JP2016147512A - Wheel-turning traveling influence information detection device of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wheel-turning traveling influence information detection device of a vehicle which can create a correlation indicating a high-frequency component of a rotational speed variation pattern, and a change of a signal in a narrow pulse width, and thereby can highly accurately estimate fine changes of a tire and a road face.SOLUTION: A wheel-turning traveling influence information detection device of a vehicle comprises a rotation sensor 2 which detects a rotation signal, and a signal processing unit 3. The signal processing unit 3 corrects at least one of a pitch error of an encoder, an attachment error, and a sensor error about the rotation signal by using a sensor error correction processing part 4. A rotational speed variation pattern which is synchronized with rotation is calculated from the corrected rotation signal by a rotational speed variation pattern extraction processing part 5. A correlation between a maser pattern which is extracted from a reference rotational speed variation pattern at a prescribed pulse number, and the rotational speed variation pattern by a pattern matching calculation processing part 6. A tire state and a road face state are estimated by a tire/road face state estimation part 7 by using the correlation and the rotational speed variation pattern.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle wheel traveling influence information detection device that extracts a rotation signal indicating a change in rotation speed from a signal of a rotation sensor such as a wheel speed sensor in a vehicle such as an automobile, and estimates a tire or a road surface state.

Conventionally, Patent Document 1 discloses a speed detection device having a function of correcting a duty ratio and a phase shift in an output signal of a pulse encoder using a correction amount stored in advance.
Patent Document 2 proposes a high-resolution rotation detection device having a function of multiplying a signal by attaching a rotation detection device to a wheel bearing of an automobile.
Patent Document 3 presents a method for estimating a slip ratio and the like from a tire rotation sensor signal, and also presents a method for detecting the rotation synchronization component by averaging the rotation signal of the tire over several rotations.
Patent Document 4 proposes a road surface state estimation device that can accurately estimate a road surface μ gradient both during braking and during non-braking based on a signal from a wheel speed sensor.

JP 2002-311040 A JP 2011-002357 A JP 2006-126164 A Japanese Patent No. 4673959

As a device for extracting the rotational speed from the signal of the conventional wheel speed sensor and estimating the tire and road surface condition, the data is extracted in an arbitrary speed range from the signal output of the wheel speed sensor, and the rotational speed fluctuation per one rotation of the tire A pattern is created to estimate the tire and road surface condition (for example, Patent Document 3).
In that case, as a method of estimating the state of the tire or the road surface, the rotational speed fluctuation pattern of the reference state stored in advance and the rotational speed fluctuation pattern of the detection target are compared or their autocorrelation patterns are compared with each other. To compare.

However, the autocorrelation pattern of the rotational speed fluctuation pattern is a pattern characterized by a low-frequency signal component of the rotational speed fluctuation pattern input mainly from the tire or road surface.
For this reason, a high-frequency signal component of the rotational speed fluctuation pattern, a signal change with a narrow pulse width, and a minute signal change hardly appear in the autocorrelation pattern, and it is difficult to accurately estimate the state of the tire or the road surface. .

  An object of the present invention is to create a correlation indicating a high-frequency component of a rotational speed fluctuation pattern and a signal change in a narrow pulse width, thereby more accurately with respect to a minute change of a tire or a road surface. It is an object of the present invention to provide a vehicle wheel traveling effect information detection device that can be estimated.

The vehicle wheel traveling influence information detecting device of the present invention includes an encoder 2a that rotates together with the wheel 1, a sensor unit 2b that reads the encoder 2a, a rotation sensor 2 that detects the rotation of the wheel 1, and the rotation sensor 2. And a signal processing unit 3 for processing the rotation signal output from
The signal processing unit 3
A sensor error correction processing unit 4 that corrects at least one of pitch error, attachment error, and sensor error of the encoder 2a for the rotation signal output from the rotation sensor 2;
A rotation speed fluctuation pattern extraction processing section 5 for calculating a rotation speed fluctuation pattern synchronized with the rotation from the rotation signal corrected by the sensor error correction processing section 4;
A master pattern extracted with a predetermined number of pulses from a reference rotation speed fluctuation pattern created as a reference pattern for comparison of the rotation speed fluctuation patterns is stored, and this master pattern and the rotation speed fluctuation pattern extraction processing unit 5 are stored. A pattern matching calculation processing unit 6 for calculating a correlation with the rotational speed fluctuation pattern extracted in
Using the correlation calculated by the pattern matching calculation processing unit 6 and the rotational speed variation pattern calculated by the rotational speed variation pattern extraction processing unit 5, at least one of a state related to the tire of the wheel and a road surface state is determined according to a predetermined rule. A tire / road surface state estimation unit 7 for estimation is provided.
The predetermined number of pulses may be determined as appropriate from the specifications of the encoder (the number of magnetic poles) and the multiplication number.

