WO2013144478A1 - Event-based signal interpolation method - Google Patents

Event-based signal interpolation method Download PDF

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Publication number
WO2013144478A1
WO2013144478A1 PCT/FR2013/050525 FR2013050525W WO2013144478A1 WO 2013144478 A1 WO2013144478 A1 WO 2013144478A1 FR 2013050525 W FR2013050525 W FR 2013050525W WO 2013144478 A1 WO2013144478 A1 WO 2013144478A1
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Prior art keywords
signal
wheel
sensor
speed
values
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PCT/FR2013/050525
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French (fr)
Inventor
Charbel EL TANNOURY
Guillermo PITA-GIL
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Renault S.A.S.
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Priority to EP13715313.6A priority Critical patent/EP2831547A1/en
Publication of WO2013144478A1 publication Critical patent/WO2013144478A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D1/00—Measuring arrangements giving results other than momentary value of variable, of general application
    • G01D1/16—Measuring arrangements giving results other than momentary value of variable, of general application giving a value which is a function of two or more values, e.g. product or ratio
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets

Definitions

  • the present invention relates to the technical field of measurement of the signal and finds its application preferentially in the field of captors of wheel rotation speed, in particular of an automobile vehicle.
  • captors are composed of a wheel impu lsion wheel, or target, rel iée wheel hub, and a n fixed element disposed vis-à-vis specific elements of the wheel impu lsion.
  • the impulse wheel may be in the form of a mutipolar ring having a succession of magnets oriented in opposite directions, the sensor then having, by its fixed element, means for detecting the variation of the magnetic field, which translates into a sinusoidal signal that can be converted into a square signal by the sensor electronics.
  • Another sensor may be a notched pulse wheel disposed at a small distance from a fixed element, the latter having a coil and magnets, so that the notching of the wheel modifies the magnetic field which then induces a voltage. alternative in winding. Likewise, this signal can be transformed into a square signal.
  • Figure 1 thus shows such sensors.
  • the notch shown illustre a tooth wheel, which may be, depending on the type of sensor used, a physical tooth or a dipole oriented in a specific direction (u n north pole for example).
  • FIG. 1 shows two signals corresponding to two rotation speeds ⁇ and ⁇ 2 . This figure shows that the period, represented by ⁇ for the speed ⁇ and T 2 for the speed ⁇ 2 is variable according to the speed of rotation of the wheel. It is then said that the speed signal, as derived from the sensor by the information T, is variable pitch.
  • Such sensors are therefore called “event”, since the signals are generated when an event occurs, namely the passage of the tooth in front of the sensor.
  • the sampling step is then variable.
  • the use of such signals encounters a difficulty when they must be processed and analyzed by a computer that operates on regularly sampled signals.
  • the present invention is therefore in this context and thus aims to present a method allowing the passage of an event signal, in particular an angular speed signal of a wheel, and more particularly of a wheel of a vehicle, to a regularly sampled signal.
  • interpolation methods of a graph y (x) where the knowledge of a certain number of values yi (xi) between two terminals x m and x M makes it possible to elaborate a function the more representative of the pairs y (x) to calculate a value of y for a value of x between x m and x M and different from y (x) couples available.
  • the interpolation function can be linear or polynomial, the polynomial parameters can be adjusted each time a sample is received, or in blocks.
  • the recursive least squares method can be used to determine the polynomial parameters.
  • Extrapolation methods are also known for determining pairs y (x) for values of x which are outside the range [x m and x M ]. These methods are generally used to determine y (x) where x is greater than the value M x, assuming the value of the trend beyond x M , the trend defined by the fit curve. that i can be based on methods similar to interpolation methods.
  • the present invention thus aims at providing an estimate of a value y (xj) of a signal y of a capture at time x J; from the knowledge of the yi (Xi) necks anterior and posterior to x J; the different values of x, not being regularly spaced apart.
  • the present invention is more particularly dedicated to a sensor of rotational speed of a wheel of a motor vehicle, which delivers pulses whose frequency depends on the speed of the vehicle, and for which it is desired to have an estimate of the speed at a fixed frequency, in line with the constraints of the vehicle computer.
