Patent Description:
In general, a vehicle tire transmits a driving force, a braking force, and a lateral force of a vehicle to a road surface while supporting a load of the vehicle against the road surface, and has a spring and damper function that alleviates an impact on the road surface. When an inflation pressure of the vehicle tire is too high or too low, there is a possibility that the tire may burst or the vehicle slips easily, leading to a major accident, and furthermore, fuel consumption is increased, which deteriorates fuel economy, shortens tire life, and reduces ride comfort and braking power. Accordingly, a driver must continuously determine whether a pressure of the tire is abnormal, and when there is an abnormality, the tire must be replaced.

To the present end, a vehicle provided with a tire pressure detection function detects whether the tire has a low pressure through a sensor that detects the pressure of the tire, and then informs a user of it. On the other hand, in the case of a vehicle without a pressure sensor attached to the tire, it is indirectly determined whether the tire has a low pressure according to a speed of each wheel measured by a wheel speed sensor of each wheel.

The information included in this Background of the present invention section is only for enhancement of understanding of the general background of the present invention and may not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

<CIT> provides an apparatus for estimating a tire resonance frequency. <CIT> provides a tire pressure warning device to detect an abnormality of air pressure in the tire. <CIT> provides a wheel rotation speed adjusting device capable of suppressing beat sound from a rotary electric machine. <CIT> provides a tire pressure monitoring system including a resolver for detecting a motor speed generating driving torque.

Various aspects of the present invention are directed to providing a vehicle control apparatus configured for determining an air pressure state of a tire even when a failure of at least one wheel speed sensor occurs.

The technical objects of the exemplary embodiments included in the present specification are not limited to the objects mentioned above, and other technical objects not mentioned may be clearly understood by those skilled in the art from the description of the claims.

According to the present invention, a vehicle control apparatus is provided as defined by independent claim <NUM>.

In various exemplary embodiments of the present invention, the information related to the at least one motor may include a number of revolutions per minute of the at least one motor, and the information related to the wheel speed sensors may include failure information of the wheel speed sensors and wheel speed values measured by the wheel speed sensors.

In various exemplary embodiments of the present invention, the at least one motor may include at least one of a first motor connected to front wheels of the vehicle and a second motor connected to rear wheels of the vehicle, and the wheel speed sensors may include a first wheel speed sensor and a second wheel speed sensor engaged to the front wheels of the vehicle, and a third wheel speed sensor and a fourth wheel speed sensor engaged to the rear wheels of the vehicle.

In various exemplary embodiments of the present invention, the calculator may determine a first estimated wheel speed value of the first wheel speed sensor according to a number of revolutions per minute of the first motor and a wheel speed value measured by the second wheel speed sensor when the first wheel speed sensor fails, and
the calculator may determine a second estimated wheel speed value of the second wheel speed sensor according to a number of revolutions per minute of the first motor and a wheel speed value measured by the first wheel speed sensor when the second wheel speed sensor fails.

In various exemplary embodiments of the present invention, the calculator may determine a first estimated wheel speed value of the first wheel speed sensor and a second estimated wheel speed value of the second wheel speed sensor according to a number of revolutions per minute of the first motor when the first wheel speed sensor and the second wheel speed sensor fail.

In various exemplary embodiments of the present invention, the calculator may determine a third estimated wheel speed value of the third wheel speed sensor according to a number of revolutions per minute of the second motor and a wheel speed value measured the fourth wheel speed sensor when the third wheel speed sensor fails. The calculator may determine a fourth estimated wheel speed value of the fourth wheel speed sensor according to the number of revolutions per minute of the second motor and a wheel speed value measured by the third wheel speed sensor when the fourth wheel speed sensor fails.

In various exemplary embodiments of the present invention, the calculator may determine a third estimated wheel speed value of the third wheel speed sensor and a fourth estimated wheel speed value of the fourth wheel speed sensor according to a number of revolutions per minute of the second motor when the third wheel speed sensor and the fourth wheel speed sensor fail.

In various exemplary embodiments of the present invention, the information related to the wheel speed sensors may include wheel speed values measured by the wheel speed sensors and resonant frequency values measured by the wheel speed sensors, and the controller may be configured to determine effective rolling radii of the tires according to the wheel speed values measured by the wheel speed sensors and the estimated wheel speed value, and may determine whether the tires have a low pressure according to the resonance frequency values measured by the wheel speed sensors and the effective rolling radii of the tires.

In various exemplary embodiments of the present invention, it may further include an output device configured to output information related to whether at least one of the tires has a low pressure when it is determined that the at least one tire has the low pressure.

According to the present invention, an operating method of a vehicle control apparatus is provided, as defined by independent claim <NUM>.

In various exemplary embodiments of the present invention, the determining of the estimated wheel speed value according to the information related to the at least one motor and the information related to the wheel speed sensors may include: determining a first estimated wheel speed value of the first wheel speed sensor according to a number of revolutions per minute of the first motor and a wheel speed value measured by the second wheel speed sensor when the first wheel speed sensor fails; and determining a second estimated wheel speed value of the second wheel speed sensor according to a number of revolutions per minute of the first motor and a wheel speed value measured by the first wheel speed sensor when the second wheel speed sensor fails.

In various exemplary embodiments of the present invention, the determining of the estimated wheel speed value according to the information related to the at least one motor and the information related to the wheel speed sensors may include determining a first estimated wheel speed value of the first wheel speed sensor and a second estimated wheel speed value of the second wheel speed sensor according to a number of revolutions per minute of the first motor when the first wheel speed sensor and the second wheel speed sensor fail.