  According to this configuration, the pattern matching calculation processing unit 6 stores the master pattern extracted from the reference rotational speed variation pattern with a predetermined number of pulses, and the rotational speed extracted by the master pattern and the rotational speed variation pattern extraction processing unit 5. The correlation with the fluctuation pattern is calculated. Therefore, it is possible to calculate a correlation such as a high-frequency component of the rotational speed fluctuation pattern and a correlation pattern indicating a signal change in a narrow pulse width. As a result, it is possible to estimate with high accuracy against minute changes in the tire and road surface.

  In the present invention, the master pattern may be one type. Even if there is only one type of master pattern, the correlation can be calculated. In this configuration, the pattern matching calculation processing unit 6 can have a simple configuration.

  In the present invention, the master pattern may be two or more types. In this case, errors and uncertainties can be further reduced by comparing correlations such as a plurality of sets of correlation patterns. Therefore, the estimation accuracy of tires and road surface conditions is improved.

In the present invention, the master pattern may be a pattern obtained by dividing the entire pulse region of the reference rotational speed variation pattern by N (N is an integer of 2 or more).
In this way, a master pattern obtained by dividing the entire pulse area into N is stored, and when N sets of correlation patterns are compared, a change in a partial area of the tire, for example, a case where a foreign object is bitten or a nail is stuck, etc. It can be detected with high accuracy.

In the present invention, the pattern matching calculation processing unit 6 uses a reference rotational speed fluctuation pattern memory 6a for storing the reference rotational speed fluctuation pattern and the reference rotational speed fluctuation pattern stored in the reference rotational speed fluctuation pattern memory 6a. The master pattern memory 6c that stores the extracted master pattern, and the correlation between the master pattern stored in the master pattern memory 6c and the rotational speed fluctuation pattern calculated by the rotational speed fluctuation pattern extraction processing unit 5 is correlated. You may make it have the correlation pattern preparation part 6d which outputs a pattern.
By providing the reference rotational speed variation pattern memory 6a and the master pattern memory 6c as described above, a master pattern having a desired number of pulses can be easily extracted. By calculating the correlation between the master pattern thus created and the rotational speed fluctuation pattern and outputting the correlation pattern, it becomes possible to estimate the minute change in the tire and road surface with higher accuracy.

In the case of this configuration, the pattern matching calculation processing unit 6 further generates a reference from the reference rotation speed fluctuation pattern stored in the reference rotation speed fluctuation pattern memory 6a and the master pattern stored in the master pattern memory 6c. A reference correlation pattern creation unit 6e that creates a correlation pattern and a reference correlation pattern memory 6f that stores and outputs the created reference correlation pattern. The tire / road surface state estimation unit 7 includes the correlation pattern and the correlation pattern memory 6f. You may make it estimate at least one of the state regarding the tire of the said wheel, and a road surface state by comparing with a reference | standard correlation pattern.
By creating and comparing the correlation pattern and the reference correlation pattern in this way, it becomes possible to estimate with higher accuracy against minute changes in the tire and road surface.

  A vehicle wheel traveling influence information detecting device according to the present invention includes an encoder that rotates together with a wheel, a sensor that reads the encoder, a rotation sensor that detects the rotation of the wheel, and a rotation signal output from the rotation sensor. A signal processing unit for processing, wherein the signal processing unit corrects at least one of a pitch error, an attachment error, and a sensor error of the encoder for the rotation signal output from the rotation sensor. A rotation speed fluctuation pattern extraction processing section for calculating a rotation speed fluctuation pattern synchronized with the rotation from the rotation signal corrected by the sensor error correction processing section, and a reference pattern for comparison of the rotation speed fluctuation pattern A master pattern extracted with a predetermined number of pulses from the created reference rotational speed fluctuation pattern. A pattern matching calculation processing unit that calculates a correlation between the master pattern and the rotation speed fluctuation pattern extracted by the rotation speed fluctuation pattern extraction processing unit, and a correlation calculated by the pattern matching calculation processing unit And a tire / road surface state estimating unit that estimates at least one of a state related to a tire of the wheel and a road surface state according to a predetermined rule using the rotational speed variation pattern calculated by the rotational speed variation pattern extraction processing unit, It is possible to calculate correlations such as high-frequency components of rotational speed fluctuation patterns and correlation patterns that indicate changes in signals in narrow pulse widths, which enables more accurate estimation of minute changes in tires and road surfaces. Become.