  • the present invention is achieved using a method for estimating a value y j (x j ) of a signal yi (Xi) asynchronous from a sensor at time x J; from the knowledge of the pairs yi (Xi) and y i + i (x i + i) respectively immediately before and after x J; the different values of x, not being regularly spaced, the different values of Xj correspond to a synchronous signal with pitch T e , corresponding to a predetermined sampling frequency, by means of the least squares method recursively applied to values yi (Xi) and y i + i (x i + i).
  • the present invention finds application in the signals from a wheel speed sensor of a vehicle.
  • the present invention also relates to a device for transforming an asynchronous signal from a sensor into a synchronous signal, characterized in that it uses an estimation method according to one of the preceding characteristics.
  • the signal comes from a speed sensor mounted on a wheel, said sensor comprising a mobile part linked to the wheel, in the form of a pulse wheel comprising specific elements regularly distributed, and a fixed portion disposed vis-à-vis said specific elements, said fixed portion delivering a signal to the passage of specific elements.
  • Figure 1 is a schematic view of a wheel speed sensor
  • Figure 2 illustrates the implementation of the invention on a given signal.
  • the speed sensors are derived from the ABS device (for "Anti-lock Braking System") fitted to the wheels, or some of the wheels, of a motor vehicle. These sensors comprise a 48-tooth impulse wheel and a sensitive fixed element, not shown. Any other number of teeth may be considered in the context of the present invention.
  • the signals from such sensors have a sampling period depending on the instantaneous speed of rotation of the wheels, which is therefore very fluctuating in the running situation of the vehicle. There is therefore a variation in the sampling period.
  • the present invention proposes to transform the data corresponding to an event sampling into data corresponding to a temporal sampling according to a fixed sampling step T e . Since the system is supposed to be implanted in a car microprocessor, the use of memory will be limited as much as possible, as well as the computer complexity.
  • Counters having a fairly low clock period T h of the order of 0.1 ms, increment periodically to give the time elapsed between two rising edges. The different times At k elapsed between two successive fronts, at the instant k and at the instant k + 1 are recorded. Speed is deduced from At k .
  • Figure 2 illustrates these considerations. It represents the signal y of the speed at different times t k , the At k for estimating the instantaneous speed.
  • the curve y represented is the real curve, to facilitate understanding of the invention.
  • the At k arriving at a very high and variable frequency it is necessary to try to reduce the complexity by using a fixed and reduced sampling frequency T e .
  • the goal is to find a computationally efficient interpolation routine that meets specific specifications in terms of sample rate, computational recursion, and accuracy.
  • this method could be applied to any chain of estimation of a fixed and constant period signal from an asynchronous signal.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for estimating a value yj(xj) of an asynchronous signal yi(χi) originating from a sensor at instant xj, on the basis of known pairs yi(Xi) and yi+1(xi+1) respectively immediately before and after instant xj; the different values of xi not being regularly spaced apart, the different values of xj correspond to a synchronous signal at pitch Te, corresponding to a pre-determined sampling frequency, using the recursive least squares method applied to values yi(xi) and yi+1(xi+1).

Description

M ETHODE D'INTERPOLATION DE SIGNAL EVEN EM ENTIEL  EVEN EM ENTIEL SIGNAL INTERPOLATION METHOD
La présente invention se rapporte au domaine technique de la mesu re du signal et trouve son application préférentiellement dans le domaine des capteu rs de vitesse de rotation de roues, notamment d'un véhicu le automobile. The present invention relates to the technical field of measurement of the signal and finds its application preferentially in the field of captors of wheel rotation speed, in particular of an automobile vehicle.
En effet de tels capteu rs sont composés d'u ne roue dite d'impu lsion, ou cible, rel iée au moyeu de roue, et d'u n élément fixe disposé en vis-à-vis d'éléments spécifiques de la roue d'impu lsion. La roue d'impulsion peut se présenter sous la forme d'un anneau mu ltipolaire présentant une succession d'aimants orientés en sens opposé, le capteu r disposant alors, par son élément fixe, de moyens de détection de la variation du champ magnétique, se trad uisant par u n signal sinusoïdal qui peut être transformé en signal carré par l'électronique du capteur. Un autre capteu r peut être une roue d'impulsion crantée disposée à faible distance d'un élément fixe, ce dernier présentant u n enrou lement et des aimants, de sorte q ue le crantage de la roue modifie le champ magnétique qui induit alors une tension alternative dans l'enroulement. De même, ce sig nal peut être transformé en u n signal carré. Indeed, such captors are composed of a wheel impu lsion wheel, or target, rel iée wheel hub, and a n fixed element disposed vis-à-vis specific elements of the wheel impu lsion. The impulse wheel may be in the form of a mutipolar ring having a succession of magnets oriented in opposite directions, the sensor then having, by its fixed element, means for detecting the variation of the magnetic field, which translates into a sinusoidal signal that can be converted into a square signal by the sensor electronics. Another sensor may be a notched pulse wheel disposed at a small distance from a fixed element, the latter having a coil and magnets, so that the notching of the wheel modifies the magnetic field which then induces a voltage. alternative in winding. Likewise, this signal can be transformed into a square signal.