In various exemplary embodiments of the present invention, the determining of the estimated wheel speed value according to the information related to the at least one motor and the information related to the wheel speed sensors may include: determining a third estimated wheel speed value of the third wheel speed sensor according to a number of revolutions per minute of the second motor and a wheel speed value measured the fourth wheel speed sensor when the third wheel speed sensor fails; and determining a fourth estimated wheel speed value of the fourth wheel speed sensor according to the number of revolutions per minute of the second motor and a wheel speed value measured by the third wheel speed sensor when the fourth wheel speed sensor fails.

In various exemplary embodiments of the present invention, the determining of the estimated wheel speed value according to the information related to the at least one motor and the information related to the wheel speed sensors may include determining a third estimated wheel speed value of the third wheel speed sensor and a fourth estimated wheel speed value of the fourth wheel speed sensor according to a number of revolutions per minute of the second motor when the third wheel speed sensor and the fourth wheel speed sensor fail.

In various exemplary embodiments of the present invention, the information related to the wheel speed sensors my include wheel speed values measured by the wheel speed sensors and resonant frequency values measured by the wheel speed sensors, and the determining the air pressure state of the tire corresponding to each of the wheel speed sensors based on the estimated wheel speed value and the information related to the wheel speed sensors may include: determining effective rolling radii of the tires according to the wheel speed values measured by the wheel speed sensors and the estimated wheel speed value; and determining whether the tires have a low pressure according to the resonance frequency values measured by the wheel speed sensors and the effective rolling radii of the tires.

An exemplary embodiment included in the present specification provides a vehicle including: a plurality of wheels; a plurality of wheel speed sensors for measuring information related to the wheels; and a controller configured to acquire information related to the wheel speed sensors and to acquire information related to the at least one motor, to determine estimated wheel speed values of the wheels based on the information related to the wheel speed sensors and the information related to the at least one motor, and to determine an air pressure state of a tire corresponding to each of the wheel speed sensors according to the estimated wheel speed values and the information related to the wheel speed sensors.

In various exemplary embodiments of the present invention, the information related to the wheel speed sensors may include whether the wheel speed sensors fail and wheel speed values of the wheels measured by the wheel speed sensors, and the information related to the at least one motor may include a number of revolutions per minute of the at least one motor.

In various exemplary embodiments of the present invention, the wheels may include a first wheel, a second wheel, a third wheel, and a fourth wheel, the wheel speed sensors may include a first wheel speed sensor that measures information related to the first wheel, a second wheel speed sensor that measures information related to the second wheel, a third wheel speed sensor that measures information related to the third wheel, and a fourth wheel speed sensor that measures information related to a fourth wheel, and the at least one motor may include at least one of a first motor connected to the first wheel and the second wheel, and a second motor connected to the third wheel and the fourth wheel.

The vehicle control apparatus according to an exemplary embodiment included in the present specification may estimate a wheel speed value of a defective wheel speed sensor when a failure of at least one wheel speed sensor occurs, and may determine whether or not the tires of the vehicle have a low pressure based on the estimated wheel speed value.

The methods and apparatuses of the present invention have other features and advantages which will be apparent from or are set forth in more detail in the accompanying drawings, which are incorporated herein, and the following Detailed Description, which together serve to explain certain principles of the present invention.

It may be understood that the appended drawings are not necessarily to scale, presenting a somewhat simplified representation of various features illustrative of the basic principles of the present invention. The specific design features of the present invention as included herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particularly intended application and use environment.

In the figures, reference numbers refer to the same or equivalent parts of the present invention throughout the several figures of the drawing.

Reference will now be made in detail to various embodiments of the present invention(s), examples of which are illustrated in the accompanying drawings and described below. While the present invention(s) will be described in conjunction with exemplary embodiments of the present invention, it will be understood that the present description is not intended to limit the present invention(s) to those exemplary embodiments. On the other hand, the present invention(s) is/are intended to cover not only the exemplary embodiments of the present invention, but also various alternatives, modifications, equivalents and other embodiments, which may be included within the spirit and scope of the present invention as defined by the appended claims.

Hereinafter, some exemplary embodiments disclosed in the present specification will be described in detail with reference to exemplary drawings. It should be noted that in adding reference numerals to constituent elements of each drawing, the same constituent elements have the same reference numerals as possible even though they are indicated on different drawings. In describing exemplary embodiments disclosed in the present specification, when it is determined that a detailed description of the well-known configuration or function associated with the present invention may obscure the gist of the present invention, it will be omitted.

In describing constituent elements according to an exemplary embodiment disclosed in the present specification, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the constituent elements from other constituent elements, and the nature, sequences, or orders of the constituent elements are not limited by the terms. Furthermore, all terms used herein including technical scientific terms have the same meanings as those which are generally understood by those skilled in the Field of the Invention to which exemplary embodiments disclosed in the present specification pertains (those skilled in the art) unless they are differently defined. Terms defined in a generally used dictionary shall be construed to have meanings matching those in the context of a related art, and shall not be construed to have idealized or excessively formal meanings unless they are clearly defined in the present specification.

<FIG> illustrates a vehicle according to an exemplary embodiment included in the present specification.

Referring to <FIG>, a vehicle <NUM> according to an exemplary embodiment included in the present specification may include a plurality of wheels <NUM>, a plurality of wheel speed sensors <NUM>, a plurality of motors <NUM>, and a controller <NUM>.