1 is a block diagram showing a conceptual configuration of a vehicle wheel traveling influence information detecting device according to an embodiment of the present invention. It is a block diagram which shows the conceptual structure of the pattern matching calculation process part in the wheel periphery travel influence information detection apparatus. It is a graph which shows an example of the master pattern extraction method in the wheel periphery travel influence information detecting device. It is a graph which shows an example of the reference | standard correlation pattern preparation method in the same wheel periphery driving | running | working influence information detection apparatus. It is a graph which shows one line of the reference | standard correlation pattern created with the same wheel periphery driving | running | working influence information detection apparatus. It is a graph which shows an example of the correlation pattern creation method in the same wheel periphery travel influence information detection apparatus. It is a graph which shows an example of the correlation pattern created with the same wheel periphery running influence information detecting device. It is a fracture | rupture front view of an example of the wheel bearing with a rotation detection apparatus which applies the wheel periphery travel influence information detection apparatus. It is the side view of an example which looked at the bearing for the wheels from the inboard side. It is a fracture | rupture front view which shows the other example of the wheel bearing with a rotation detection apparatus which applies the same wheel periphery travel influence information detection apparatus. It is the side view of an example which looked at the bearing for the wheels from the inboard side. It is a fracture | rupture front view which shows the further another example of the wheel bearing with a rotation detection apparatus which applies the said wheel periphery travel influence information detection apparatus. It is the side view of an example which looked at the bearing for the wheels from the inboard side. It is the fragmentary sectional view and perspective view which show an example of the rotation sensor to which the same wheel periphery running influence information detection apparatus is applied. It is the fragmentary sectional view and perspective view which show the other example of the rotation sensor to which the same wheel periphery running influence information detection apparatus is applied.

  An embodiment of the present invention will be described with reference to FIGS. 1 to 7, FIG. 14, and FIG. FIG. 1 shows a conceptual configuration of the vehicle wheel traveling influence information detecting device. The wheel travel effect information detecting device includes a rotation sensor 2 that detects the rotation speed of the wheel 1 and a signal processing unit 3 that processes a rotation signal output from the rotation sensor 2 and extracts information on a tire and a road surface. Prepare.

  The rotation sensor 2 is a wheel speed sensor in the example of the figure, and is installed in a wheel bearing. In addition, you may install in a drive shaft etc. For example, as shown in FIG. 14 or FIG. 15, the rotation sensor 2 includes a magnetic encoder 2a and a magnetic sensor 2b, and the magnetic encoder 2a has N and S magnetic poles 2aa alternately. As will be described later with reference to FIGS. 8 to 13, the magnetic encoder 2 a is attached to a rotating wheel of a wheel bearing that is a detection target. Instead of the magnetic encoder 2a, a detection gear (not shown) may be used. From the magnetic sensor 2b, a voltage signal in the form of a sine wave or a cosine wave is output as a rotation signal that is a rotation speed signal detected by the rotation sensor 2 by the rotation of the magnetic encoder 2a. It is desirable that the rotation sensor 2 has a multiplication function and can output a high-resolution output pulse obtained by multiplying the basic signal. By providing this multiplication function, a higher frequency component can be extracted, and the accuracy of information regarding the state of the rotating body is improved. A specific example of the rotation sensor 2 will be described later.

  In FIG. 1, the signal processing unit 3 includes an electronic circuit such as a microcomputer, and may be an independent ECU (electronic control unit) or the like, or may be provided as a part of an ECU that controls the entire vehicle. The signal processing unit 3 includes a sensor error correction processing unit 4 that corrects an error included in a rotation signal output from the rotation sensor 2, a rotational speed variation pattern extraction processing unit 5, a pattern matching calculation processing unit 6, a tire And a road surface state estimation unit 7.