D'autres capteurs, de type optique, sont également concernés par la présente invention . Other sensors, of optical type, are also concerned by the present invention.
La figu re 1 présente ainsi de tels capteurs. Pou r des soucis de clarté, le crantage représenté ill ustre une dent de la roue, qui peut être, selon le type de capteu r utilisé, une dent physique ou u n dipôle orienté dans un sens précis (u n pôle nord par exemple). Figure 1 thus shows such sensors. For the sake of clarity, the notch shown illustre a tooth wheel, which may be, depending on the type of sensor used, a physical tooth or a dipole oriented in a specific direction (u n north pole for example).
Ainsi, lorsq u'u ne dent 1 d'u ne roue 2 liée au moyeu d'une roue de véhicu le (non représenté) passe devant un capteu r 4, ce dernier délivre, après traitement, un signal carré, de période N*T, où N est le nombre de dents écartées les unes des autres d'un angle a, et T la durée entre deux fronts montants du signal. La fréquence Ω de rotation de la roue est liée à la fréquence du signal par la formule : Ω = 2π/(Ν*Τ). Sur la figure 1 sont représentés deux signaux correspondant à deux vitesses de rotation Ωι et Ω2. Cette figure montre bien que la période, représentée par ΤΊ pour la vitesse Ωι et T2 pour la vitesse Ω2 est variable selon la vitesse de rotation de la roue. On dit alors que le signal de vitesse, tel qu'issu du capteur par l'information T, est à pas variable. Thus, when tooth 1 of a wheel 2 connected to the hub of a vehicle wheel (not shown) passes in front of a sensor 4, this The latter delivers, after processing, a square signal of period N * T, where N is the number of teeth spaced from each other by an angle a, and T is the duration between two rising edges of the signal. The frequency Ω of rotation of the wheel is related to the frequency of the signal by the formula: Ω = 2π / (Ν * Τ). FIG. 1 shows two signals corresponding to two rotation speeds Ωι and Ω 2 . This figure shows that the period, represented by ΤΊ for the speed Ωι and T 2 for the speed Ω 2 is variable according to the speed of rotation of the wheel. It is then said that the speed signal, as derived from the sensor by the information T, is variable pitch.
De tels capteurs sont donc dits « événementiels », puisque les signaux sont générés lorsqu'un événement se produit, à savoir le passage de la dent devant le capteur. Le pas d'échantillonnage est alors variable. Toutefois, l'utilisation de tels signaux se heurte à une difficulté lorsqu'ils doivent être traités et analysés par un calculateur qui opère sur des signaux échantillonnés régulièrement. Il y a alors la nécessité d'effectuer un ré-échantillonnage des signaux événementiels vers des signaux à pas fixe. La présente invention s'inscrit donc dans ce contexte et vise ainsi à présenter une méthode permettant le passage d'un signal événementiel, notamment un signal de vitesse angulaire d'une roue, et plus particulièrement d'une roue d'un véhicule, à un signal régulièrement échantillonné. II est connu d'utiliser des méthodes d'interpolation d'un graphe y(x), où la connaissance d'un certain nombre de valeurs yi(xi) entre deux bornes xm et xM, permet d'élaborer une fonction la plus représentative des couples y(x) pour calculer une valeur de y pour une valeur de x comprise entre xm et xM et différente des couples y(x) disponibles. La fonction d'interpolation peut être linéaire ou polynomiale, les paramètres du polynôme pouvant être ajustés à chaque réception d'u n échantillon, ou par blocs. La méthode des moindres carrés récursive peut être utilisée pour déterminer les paramètres du polynôme. Such sensors are therefore called "event", since the signals are generated when an event occurs, namely the passage of the tooth in front of the sensor. The sampling step is then variable. However, the use of such signals encounters a difficulty when they must be processed and analyzed by a computer that operates on regularly sampled signals. There is then the need to re-sample the event signals to fixed pitch signals. The present invention is therefore in this context and thus aims to present a method allowing the passage of an event signal, in particular an angular speed signal of a wheel, and more particularly of a wheel of a vehicle, to a regularly sampled signal. It is known to use interpolation methods of a graph y (x), where the knowledge of a certain number of values yi (xi) between two terminals x m and x M makes it possible to elaborate a function the more representative of the pairs y (x) to calculate a value of y for a value of x between x m and x M and different from y (x) couples available. The interpolation function can be linear or polynomial, the polynomial parameters can be adjusted each time a sample is received, or in blocks. The recursive least squares method can be used to determine the polynomial parameters.