The wheels <NUM> may include a first wheel <NUM>, a second wheel <NUM>, a third wheel <NUM>, and a fourth wheel <NUM>. For example, the first wheel <NUM> may be positioned at a left side of front wheels of the vehicle <NUM>, the second wheel <NUM> may be positioned at a right side of the front wheels of the vehicle <NUM>, the third wheel <NUM> may be positioned at a left of rear wheels of the vehicle <NUM>, and the fourth wheel <NUM> may be positioned at a right side of the rear wheels of the vehicle <NUM>. However, the exemplary embodiment included in the present specification is not limited thereto, and the wheels <NUM> may include a smaller number or a larger number of wheels.

The wheel speed sensors <NUM> may measure speeds of the wheels <NUM>. For example, the wheel speed sensors <NUM> may include a first wheel speed sensor <NUM>, a second wheel speed sensor <NUM>, a third wheel speed sensor <NUM>, and a fourth wheel speed sensor <NUM>. The first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, and the fourth wheel speed sensor <NUM> may measure the speeds of the corresponding first wheel <NUM>, second wheel <NUM>, third wheel <NUM>, and fourth wheel <NUM>, respectively.

The motors <NUM> may be connected to the wheels <NUM>. For example, the motors <NUM> may include a first motor <NUM> and a second motor <NUM>. The first motor <NUM> may be connected to the first wheel <NUM> and the second wheel <NUM> positioned on the front wheel of the vehicle <NUM>, and the second motor <NUM> may be connected to the third wheel <NUM> and the fourth wheel <NUM> positioned on the rear wheel of the vehicle <NUM>.

The controller <NUM> may be connected to the wheel speed sensors <NUM> and the motors <NUM>. For example, the controller <NUM> may be connected to the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, the fourth wheel speed sensor <NUM>, the first motor <NUM>, and the second motor <NUM>, or may be connected thereto at once.

The controller <NUM> may obtain information related to each of the wheel speed sensors <NUM> from the wheel speed sensors <NUM>, and may obtain information related to each of the motors <NUM> from the motors <NUM>. For example, the information related to the wheel speed sensors <NUM> includes information related to whether the wheel speed sensors <NUM> fail, and wheel speeds of the wheels <NUM> measured by the wheel speed sensors <NUM>. Furthermore, the information related to the motors <NUM> may include the number of revolutions per minute of the motors <NUM>.

The controller <NUM> may determine estimated wheel speed values of the wheels <NUM> based on information related to the wheel speed sensors <NUM> and information related to the motors <NUM>. When any one of the wheel speed sensors <NUM> has a failure, the controller <NUM> may determine an estimated wheel speed value of a defective wheel speed sensor based on the number of revolutions per minute of any one of the motors <NUM> and the wheel speed values measured by other wheel speed sensors excluding the defective wheel speed sensor.

The controller <NUM> may determine an air pressure state of tires corresponding to each of the wheel speed sensors based on the information related to the wheel speed sensors <NUM> and the determined estimated wheel speed value. For example, the controller <NUM> may determine the air pressure state of the tire corresponding to the defective wheel speed sensor based on the determined estimated wheel speed value, and in the case of a wheel speed sensor which is not a malfunction, may determine the air pressure state of the tire corresponding to the non-failure wheel speed sensor by use of the wheel speed value of the wheel measured by the wheel speed sensor which does not fail.

The controller <NUM> may determine whether at least one tire has a low pressure among a first tire coupled to the first wheel <NUM> corresponding to the first wheel speed sensor <NUM>, a second tire coupled to the second wheel <NUM> corresponding to the second wheel speed sensor <NUM>, a third tire coupled to the third wheel <NUM> corresponding to the third wheel speed sensor <NUM>, and a fourth tire coupled to the fourth wheel <NUM> corresponding to the fourth wheel speed sensor <NUM>.

The vehicle <NUM> may determine the air pressure state of at least one tire through execution of the operation of the controller <NUM> that has obtained information from at least one of the wheels <NUM>, the wheel speed sensors <NUM>, and the motors <NUM>.

That is, the vehicle <NUM> may inform a user of whether or not the at least one tire has a low pressure, and may help the user to prevent an accident caused by the low pressure of the tire when it is determined that the air pressure of at least one tire is low and it is determined that the air pressure of at least one tire is low.

In an exemplary embodiment of the present invention, the at least one tire has a low pressure when the pressure in the at least one tire is lower than a predetermined pressure.

Hereinafter, a vehicle control apparatus <NUM> according to an exemplary embodiment included in the present specification will be described in detail with reference to <FIG>.

<FIG> illustrates a vehicle control apparatus according to an exemplary embodiment included in the present specification.

Referring to <FIG>, the vehicle control apparatus <NUM> according to an exemplary embodiment included in the present specification may include an information acquisition device <NUM>, a calculator <NUM>, a controller <NUM>, and an output device <NUM>.

The vehicle control apparatus <NUM> and the controller <NUM> in <FIG> may be substantially the same.

The information acquisition device <NUM> may acquire information related to the motors <NUM> in the vehicle <NUM> and information related to the wheel speed sensors <NUM>. For example, the information related to the motors <NUM> may include the number of revolutions per minute of the motors <NUM>, and the information related to the wheel speed sensors <NUM> may include failure information of the wheel speed sensors <NUM> and wheel speed values measured by the wheel speed sensors <NUM>.

The motors <NUM> may include at least one of a first motor <NUM> and a second motor <NUM>. Furthermore, the wheel speed sensors <NUM> may include a first wheel speed sensor <NUM> and a second wheel speed sensor <NUM> connected to the front wheels of the vehicle <NUM>, and a third wheel speed sensor <NUM> and a fourth wheel speed sensor <NUM> connected to the rear wheels of the vehicle <NUM>. That is, the information acquisition device <NUM> may acquire information related to the first motor <NUM>, the second motor <NUM>, the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>.