  The sensor error correction processing unit 4 is a means for correcting a rotation-synchronous signal component unique to the sensor due to a magnetization error derived from the magnetic encoder 2a from the input signal of the rotation sensor 2. Specifically, the sensor error correction processing unit 4 corrects at least one of the pitch error, the attachment error, and the sensor error of the encoder 2a with the error correction pattern for the rotation signal output from the rotation sensor 2. A detection target such as the magnetic encoder 2a used for the wheel speed sensor includes a pitch error inherent to the sensor due to manufacturing variations. Such an error is corrected by the error correction pattern (not shown) or the like. This error correction pattern is created by using, for example, a rotation signal measured in advance by the rotation speed fluctuation pattern extraction processing unit 5 or an apparatus (not shown) having the same function as the rotation speed fluctuation pattern extraction processing unit 5. Rotational speed fluctuation pattern. By performing correction processing using such an error correction pattern or the like, all of the pitch error, the attachment error, and the sensor error are corrected.

  The rotation speed fluctuation pattern extraction processing unit 5 is a means for calculating a rotation speed fluctuation pattern synchronized with the rotation from the rotation signal corrected by the sensor error correction processing unit 4. The rotational speed fluctuation pattern extraction processing unit 5 performs filtering with a low-pass filter (LPF) or a high-pass filter (HPF) in order to suppress noise components and sensor error components, and from the rotational signal serving as rotational speed data, A rotational speed fluctuation component synchronized with the rotation is extracted. Further, the rotational speed fluctuation pattern extraction processing unit 5 collects rotational signals over a period of a certain number of rotational times and specifies them by averaging or integrating in order to eliminate the influence of rotational asynchronous disturbance due to road surface unevenness and the like. The rotation speed fluctuation pattern is extracted.

  The pattern matching calculation processing unit 6 performs signal processing on a minute change appearing in the rotational speed variation pattern and a component characterized by a high frequency component so that the tire and road surface condition can be estimated with high accuracy. The pattern matching calculation processing unit 6 stores a master pattern extracted with a predetermined number of pulses from a reference rotational speed fluctuation pattern created as a reference pattern for comparison of the rotational speed fluctuation patterns. A correlation with the rotational speed fluctuation pattern extracted by the rotational speed fluctuation pattern extraction processing unit is calculated. The “predetermined number of pulses” may be appropriately determined from the specifications (number of magnetic poles) of the magnetic encoder 2a and the multiplication number. The “predetermined number of pulses” may be an arbitrarily determined number of pulses per unit time.

  Specifically, as shown in FIG. 2, the pattern matching calculation processing unit 6 includes a reference rotational speed fluctuation pattern memory 6a, a master pattern extraction unit 6b, a master pattern memory 6c, a correlation pattern creation unit 6d, and a reference correlation pattern creation. The unit 6e, the reference correlation pattern memory 6f, etc.

The pattern matching calculation processing unit 6 includes a master pattern (reference rotational speed variation pattern extracted in a desired pulse region) stored in the master pattern memory 6c in advance and the rotational speed extracted by the rotational speed variation pattern extraction processing unit 5. Correlation with the fluctuation pattern is obtained in 6d by the correlation pattern creation unit, and the correlation pattern is output. At this time, the master pattern stored in the master pattern memory 6c is not limited to one pattern, and a plurality of patterns may be stored. A correlation pattern may be created with a plurality of master patterns, and a plurality of correlation patterns may be output.
The reference correlation pattern memory 6f stores in advance a reference correlation pattern created from the reference rotation speed variation pattern and the master pattern by the reference correlation pattern creation unit 6e. The reference rotational speed fluctuation pattern memory 6a stores in advance a rotational speed fluctuation pattern of running data serving as a reference. At this time, a function of updating the reference rotational speed variation pattern memory may be provided as a calibration operation when the tire is replaced.

When regrouping, the pattern matching calculation processing unit 6 extracts the reference rotational speed fluctuation pattern memory 6a for storing the reference rotational speed fluctuation pattern and the reference rotational speed fluctuation pattern stored in the reference rotational speed fluctuation pattern memory 6a. A master pattern memory 6c for storing the master pattern, and a correlation pattern obtained by correlating the master pattern stored in the master pattern memory 6c with the rotational speed fluctuation pattern calculated by the rotational speed fluctuation pattern extraction processing unit 5. And a correlation pattern creating unit 6d for outputting.
The pattern matching calculation processing unit 6 further creates a reference correlation pattern for creating a reference correlation pattern from the reference rotation speed fluctuation pattern stored in the reference rotation speed fluctuation pattern memory 6a and the master pattern stored in the master pattern memory 6c. A unit 6e and a reference correlation pattern memory 6f for storing and outputting the generated reference correlation pattern.