Il est également connu des méthodes d'extrapolation, qu i permettent de déterminer des couples y(x) pou r des valeu rs de x qui sont en dehors de l'interval le [xm et xM] . Ces méthodes sont généralement utilisées pour déterminer des cou ples y(x) où x est supérieu r à la valeu r xM, en admettant la val id ité de la tendance au- delà de xM, tendance définie par la courbe d'ajustement, qu i peut être basée su r des méthodes similaires aux méthodes d'interpolation. Extrapolation methods are also known for determining pairs y (x) for values of x which are outside the range [x m and x M ]. These methods are generally used to determine y (x) where x is greater than the value M x, assuming the value of the trend beyond x M , the trend defined by the fit curve. that i can be based on methods similar to interpolation methods.
Ces méthodes d'interpolation ou d'extrapolation présentent toutefois des imprécisions liées à la loi utilisée, et une certaine détérioration dans certaines conditions, et peuvent également être confrontées au phénomène de Ru nge, où la fonction polynomiale n'est pas stable et l'est d'autant moins que le nombre de points de mesu res augmente. Par ailleu rs, si ces méthodes s'avèrent plutôt bien adaptées à la connaissance de cou ples y(x) où les différentes valeurs de x sont rég ulières, lorsque l'espacement entre ces valeurs fl uctue, ces méthodes sont plus difficiles à mettre en œuvre. These methods of interpolation or extrapolation, however, have inaccuracies related to the law used, and some deterioration under certain conditions, and can also be confronted with the Ru nge phenomenon, where the polynomial function is not stable and the the more the number of measurement points increases. In addition, if these methods prove rather well suited to the knowledge of pairs y (x) where the different values of x are regular, when the spacing between these values fl uctuates, these methods are more difficult to put into practice. implemented.
La présente invention vise ainsi à proposer une estimation d'une valeu r yj(xj) d'un signal y d'u n capteu r à l'instant xJ ; à partir de la connaissance des cou ples yi(Xi) antérieu rs et postérieurs à xJ ; les d ifférentes valeurs de x, n'étant pas régul ièrement espacées. The present invention thus aims at providing an estimate of a value y (xj) of a signal y of a capture at time x J; from the knowledge of the yi (Xi) necks anterior and posterior to x J; the different values of x, not being regularly spaced apart.
La présente invention est plus particul ièrement dédiée à u n capteu r de vitesse de rotation d'u ne roue d'un véhicule automobile, qui délivre des impulsions dont la fréquence dépend de la vitesse du véhicule, et pour lequel il est souhaité d'avoir une estimation de la vitesse à une fréquence fixe, en adéquation avec les contraintes du calculateur du véhicule. La présente invention est atteinte à l'aide Méthode d'estimation d'une valeur yj(xj) d'un signal yi(Xi) asynchrone issu d'un capteur à l'instant xJ; à partir de la connaissance des couples yi(Xi) et yi+i(xi+i) respectivement immédiatement antérieur et postérieur à xJ; les différentes valeurs de x, n'étant pas régulièrement espacées, les différentes valeurs de Xj correspondent à un signal synchrone à pas Te, correspondant à une fréquence d'échantillonnage prédéterminée, à l'aide de la méthode des moindre carrés récursive appliquée aux valeurs yi(Xi) et yi+i(xi+i). The present invention is more particularly dedicated to a sensor of rotational speed of a wheel of a motor vehicle, which delivers pulses whose frequency depends on the speed of the vehicle, and for which it is desired to have an estimate of the speed at a fixed frequency, in line with the constraints of the vehicle computer. The present invention is achieved using a method for estimating a value y j (x j ) of a signal yi (Xi) asynchronous from a sensor at time x J; from the knowledge of the pairs yi (Xi) and y i + i (x i + i) respectively immediately before and after x J; the different values of x, not being regularly spaced, the different values of Xj correspond to a synchronous signal with pitch T e , corresponding to a predetermined sampling frequency, by means of the least squares method recursively applied to values yi (Xi) and y i + i (x i + i).
