the processor, the estimated vehicle speed for a current iteration using the prior vehicle acceleration and vehicle speed values.
13. The method of claim 9 , wherein the vehicle has an accelerator pedal and a brake pedal, and the method further comprises the steps of:
detecting, via a first sensor, a position of the accelerator pedal; and
detecting, via a second sensor, a position of the brake pedal, wherein:
the step of determining the maximum vehicle speed comprises the step of determining, via the processor, the maximum vehicle speed using the position of the accelerator pedal; and
the step of determining the minimum vehicle speed comprises the step of determining, via the processor, the minimum vehicle speed using the position of the brake pedal.
14. The method of claim 9 , wherein the vehicle has an engine and a brake system, and the method further comprises the steps of:
measuring, via a first sensor, an engine torque value; and
obtaining, via a second sensor, a braking torque value, wherein:
the step of determining the maximum vehicle speed comprises the step of determining, via the processor, the maximum vehicle speed using the engine torque value; and
the step of determining the minimum vehicle speed comprises the step of determining, via the processor, the minimum vehicle speed using the braking torque value.
15. A system for assessing slippage of wheels in a vehicle, the system comprising:
a transmission output shaft speed sensor configured to provide signals pertaining to the wheels of the vehicle; and
a processor coupled to the transmission output shaft speed sensor and configured to:
determine an average wheel driven speed of the vehicle using the signals;
calculate a minimum vehicle speed and a maximum vehicle speed, the minimum vehicle speed comprising a forward-looking estimate of the minimum speed that the vehicle is capable to be able to obtain under current conditions, and the maximum vehicle speed comprising a forward-looking estimate of the maximum speed that the vehicle is capable to be able to obtain under current conditions;
calculate a bounded vehicle speed using the average wheel driven speed, the minimum vehicle speed, and the maximum vehicle speed; and
determine wheel slip using the average wheel driven speed and the bounded vehicle speed.
16. The system of claim 15 , wherein the processor is further configured to:
calculate an estimated vehicle speed from data from a prior iteration;
calculate a vehicle speed error using the estimated vehicle speed and the bounded vehicle speed; and
determine the wheel slip using the average wheel driven speed and the vehicle speed error.
17. The system of claim 16 , wherein the processor is further configured to:
calculate a filtered vehicle speed using the bounded vehicle speed and the vehicle speed error; and
determine the wheel slip using the average wheel driven speed and the filtered vehicle speed.
18. The system of claim 16 , further comprising:
a memory configured to store prior vehicle acceleration and vehicle speed values from the prior iteration, wherein the processor is further coupled to the memory and configured to calculate the estimated vehicle speed for a current iteration using the prior vehicle acceleration and vehicle speed values.
19. The system of claim 15 , wherein the vehicle has an accelerator pedal and a brake pedal, and the system further comprises:
an accelerator pedal sensor configured to detect a position of the accelerator pedal; and
a brake pedal sensor configured to detect a position of the brake pedal, wherein the processor is further coupled to the accelerator pedal sensor and the brake pedal sensor and configured to:
determine the maximum vehicle speed using the position of the accelerator pedal; and
determine the minimum vehicle speed using the position of the brake pedal.
20. The system of claim 15 , wherein the vehicle has an engine and a brake system, and the system further comprises:
an engine torque sensor configured to provide an indication of an engine torque of the vehicle; and
a braking torque sensor configured to provide an indication of a braking torque of the vehicle, wherein the processor is further coupled to the engine torque sensor and the braking torque sensor and configured to:
determine the maximum vehicle speed using the engine torque; and
determine the minimum vehicle speed using the braking torque.