  By providing the reference rotational speed variation pattern memory 6a and the master pattern memory 6c as described above, a master pattern having a desired number of pulses can be easily extracted. By calculating the correlation between the master pattern thus created and the rotational speed fluctuation pattern and outputting the correlation pattern, it becomes possible to estimate the minute change in the tire and road surface with higher accuracy. In addition, by creating the correlation pattern and the reference correlation pattern as described above and making them comparable, it is possible to estimate with a higher accuracy against minute changes in the tire and road surface.

The tire / road surface state estimation unit 7 in FIG. 1 will briefly describe the comparison between the reference rotational speed fluctuation pattern stored in advance and the rotational speed fluctuation pattern calculated from the rotation signal, or one set or a plurality of sets. By comparing the pair of correlation patterns with the reference correlation pattern, the tire and road surface conditions are estimated, and the estimation results are output.
More specifically, the tire / road surface state estimation unit 7 uses a predetermined rule using the correlation calculated by the pattern matching calculation processing unit 6 and the rotation speed fluctuation pattern calculated by the rotation speed fluctuation pattern extraction processing unit 5. Accordingly, at least one of the state relating to the tire of the wheel 1 and the road surface state is estimated. The tire / road surface state estimation unit 7 further compares the reference correlation pattern stored in the reference correlation pattern memory 6f of FIG. 2 with the correlation pattern created by the correlation pattern creation unit 6d. As a result, it is possible to estimate with higher accuracy against minute changes in the tire and road surface.

Next, the operation of the above configuration, particularly the processing contents in the pattern matching calculation processing unit 6 shown in FIG.
(1) A rotational speed fluctuation pattern that is stored in the reference rotational speed fluctuation pattern memory 6a in advance or extracted by a master pattern extraction unit 6b with a desired number of pulses from a reference rotational speed fluctuation pattern that has been updated by a calibration operation. Is stored in the master pattern memory as a master pattern (FIG. 3). At this time, the master pattern stored in the master pattern memory 6c may be extracted with any number of pulses, and a plurality of master patterns may be created.

  (2) The reference correlation pattern creation unit 6e obtains a correlation value while shifting the phase of the reference rotation speed fluctuation pattern and the master pattern by one pulse at a time, and creates a reference correlation pattern (FIGS. 4 and 5). At this time, the correlation value is acquired with the reference rotational speed fluctuation pattern extracted with the same number of pulses as the master pattern. The created reference correlation pattern is stored in the reference correlation pattern memory 6f.

(3) In the correlation pattern creation unit 6d, the correlation between the rotation speed fluctuation pattern extracted by the previous rotation speed fluctuation pattern extraction processing unit 5 and the master pattern is acquired while phase-shifting one pulse at a time, and a correlation pattern is created. It outputs (FIG. 6, FIG. 7). At this time, the correlation value is acquired with the rotation speed fluctuation pattern extracted with the same number of pulses as the master pattern.
(2) Output one or more sets of reference correlation patterns and correlation patterns calculated with the same master pattern.

  In this way, the correlation pattern obtained by the pattern matching calculation processing unit 6 and the reference correlation pattern are compared by the tire / road surface state estimating unit 7, and high-precision estimation is performed for minute changes in the tire and road surface.

According to this embodiment, the following effects can be obtained.
Since the rotational speed variation pattern is extracted and processed with a specified number of pulses, a high-frequency component of the rotational speed variation pattern and a correlation pattern indicating a signal change in a narrow pulse width can be created.
-This makes it possible to estimate with higher accuracy against minute changes in the tire and road surface.
-In particular, by comparing a plurality of sets of correlation patterns, errors and uncertainties can be further reduced, so that estimation accuracy of tires and road surface conditions is improved.
In addition, a rotational speed variation pattern obtained by dividing the entire pulse region into N (N ≧ 2) is stored in advance, and when N sets of correlation patterns are compared, a change in a partial region of the tire (specifically, a foreign object) Can be detected with high accuracy.