La présente invention trouve son application dans les signaux issus d'un capteur de vitesse de roue d'un véhicule. The present invention finds application in the signals from a wheel speed sensor of a vehicle.
La présente invention vise également un dispositif de transformation d'un signal asynchrone issu d'un capteur en un signal synchrone, caractérisé en ce qu'il utilise une méthode d'estimation selon l'une des caractéristiques précédentes. Selon une mise en œuvre préférée de l'invention, le signal est issu d'un capteur de vitesse monté sur une roue, ledit capteur comportant une partie mobile liée à la roue, se présentant sous la forme d'une roue d'impulsions comportant des éléments spécifiques régulièrement répartis, ainsi qu'une partie fixe disposée en vis-à-vis desdits éléments spécifiques, ladite partie fixe délivrant un signal au passage des éléments spécifiques. The present invention also relates to a device for transforming an asynchronous signal from a sensor into a synchronous signal, characterized in that it uses an estimation method according to one of the preceding characteristics. According to a preferred implementation of the invention, the signal comes from a speed sensor mounted on a wheel, said sensor comprising a mobile part linked to the wheel, in the form of a pulse wheel comprising specific elements regularly distributed, and a fixed portion disposed vis-à-vis said specific elements, said fixed portion delivering a signal to the passage of specific elements.
La présente invention sera mieux comprise à l'aide de la description qui va suivre, en référence aux figures annexées, parmi lesquelles : la figure 1 est une vue schématisée d'un capteur de vitesse de roue, la figure 2 illustre la mise en œuvre de l'invention sur un signal donné. Selon un exemple de mise en œuvre de l'invention, les capteurs de vitesse sont issus du dispositif ABS (pour « Anti-lock Braking System ») équipant les roues, ou certaines des roues, d'un véhicule automobile. Ces capteurs comportent une roue d'impulsion à 48 dents, ainsi qu'un élément fixe sensible, non représenté. Tout autre nombre de dents peut être envisagé dans le cadre de la présente invention. The present invention will be better understood from the description which follows, with reference to the appended figures, among which: Figure 1 is a schematic view of a wheel speed sensor, Figure 2 illustrates the implementation of the invention on a given signal. According to an exemplary implementation of the invention, the speed sensors are derived from the ABS device (for "Anti-lock Braking System") fitted to the wheels, or some of the wheels, of a motor vehicle. These sensors comprise a 48-tooth impulse wheel and a sensitive fixed element, not shown. Any other number of teeth may be considered in the context of the present invention.
Comme il a été précisé précédemment, les signaux issus de tels capteurs présentent une période d'échantillonnage dépendant de la vitesse instantanée de rotation des roues, qui est donc très fluctuante en situation de roulage du véhicule. On observe donc une variation de la période d'échantillonnage. As indicated above, the signals from such sensors have a sampling period depending on the instantaneous speed of rotation of the wheels, which is therefore very fluctuating in the running situation of the vehicle. There is therefore a variation in the sampling period.
De tels signaux étant acheminés vers un calculateur 4 d'un microprocesseur, la présente invention se propose de transformer les données correspondant à un échantillonnage événementiel en des données correspondant à un échantillonnage temporel selon un pas fixe d'échantillonnage Te. Le système étant supposé être implanté dans un microprocesseur automobile, l'usage de la mémoire sera limité autant que possible, tout comme la complexité informatique. Des compteurs ayant une période d'horloge Th assez faible, de l'ordre de 0,1 ms s'incrémentent périodiquement pour donner le temps qui s'est écoulé entre deux fronts montants. Les différents temps Atk écoulés entre deux fronts successifs, à l'instant k et à l'instant k+1 sont enregistrés. La vitesse est déduite à partir des Atk. Since such signals are routed to a computer 4 of a microprocessor, the present invention proposes to transform the data corresponding to an event sampling into data corresponding to a temporal sampling according to a fixed sampling step T e . Since the system is supposed to be implanted in a car microprocessor, the use of memory will be limited as much as possible, as well as the computer complexity. Counters having a fairly low clock period T h , of the order of 0.1 ms, increment periodically to give the time elapsed between two rising edges. The different times At k elapsed between two successive fronts, at the instant k and at the instant k + 1 are recorded. Speed is deduced from At k .