In the instant case, the information acquisition device <NUM> may determine that at least one of the wheel speed sensors <NUM> has a failure when an abnormality is detected by checking a communication timer, an alive counter value, and a cyclic redundancy check (CRC) result from the wheel speed sensors <NUM>, when the wheel speed value obtained by the wheel speed sensors <NUM> is out of a normal range, or when the connection with the wheel speed sensors <NUM> is short-circuited to obtain no wheel speed value. Accordingly, the information acquisition device <NUM> may acquire failure information of the wheel speed sensors <NUM>.

The calculator <NUM> may determine an estimated wheel speed value based on information related to the motors <NUM> and information related to the wheel speed sensors <NUM>. For example, the calculator <NUM> may determine an estimated wheel speed value of the defective wheel speed sensor based on the number of revolutions per minute of the motors <NUM>, failure information of the plurality of wheel speed sensors <NUM>, and the wheel speed value measured by the at least one wheel speed sensor <NUM>.

When the first wheel speed sensor <NUM> fails, the calculator <NUM> may determine a first estimated wheel speed value of the first wheel speed sensor <NUM>. For example, the calculator <NUM> may determine the first estimated wheel speed value based on the number of revolutions per minute of the first motor <NUM> and a wheel speed value measured by the second wheel speed sensor <NUM>. The calculator <NUM> may determine the first estimated wheel speed value by subtracting the wheel speed value measured by the second wheel speed sensor <NUM> from a value obtained by multiplying the revolutions per minute of the first motor <NUM> by a constant multiple.

When the second wheel speed sensor <NUM> has failed, the calculator <NUM> may determine a second estimated wheel speed value of the second wheel speed sensor <NUM>. For example, the calculator <NUM> may determine the second estimated wheel speed value based on the number of revolutions per minute of the first motor <NUM> and a wheel speed value measured by the first wheel speed sensor <NUM>. The calculator <NUM> may determine the second estimated wheel speed value by subtracting the wheel speed value measured by the first wheel speed sensor <NUM> from a value obtained by multiplying the revolutions per minute of the first motor <NUM> by a constant multiple.

When both the first wheel speed sensor <NUM> and the second wheel speed sensor <NUM> have failed, the calculator <NUM> may determine the first estimated wheel speed value and the second estimated wheel speed value based on the number of revolutions per minute of the first motor <NUM>. For example, the calculator <NUM> may assume that the first estimated wheel speed value and the second estimated wheel speed value have the same value, and accordingly, may determine the first estimated wheel speed value and the second estimated wheel speed value by multiplying the number of revolutions per minute of the first motor <NUM> by a constant multiple.

When the third wheel speed sensor <NUM> has failed, the calculator <NUM> may determine a third estimated wheel speed value of the third wheel speed sensor <NUM>. For example, the calculator <NUM> may determine the third estimated wheel speed value based on the number of revolutions per minute of the second motor <NUM> and a wheel speed value measured by the fourth wheel speed sensor <NUM>. The calculator <NUM> may determine the third estimated wheel speed value by subtracting the wheel speed value measured by the fourth wheel speed sensor <NUM> from a value obtained by multiplying the revolutions per minute of the second motor <NUM> by a constant multiple.

When the fourth wheel speed sensor <NUM> has failed, the calculator <NUM> may determine a fourth estimated wheel speed value of the fourth wheel speed sensor <NUM>. For example, the calculator <NUM> may determine the fourth estimated wheel speed value based on the number of revolutions per minute of the second motor <NUM> and a wheel speed value measured by the third wheel speed sensor <NUM>. The calculator <NUM> may determine the fourth estimated wheel speed value by subtracting the wheel speed value measured by the third wheel speed sensor <NUM> from a value obtained by multiplying the revolutions per minute of the second motor <NUM> by a constant multiple.

When both the third wheel speed sensor <NUM> and the fourth wheel speed sensor <NUM> have failed, the calculator <NUM> may determine the third estimated wheel speed value and the fourth estimated wheel speed value based on the number of revolutions per minute of the second motor <NUM>. For example, the calculator <NUM> may assume that the third estimated wheel speed value and the fourth estimated wheel speed value have the same value, and accordingly, may determine the third estimated wheel speed value and the fourth estimated wheel speed value by multiplying the number of revolutions per minute of the second motor <NUM> by a constant multiple.

In an exemplary embodiment of the present invention, the controller <NUM> may include functions of the calculator <NUM>.

Hereinafter, accuracy of the estimated wheel speed value determined by the calculator <NUM> will be described with reference to <FIG>.

<FIG> illustrates a graph showing wheel speed values measured by a plurality of wheel speed sensors according to an exemplary embodiment included in the present specification.

<FIG> illustrates a graph showing a number of revolutions per minute of a plurality of motors according to an exemplary embodiment included in the present specification.

<FIG> illustrates a graph showing a comparison of an estimated wheel speed value and a wheel speed value measured by a wheel speed sensor according to an exemplary embodiment included in the present specification.

Referring to <FIG>, it may be seen that the wheel speed value measured by the second wheel speed sensor <NUM>, the wheel speed value measured by the third wheel speed sensor <NUM>, and the wheel speed value measured by the fourth wheel speed sensor <NUM> differ not much from each other, while it may be seen that the wheel speed value measured by the first wheel speed sensor <NUM> connected to the first wheel <NUM> changes with a large difference.

Referring to <FIG>, it may be seen that the number of revolutions per minute of the first motor <NUM> connected to the first wheel <NUM> and the second wheel <NUM> varies greatly from the number of revolutions per minute of the second motor <NUM> connected to the third wheel <NUM> and the fourth wheel <NUM>.