  FIG. 14 shows a specific example of the rotation sensor 2. The rotation sensor 2 is a radial type magnetic type, and includes an annular magnetic encoder 2a that is a target, and a magnetic sensor 2b that faces the outer peripheral surface of the magnetic encoder 2a and detects the magnetism of the magnetic encoder 2a. . The magnetic encoder 2a has N and S magnetic poles 2aa alternately, and outputs a sine wave rotation signal from the magnetic sensor 2b. The sinusoidal rotation signal is shaped into a rectangle by the signal processing unit 2c and output as a rectangular wave pulse signal. The signal processing unit 2c may include a multiplication circuit 2ca, and in that case, outputs a multiplied high-resolution rotation signal.

  The magnetic encoder 2a may include a magnetic pole 2ab for detecting the Z phase (zero phase) in one place on the circumference, aligned in the axial direction with the magnetic pole 2aa. In this case, the magnetic sensor 2b In addition to the sensor unit 2ba for detecting the N and S alternating magnetic poles 2aa, a sensor unit 2bb for detecting the magnetic pole 2ab for detecting the Z phase is provided. This sensor unit 2bb outputs a Z-phase (zero-phase) signal once in one rotation.

  FIG. 15 shows another example of the rotation sensor 2. The rotation sensor 2 is an axial magnetic type, and an annular magnetic encoder 2a and a magnetic sensor 2b face each other in the axial direction. The magnetic encoder 2a is attached to a flange portion of a sensor attachment ring 2d having an L-shaped cross section. Other configurations are the same as those of the radial type rotation sensor 2 shown in FIG. Although not shown in the example of FIG. 15, the radial type rotation sensor 2 may also be provided with a zero-phase magnetic pole, a sensor unit, and a multiplication circuit in the same manner as described above.

14 and 15 both show a rotation sensor 2 having a magnetic encoder 2a. The rotation sensor 2 is a pulsar ring (not shown) whose target is made of a gear-type magnetic material, a so-called detection gear. May be. In that case, the magnetic sensor detects the teeth of the pulsar ring and outputs a rotation signal.
The magnetic rotation sensor 2 using the magnetic encoder 2a and the gear-type pulsar ring is resistant to inferior environments such as temperature changes and dirt. In the case of the magnetic type, it is difficult to provide the magnetic poles more finely than in the optical type. However, if the multiplication circuit 2ca is provided, a rotation signal having a resolution necessary for detecting the rotation speed fluctuation pattern can be obtained.

  8 to 13 show examples of wheel bearings provided with the rotation sensor 2. The wheel bearing 30 shown in FIGS. 8 and 9 is a third generation inner ring rotating type and is for driving wheel support, and shows an example in which the rotation sensor 2 is provided in the center of the double row. The wheel bearing 30 includes an outer member 31 in which a double row rolling surface 33 is formed on the inner periphery, and an inner member 32 that is a rotating wheel in which a rolling surface 34 that faces each of the rolling surfaces 33 is formed. And a double-row rolling element 35 interposed between the rolling surfaces 33 and 34 of the outer member 31 and the inner member 32, and supports the wheel rotatably with respect to the vehicle body. The wheel bearing 30 is a double-row outward angular ball bearing type, and the rolling elements 35 are formed of balls and are held by a cage 36 for each row. The inner member 32 includes a hub wheel 32a and an inner ring 32b fitted to the outer periphery of the inboard side end of the hub wheel 32a. The rolling surface 34 is provided on the outer periphery of each wheel 32a, 32b. . Both ends of the bearing space between the outer member 31 and the inner member 32 are sealed by seals 37 and 38, respectively.

  In the wheel bearing 30, the encoder 2 a of the rotation sensor 2 is provided on the outer periphery between the rolling surfaces 34 of the inner member 32, and the magnetic sensor 2 b facing the encoder 2 a is provided on the outer member 31. It is installed in the provided sensor mounting hole 40 in the radial direction. The rotation sensor 2 is, for example, the radial type described above with reference to FIG.

  The wheel bearing 30 shown in FIGS. 10 and 11 is a third generation inner ring rotating type and is for driving wheel support, and shows an example in which the rotation sensor 2 is provided at the inboard side end. In this example, the rotation sensor 2 is of the axial type described above with reference to FIG. Specifically, the slinger that is press-fitted and fixed to the outer peripheral surface of the inner member 32 in the seal 38 at the inboard side end also serves as the sensor support ring 2d in the example of FIG. The magnetic sensor 2 b is resin-molded in a ring-shaped metal case 39 and fixed to the outer member 31 via the metal case 39. Other configurations are the same as those of the example shown in FIGS.