La figure 2 illustre ces considérations. Elle représente le signal y de la vitesse aux différents instants tk, les Atk permettant d'estimer la vitesse instantanée. La courbe y représentée est la courbe réelle, pour faciliter la compréhension de l'invention. Figure 2 illustrates these considerations. It represents the signal y of the speed at different times t k , the At k for estimating the instantaneous speed. The curve y represented is the real curve, to facilitate understanding of the invention.
Par exemple At3 =t3-t2. Le graphe montre bien qu'un Atk faible correspond à une vitesse élevée, et que ces Atk sont irréguliers et ne correspondent pas à une fréquence régulière d'échantillonnage selon un pas Te. Ces Atk ont été volontairement exagérés pour la compréhension de l'invention. For example At 3 = t 3 -t 2 . The graph shows that a weak At k corresponds to a high speed, and that these At k are irregular and do not correspond to a regular sampling frequency according to a step T e . These At k were deliberately exaggerated for the understanding of the invention.
Les Atk arrivant à une fréquence très élevée et variable, il faut donc essayer de réduire la complexité en utilisant une fréquence d'échantillonnage Te fixe et réduite. L'objectif est de trouver une routine d'interpolation efficace du point de vue calcul et qui répond à certaines spécifications particulières en termes de fréquence d'échantillonnage, de récursivité des calculs et de précision. The At k arriving at a very high and variable frequency, it is necessary to try to reduce the complexity by using a fixed and reduced sampling frequency T e . The goal is to find a computationally efficient interpolation routine that meets specific specifications in terms of sample rate, computational recursion, and accuracy.
L'idée consiste à écrire la vitesse aux instants k et k+1 selon : The idea is to write the speed at times k and k + 1 according to:
Ω*+1 = Ω, + (tk+l - ΐ,)θλ =θλ(\ + Atk+l) + θ2. Ω * +1 = Ω, + (t k + l - ΐ,) θ λ = θ λ (\ + At k + l ) + θ 2 .
Soit, en écriture matricielle
Figure imgf000007_0001
En considérant le pas fixe Te de la fréq uence d'échantillonnage souhaitée, on cherche à dédu ire la valeu r de la vitesse à un instant nTe (n éta nt entier), en connaissant les vitesses Ωι< et Q k+i , qui sont les valeurs encadrant temporellement la valeu r de nTe. Concrètement, sur la figu re 2, on cherche à dédu ire la valeu r de vitesse à l'instant t0 + Te, en connaissant t5 et t6, pu is à dédu ire la valeur de vitesse à l'instant t0 + 2Te, en connaissant t9 et ti0. Either, in matrix writing
Figure imgf000007_0001
Considering the fixed pitch T e of the desired sampling frequency, we try to deduce the velocity value at a time nT e (n integer), knowing the velocities Ωι <and Q k + i, which are the values temporally framing the value of nT e . Specifically, in FIG. 2, it is sought to deduce the velocity value at time t 0 + T e , knowing t 5 and t 6 , and then deduce the velocity value at time t 0 + 2T e , knowing t 9 and ti 0 .
1 1 1 1
Soit φ , alors d'après la méthode d'inversion par  Let φ, then according to the inversion method
\ + At k+l  \ + At k + l
les moindres carrés, on peut écrire
Figure imgf000008_0001
the least squares, we can write
Figure imgf000008_0001
L'écritu re de θ ι et θ 2 étant déterminée, on calcu le alors la vitesse Ωητε à l'instant nTe par la formule :
Figure imgf000008_0002
Since the label of θ ι and θ 2 is determined, then the speed Ω η τε at the instant nT e is calculated by the formula:
Figure imgf000008_0002
Ainsi, la détermination de la vitesse à u n instant nTe nécessite d'attendre une valeu r obtenue immédiatement après cet instant, pou r estimer la vitesse à un instant donc antérieur. Ce léger décalage temporel n'est toutefois pas sig nificatif dans l'utilisation q ui est faite de cette valeu r de vitesse, et n'entraîne pas de conséquences pour les différentes lois de commande ou de contrôle du véhicule. Thus, the determination of the speed at an instant nT e requires waiting for a value obtained immediately after this instant, to estimate the speed at a time thus earlier. This slight time difference is however not significant in the use made of this speed value, and has no consequences for the various laws of control or control of the vehicle.