Referring to <FIG>, it may be seen that there is no significant difference between the first estimated wheel speed value determined based on the number of revolutions per minute of the first motor <NUM> and the wheel speed value measured by the second wheel speed sensor <NUM> and the wheel speed value measured by the first wheel speed sensor <NUM>. That is, the first estimated wheel speed value determined by the calculator <NUM> may be similar to the wheel speed value measured by the first wheel speed sensor <NUM> with high accuracy.

In <FIG>, only the first estimated wheel speed value determined by the calculator <NUM> is illustrated, and the accuracy of the first estimated wheel speed value is illustrated, but the present specification is not limited thereto. That is, the calculator <NUM> may accurately determine all of the second estimated wheel speed value, the third estimated wheel speed value, and the fourth estimated wheel speed value.

Referring back to <FIG>, the controller <NUM> may determine an air pressure state of a tire corresponding to each of the wheel speed sensors <NUM> of the vehicle <NUM> based on the estimated wheel speed value determined by the calculator <NUM> and information related to the wheel speed sensors <NUM>.

In the case of a defective wheel speed sensor, the controller <NUM> may replace the wheel speed value of the wheel measured by the defective wheel speed sensor with the estimated wheel speed value determined by the calculator <NUM> based on failure information of the wheel speed sensors <NUM>. For example, the controller <NUM> may replace the wheel speed value of the first wheel <NUM> with the first estimated wheel speed value when the first wheel speed sensor <NUM> fails, may replace the wheel speed value of the second wheel <NUM> with the second estimated wheel speed value when the second wheel speed sensor <NUM> fails, may replace the wheel speed value of the third wheel <NUM> with the third estimated wheel speed value when the third wheel speed sensor <NUM> fails, and may replace the wheel speed value of the fourth wheel <NUM> with the fourth estimated wheel speed value when the fourth wheel speed sensor <NUM> fails.

The controller <NUM> may determine an air pressure state of a tire corresponding to each of the wheel speed sensors <NUM> based on the estimated wheel speed values and the wheel speed values measured by the wheel speed sensors <NUM>. For example, when it is determined that the wheel speed value of the at least one wheel increases than the reference value, the controller <NUM> may determine that the air pressure of the tire coupled to the at least one wheel is low.

The controller <NUM> may perform a front-to-back comparison comparing a sum of the speed values of the first wheel <NUM> and the speed values of the second wheel <NUM> with a sum of the speed values of the third wheel <NUM> and the speed values of the fourth wheel <NUM>. Furthermore, the controller <NUM> may perform a left and right comparison comparing a sum of the speed values of the first wheel <NUM> and the speed values of the third wheel <NUM> with a sum of the speed values of the second wheel <NUM> and the speed values of the fourth wheel <NUM>. The controller <NUM> may also perform a diagonal comparison comparing a sum of the speed values of the first wheel <NUM> and the speed values of the fourth wheel <NUM> with a sum of the speed values of the second wheel <NUM> and the speed values of the third wheel <NUM>. That is, the controller <NUM> may determine whether the tires corresponding to the wheel speed sensors <NUM> has a low pressure through the front-to-back comparison, the left and right comparison, and the diagonal comparison.

Meanwhile, the controller <NUM> may determine whether the tires have a low pressure based on the information related to wheel speed sensors <NUM> and the estimated wheel speed values. For example, the information related to the wheel speed sensors <NUM> may include resonance frequency values and wheel speed values measured by the wheel speed sensors <NUM>. The controller <NUM> may determine an effective rolling radius of a corresponding tire based on the estimated wheel speed values in the case of the defective wheel speed sensor, and may determine an effective rolling radius of a corresponding tire based on the measured wheel speed value in the case of the non-defective wheel speed sensor. The controller <NUM> may receive resonant frequency values of tires obtained by the information acquisition device <NUM>. The controller <NUM> may determine whether the tires have a low pressure by comparing effective rolling radii and resonance frequency values of the tires with effective rolling radii and resonance frequency values of the tires having a predetermined normal pressure.

Meanwhile, the wheel speed sensors <NUM> may measure resonant frequency values of the tires by detecting pulse waves of tone wheels coupled to the wheels <NUM>, and performing Fourier transform on the pulse waves. Furthermore, the information acquisition device <NUM> may acquire a resonant frequency value when at least one of the wheel speed sensors <NUM> is not defective. That is, when all of the wheel speed sensors <NUM> are defective, the information acquisition device <NUM> may not be able to obtain a resonant frequency value.

When it is determined that at least one of the tires has a low pressure, the output device <NUM> may output information related to whether the at least one tire has a low pressure. For example, when it is determined whether a tire has a low pressure and a position of a low-pressure tire is determined, the output device <NUM> may output whether the tire has a low pressure and the position of the low-pressure tire. The output device <NUM> may output information related to whether the tire has a low pressure when only the low pressure is determined while the position of the low pressure tire is not determined. Furthermore, when at least one of the wheel speed sensors <NUM> has a failure, and it is not possible to determine whether the tire has a low pressure due to the failure, the output device <NUM> may output failure information of a low pressure detection device of the tire. That is, the output device <NUM> may inform a user of the contents of the low pressure of the tire or the contents of the failure of the low pressure detection device, and the user may repair the vehicle based on the informed contents, and thus accidents caused by the low pressure of the tire may be prevented in advance.