  The wheel bearing 30 shown in FIGS. 12 and 13 is a third generation inner ring rotating type and is for supporting a driven wheel, and shows an example in which the rotation sensor 2 is provided at the inboard side end. In this example, the end face opening at the inboard side end portion of the outer member 31 is covered with a cover 29, and the magnetic sensor 2 b of the rotation sensor 2 is attached to the cover 29. Other configurations and operational effects are the same as in the examples shown in FIGS.

  As mentioned above, although the form for implementing this invention based on the Example was demonstrated, embodiment disclosed here is an illustration and restrictive at no points. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 ... Wheel 1a ... Tire 2 ... Rotation sensor 2a ... Magnetic encoder 2b ... Magnetic sensor 2C ... Multiplication means 3 ... Signal processing unit 4 ... Sensor error correction process part 5 ... Rotational speed fluctuation pattern extraction process part 6 ... Pattern matching calculation process part 6a ... reference rotational speed variation pattern memory 6b ... master pattern extraction unit 6c ... master pattern memory 6d ... correlation pattern creation unit 6e ... reference correlation pattern creation unit 6f ... correlation pattern memory 7 ... tire / road surface state estimation unit for estimation

Claims (6)

An encoder that rotates with the wheel, a rotation sensor that has a sensor unit that reads the encoder, and detects the rotation of the wheel; and a signal processing unit that processes a rotation signal output from the rotation sensor,
The signal processing unit is
A sensor error correction processing unit that corrects at least one of a pitch error, an attachment error, and a sensor error of the encoder for the rotation signal output from the rotation sensor;
A rotation speed fluctuation pattern extraction processing section for calculating a rotation speed fluctuation pattern synchronized with the rotation from the rotation signal corrected by the sensor error correction processing section;
A master pattern extracted with a predetermined number of pulses from a reference rotational speed fluctuation pattern created as a reference pattern for comparison of the rotational speed fluctuation pattern is stored, and the master pattern and the rotational speed fluctuation pattern extraction processing unit A pattern matching calculation processing unit for calculating a correlation with the extracted rotational speed fluctuation pattern;
Using the correlation calculated by the pattern matching calculation processing unit and the rotational speed variation pattern calculated by the rotational speed variation pattern extraction processing unit, at least one of the state relating to the tire of the wheel and the road surface state is estimated according to a predetermined rule. A vehicle wheel traveling effect information detecting device comprising: a tire / road surface state estimating unit.   The vehicle wheel traveling influence information detecting device according to claim 1, wherein the master pattern is one kind of vehicle wheel traveling influence information detecting device.   The vehicle wheel running influence information detecting device according to claim 1, wherein the master pattern has two or more kinds of wheel pattern running influence information detecting devices.   4. The vehicle wheel traveling influence information detecting device according to claim 1, wherein the master pattern includes N (N is an integer greater than or equal to 2) all pulse regions of the reference rotational speed variation pattern. 5. ) A vehicle wheel traveling influence information detecting device which is a pattern obtained by dividing.   5. The vehicle wheel periphery running influence information detecting device according to claim 1, wherein the pattern matching calculation processing unit includes a reference rotational speed fluctuation pattern memory that stores the reference rotational speed fluctuation pattern. A master pattern memory for storing the master pattern extracted from the reference rotation speed fluctuation pattern stored in the reference rotation speed fluctuation pattern memory; a master pattern stored in the master pattern memory; and the rotation speed fluctuation pattern extraction process. A wheel-wheel travel influence information detecting device having a correlation pattern creating unit that outputs a correlation pattern by taking a correlation with the rotational speed fluctuation pattern calculated by the unit.   6. The vehicle wheel running influence information detecting device according to claim 5, wherein the pattern matching calculation processing unit is stored in the reference rotational speed fluctuation pattern stored in the reference rotational speed fluctuation pattern memory and the master pattern memory. A reference correlation pattern creation unit that creates a reference correlation pattern from the master pattern and a reference correlation pattern memory that stores and outputs the created reference correlation pattern, and the tire / road surface state estimation unit includes the correlation A vehicle wheel traveling influence information detecting device that estimates at least one of a state relating to a tire of the wheel and a road surface state by comparing a pattern with the reference correlation pattern.

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