Cette solution offre u ne meilleu re robustesse que les méthodes d'interpolation, tout en restant moins complexe.  This solution offers better robustness than interpolation methods, while remaining less complex.
Par extension, cette méthode pourrait être appliquée à toute chaîne d'estimation d'un sig nal à période fixe et constante, à partir d'un signal asynchrone.  By extension, this method could be applied to any chain of estimation of a fixed and constant period signal from an asynchronous signal.

Claims

REVENDICATIONS
1. Méthode d'estimation d'une valeur Vj(xj) d'un signal Vi(Xi) asynchrone issu d'un capteur à l'instant xJ; à partir de la connaissance des couples yi(Xi) et yi+i(xi+i) respectivement immédiatement antérieur et postérieur à xJ; les différentes valeurs de X, n'étant pas régulièrement espacées, les différentes valeurs de Xj correspondent à un signal synchrone à pas Te, correspondant à une fréquence d'échantillonnage prédéterminée, à l'aide de la méthode des moindre carrés récursive appliquée aux valeurs y,(xi) et yi+i(xi+i). A method of estimating a value Vj (x j ) of an asynchronous Vi (Xi) signal from a sensor at time x J; from the knowledge of the pairs yi (Xi) and y i + i (x i + i) respectively immediately before and after x J; the different values of X, not being regularly spaced, the different values of Xj correspond to a synchronous signal with pitch T e , corresponding to a predetermined sampling frequency, using the least squares method recursively applied to values y, (xi) and y i + i (x i + i).
2. Méthode d'estimation selon la revendication précédente, caractérisé en ce que le signal est issu d'un capteur de vitesse de roue d'un véhicule. 2. Estimation method according to the preceding claim, characterized in that the signal is derived from a wheel speed sensor of a vehicle.
3. Dispositif de transformation d'un signal asynchrone issu d'un capteur en un signal synchrone, caractérisé en ce qu'il utilise une méthode d'estimation selon l'une des revendications 1 ou 2. 3. Device for transforming an asynchronous signal from a sensor into a synchronous signal, characterized in that it uses an estimation method according to one of claims 1 or 2.
4. Dispositif selon la revendication précédente, caractérisé en ce que le signal est issu d'un capteur de vitesse monté sur une roue, ledit capteur comportant une partie mobile liée à la roue, se présentant sous la forme d'une roue d'impulsions (2) comportant des éléments spécifiques (1) régulièrement répartis, ainsi qu'une partie fixe (4) disposée en vis-à-vis desdits éléments spécifiques, ladite partie fixe (4) délivrant un signal au passage des éléments spécifiques (1). 4. Device according to the preceding claim, characterized in that the signal is derived from a speed sensor mounted on a wheel, said sensor comprising a movable part connected to the wheel, which is in the form of a pulse wheel. (2) having specific elements (1) regularly distributed, and a fixed part (4) disposed opposite said specific elements, said fixed part (4) delivering a signal to the passage of the specific elements (1) .
PCT/FR2013/050525 2012-03-28 2013-03-13 Event-based signal interpolation method WO2013144478A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030172728A1 (en) * 2000-04-12 2003-09-18 Fredrik Gustafsson Tire pressure estimation
US20100217542A1 (en) * 2009-02-25 2010-08-26 Hajime Fujita Apparatus, method, and program for detecting rotation speed information, and apparatus, method, and, program for detecting tire having decreased pressure

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030172728A1 (en) * 2000-04-12 2003-09-18 Fredrik Gustafsson Tire pressure estimation
US20100217542A1 (en) * 2009-02-25 2010-08-26 Hajime Fujita Apparatus, method, and program for detecting rotation speed information, and apparatus, method, and, program for detecting tire having decreased pressure

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