In conclusion, the vehicle control apparatus <NUM> according to the exemplary embodiment included in the present specification may obtain the number of revolutions per minute of the motors <NUM> and failure information of the wheel speed sensors <NUM> from the information acquisition device <NUM> and the wheel speed values measured by the wheel speed sensors <NUM>, and may determine estimated wheel speed values of the failed wheel speed sensors based on the number of revolutions per minute of the motors <NUM> from the calculator <NUM>, failure information of the wheel speed sensors <NUM>, and wheel speed values measured by the wheel speed sensors <NUM>. The vehicle control apparatus <NUM> may determine whether a tire corresponding to each of the plurality of wheel speed sensors <NUM> has a low pressure based on the wheel speed value estimated by the controller <NUM> and the wheel speed value and the resonance frequency value measured by the wheel speed sensors that are not defective, and may output information related to whether or not the tire has a low pressure to report it to the user. That is, the vehicle control apparatus <NUM> may determine whether the tire has a low pressure to report it to the user, and the user may be notified whether the tire has a low pressure and prevent an accident in the vehicle due to the low pressure of the tire.

Hereinafter, other exemplary embodiments included in the present specification will be described with reference to <FIG> and <FIG>.

<FIG> illustrates a vehicle according to another exemplary embodiment included in the present specification.

Referring to <FIG>, the vehicle <NUM> according to another exemplary embodiment included in the present specification may include a first wheel <NUM>, a second wheel <NUM>, a third wheel <NUM>, a fourth wheel <NUM>, a first wheel speed sensor <NUM>, a second wheel speed sensor <NUM>, a third wheel speed sensor <NUM>, a fourth wheel speed sensor <NUM>, a first motor <NUM>, and a controller <NUM>.

Referring to <FIG>, the first wheel <NUM>, the second wheel <NUM>, the third wheel <NUM>, and the fourth wheel <NUM> may be respectively substantially the same as the first wheel <NUM>, the second wheel <NUM>, the third wheel <NUM>, and the fourth wheel <NUM> in <FIG>.

Referring to <FIG>, the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, and the fourth wheel speed sensor <NUM> may be substantially the same as the sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, and the fourth wheel speed sensor <NUM> in <FIG>.

Referring to <FIG>, the first motor <NUM> may be substantially the same as the first motor <NUM> in <FIG>.

The controller <NUM> may be connected to the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, the fourth wheel speed sensor <NUM>, and the first motor <NUM>, and may obtain information from the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, the fourth wheel speed sensor <NUM>, and the first motor <NUM>.

When the first wheel speed sensor <NUM> fails, the controller <NUM> may determine a first estimated wheel speed value of the first wheel speed sensor <NUM> based on the number of revolutions per minute of the first motor <NUM> and the wheel speed value measured by the second wheel speed sensor <NUM>. Furthermore, when the second wheel speed sensor <NUM> fails, the controller <NUM> may determine a second estimated wheel speed value of the second wheel speed sensor <NUM> based on the number of revolutions per minute of the first motor <NUM> and the wheel speed value measured by the first wheel speed sensor <NUM>.

When both the first wheel speed sensor <NUM> and the second wheel speed sensor <NUM> fail, the controller <NUM> may determine the first estimated wheel speed value and the second estimated wheel speed value based on the number of revolutions per minute of the first motor <NUM>.

The controller <NUM> may determine effective rolling radii of tires coupled to the first wheel <NUM>, the second wheel <NUM>, the third wheel <NUM>, and the fourth wheel <NUM> based on estimated wheel speed values and the wheel speed values measured by the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, and the fourth wheel speed sensor <NUM>. The controller <NUM> may determine conditions of the tires based on the determined effective rolling radii and resonance frequency values of the tires. For example, the controller <NUM> may determine whether the tires have low pressure through the above-described front-to-back comparison, diagonal comparison, and left and right comparison, and may output information related to whether the tires have a low pressure to the user.

On the other hand, when the third wheel speed sensor <NUM> and the fourth wheel speed sensor <NUM> fail, no motor is connected to the third wheel speed sensor <NUM> and the fourth wheel speed sensor <NUM>, the controller <NUM> may determine no estimated wheel speed value. That is, the controller <NUM> may not be able to detect the low pressure of tires when the third wheel speed sensor <NUM> and the fourth wheel speed sensor <NUM> fail. Accordingly, when the third wheel speed sensor <NUM> or the fourth wheel speed sensor <NUM> fails, the controller <NUM> may output a failure of the low pressure detection device of the tire.

That is, the vehicle <NUM> according to another exemplary embodiment included in the present specification may determine whether or not the tire has a low pressure with more limited performance than the vehicle <NUM> in <FIG>.

<FIG> illustrates a vehicle according to various exemplary embodiments included in the present specification.

Referring to <FIG>, the vehicle <NUM> according to various exemplary embodiments included in the present specification may include a first wheel <NUM>, a second wheel <NUM>, a third wheel <NUM>, a fourth wheel <NUM>, a first wheel speed sensor <NUM>, a second wheel speed sensor <NUM>, a third wheel speed sensor <NUM>, a fourth wheel speed sensor <NUM>, a first motor <NUM>, a second motor <NUM>, a third motor <NUM>, and a controller <NUM>.

The first motor <NUM> may be connected to the first wheel speed sensor <NUM> and the second wheel speed sensor <NUM>. The second motor <NUM> may be connected to the third wheel speed sensor <NUM>. The third motor <NUM> may be connected to the fourth wheel speed sensor <NUM>.

The controller <NUM> may be connected to the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, the fourth wheel speed sensor <NUM>, the first motor <NUM>, the second motor <NUM>, and the third motor <NUM>. The controller <NUM> may obtain information from the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM>, the fourth wheel speed sensor <NUM>, the first motor <NUM>, the second motor <NUM>, and the third motor <NUM>.

The controller <NUM> may determine a first estimated wheel speed value when the first wheel speed sensor <NUM> fails, and may determine a second estimated wheel speed value when the second wheel speed sensor <NUM> fails. In the instant case, a method of determining the estimated wheel speed value may be the same as the method in which the controller <NUM> determines the first estimated wheel speed value and the second estimated wheel speed value in <FIG> described above.

The controller <NUM> may determine a third estimated wheel speed value based on the number of revolutions per minute of the second motor <NUM> when the third wheel speed sensor <NUM> fails. Furthermore, the controller <NUM> may determine a fourth estimated wheel speed value based on the number of revolutions per minute of the third motor <NUM> when the fourth wheel speed sensor <NUM> fails. Accordingly, the controller <NUM> may determine the third estimated wheel speed value and the fourth estimated wheel speed value more accurately than the third estimated wheel speed value and the fourth estimated wheel speed value determined by the controller <NUM> in <FIG>.

The controller <NUM> may determine the effective rolling radii of the tires based on the wheel speed value measured by the wheel speed sensors and the estimated wheel speed values in the case of a defective wheel speed sensor, and the controller may be configured to determine whether the tires have low pressure based on the resonant frequency value obtained from the wheel speed sensors and the determined effective rolling radii. That is, the controller <NUM> of the vehicle <NUM> may determine the estimated wheel speed values more accurately than the controller <NUM> of the vehicle <NUM> in <FIG>, may determine whether a tire has a low pressure in more various situations, and may output information related to whether the tire has a low pressure to a user.

Hereinafter, a method of operating the vehicle control apparatus <NUM> will be described with reference to <FIG>.

<FIG> illustrates a flowchart showing an operating method of a vehicle control apparatus according to an exemplary embodiment included in the present specification.

Referring to <FIG>, the operating method of the vehicle control apparatus <NUM> according to an exemplary embodiment included in the present specification may include: acquiring information related to at least one motor in a vehicle (S <NUM>); acquiring information related to a plurality of wheel speed sensors in the vehicle (S200); determining an estimated wheel speed value based on the information related to at least one motor and the information related to the wheel speed sensors (S300); and determining an air pressure state of a tire corresponding to each of the wheel speed sensors based on the estimated wheel speed value and the information related to the wheel speed sensors (S400).

Hereinafter, steps S100 to S400 will be described in detail with reference to <FIG>, <FIG>, <FIG>, and <FIG>.

In step S100 of obtaining the information related to the at least one motor in the vehicle, the information acquisition device <NUM> may obtain information related to the at least one motor from the at least one motor. For example, in step S100, the information related to the at least one motor may include a number of revolutions per minute of the at least one motor.

In step S200 of acquiring information related to the wheel speed sensors in the vehicle, the information acquisition device <NUM> may obtain the information related to the wheel speed sensors <NUM> in the vehicle. For example, in step S200, the information related to the wheel speed sensors <NUM> may include failure information of the wheel speed sensors <NUM> and wheel speed values measured by the wheel speed sensors <NUM>.

In the meantime, the wheel speed sensors <NUM> may include the first wheel speed sensor <NUM> and the second wheel speed sensor <NUM> connected to the front wheels of the vehicle <NUM>, and the third wheel speed sensor <NUM> and the fourth wheel speed sensor <NUM> connected to the rear wheels of the vehicle <NUM>. In the instant case, the wheel speed sensors <NUM> may include the first wheel speed sensor <NUM> or <NUM>, which may be substantially the same as the first wheel speed sensor <NUM>, the second wheel speed sensor <NUM> or <NUM>, which may be substantially the same as the second wheel speed sensor <NUM>, the third wheel speed sensor <NUM> or <NUM>, which may be substantially the same as the third wheel speed sensor <NUM>, and the fourth wheel speed sensor <NUM> or <NUM>, which may be substantially the same as the fourth wheel speed sensor <NUM>.

The at least one motor may include a first motor <NUM> connected to the first wheel <NUM> and a second wheel <NUM> and the second motor <NUM> connected to the third wheel <NUM> and the fourth wheel <NUM> in the vehicle <NUM>. Alternatively, the at least one motor may include a first motor <NUM> connected to the first wheel <NUM> and the second wheel <NUM> in vehicle <NUM>. Alternatively, the at least one motor may include a first motor <NUM> connected to the first wheel <NUM> and the second wheel <NUM>, a second motor <NUM> connected to the third wheel <NUM>, and a third motor <NUM> connected to the fourth wheel <NUM>.

Furthermore, referring to <FIG>, although it is shown that step S200 is performed after step S100 is performed, the present specification is not limited thereto, and step S200 may be performed before or simultaneously with step S100.

In step S300 of determining the estimated wheel speed value based on the information related to at least one motor and the information related to the wheel speed sensors, the calculator <NUM> may determine an estimated wheel speed value based on the information related to the at least one motor and the information related to the wheel speed sensors <NUM>. For example, in step S300, based on the failure information of the wheel speed sensors <NUM>, the calculator <NUM> may determine an estimated wheel speed value of the defective wheel speed sensor by use of the number of revolutions per minute of at least one motor and the wheel speed values measured by the wheel speed sensors <NUM>.

In the case where a number of motors is two, in step S300, when the first wheel speed sensor <NUM> fails, the calculator <NUM> may determine a first estimated wheel speed value of the first wheel speed sensor <NUM>. For example, in step S300, the calculator <NUM> may determine the first estimated wheel speed value based on the number of revolutions per minute of the first motor <NUM> and a wheel speed value measured by the second wheel speed sensor <NUM>. In step S300, the calculator <NUM> may determine the first estimated wheel speed value by subtracting the wheel speed value measured by the second wheel speed sensor <NUM> from a value obtained by multiplying the revolutions per minute of the first motor <NUM> by a constant multiple.

In the case where a number of motors is two, in step S300, when the second wheel speed sensor <NUM> has failed, the calculator <NUM> may determine a second estimated wheel speed value of the second wheel speed sensor <NUM>. For example, in step S300, the calculator <NUM> may determine the second estimated wheel speed value based on the number of revolutions per minute of the first motor <NUM> and a wheel speed value measured by the first wheel speed sensor <NUM>. In step S300, the calculator <NUM> may determine the second estimated wheel speed value by subtracting the wheel speed value measured by the first wheel speed sensor <NUM> from a value obtained by multiplying the revolutions per minute of the first motor <NUM> by a constant multiple.

In the case where a number of motors is two, in step S300, when both the first wheel speed sensor <NUM> and the second wheel speed sensor <NUM> have failed, the calculator <NUM> may determine the first estimated wheel speed value and the second estimated wheel speed value based on the number of revolutions per minute of the first motor <NUM>. For example, in step S300, the calculator <NUM> may assume that the first estimated wheel speed value and the second estimated wheel speed value have the same value, and accordingly, may determine the first estimated wheel speed value and the second estimated wheel speed value by multiplying the number of revolutions per minute of the first motor <NUM> by a constant multiple.

In the case where a number of motors is two, in step S300, when the third wheel speed sensor <NUM> has failed, the calculator <NUM> may determine a third estimated wheel speed value of the third wheel speed sensor <NUM>. For example, the calculator <NUM> may determine the third estimated wheel speed value based on the number of revolutions per minute of the second motor <NUM> and a wheel speed value measured by the fourth wheel speed sensor <NUM>. The calculator <NUM> may determine the third estimated wheel speed value by subtracting the wheel speed value measured by the fourth wheel speed sensor <NUM> from a value obtained by multiplying the revolutions per minute of the second motor <NUM> by a constant multiple.

In the case where a number of motors is two, in step S300, when the fourth wheel speed sensor <NUM> has failed, the calculator <NUM> may determine a fourth estimated wheel speed value of the fourth wheel speed sensor <NUM>. For example, in step S300, the calculator <NUM> may determine the fourth estimated wheel speed value based on the number of revolutions per minute of the second motor <NUM> and a wheel speed value measured by the third wheel speed sensor <NUM>. In step S300, the calculator <NUM> may determine the fourth estimated wheel speed value by subtracting the wheel speed value measured by the third wheel speed sensor <NUM> from a value obtained by multiplying the revolutions per minute of the second motor <NUM> by a constant multiple.

In the case where a number of motors is two, in step S300, when both the third wheel speed sensor <NUM> and the fourth wheel speed sensor <NUM> have failed, the calculator <NUM> may determine the third estimated wheel speed value and the fourth estimated wheel speed value based on the number of revolutions per minute of the second motor <NUM>. For example, in step S300, the calculator <NUM> may assume that the third estimated wheel speed value and the fourth estimated wheel speed value have the same value, and accordingly, may determine the third estimated wheel speed value and the fourth estimated wheel speed value by multiplying the number of revolutions per minute of the second motor <NUM> by a constant multiple.

In the case where a number of motors is two, in step S300, the calculator <NUM> may determine a first estimated wheel speed value and a second estimated wheel speed value in a same way as the method by which the calculator <NUM> determines the first wheel speed value and the second wheel speed value in step S300 when the number of motors is two. However, when one motor is used, in step S300, in the case of the third estimated wheel speed value and the fourth estimated wheel speed value, the calculator <NUM> may not be able to estimate them because there are no motors connected to the third wheel <NUM> and the fourth wheel <NUM>.

In the case where the number of motors is three, in step S300, the calculator <NUM> may determine a first estimated wheel speed value and a second estimated wheel speed value in a same way as the method by which the calculator <NUM> determines the first wheel speed value and the second wheel speed value in step S300 when the number of motors is two.

In the instant case, in the case where the number of motors is three, in step S300, there is the second motor <NUM> connected only to the third wheel <NUM>, and thus the calculator <NUM> may determine a third estimated wheel speed value based on the number of revolutions per minute of the second motor <NUM> when the third wheel speed sensor <NUM> fails.

Similarly, in the case where the number of motors is three, in step S300, there is the third motor <NUM> connected only to the fourth wheel <NUM>, and thus the calculator <NUM> may determine a third estimated wheel speed value based on the number of revolutions per minute of the third motor <NUM> when the fourth wheel speed sensor <NUM> fails. That is, when the number of motors is three, in step S300, the calculator <NUM> may determine the third estimated wheel speed value and the fourth estimated wheel speed value more accurately than when the number of motors is two.

In step S400 of determining the air pressure state of the tire corresponding to each of the wheel speed sensors based on the estimated wheel speed value and the information related to the wheel speed sensors, the controller <NUM> may determine an air pressure state of a tire corresponding to each of the wheel speed sensors <NUM> based on the estimated wheel speed value determined by the calculator <NUM> and information related to the wheel speed sensors <NUM>. For example, the information related to the wheel speed sensors <NUM> may include resonance frequency values and wheel speed values measured by the wheel speed sensors <NUM>.

In step S400, the controller <NUM> may determine effective rolling radii of the tires based on the wheel speed values and the estimated wheel speed value measured by the wheel speed sensors <NUM>, and may determine whether the tires have a low pressure based on the effective rolling radii of the tires and the resonant frequency values measured by the wheel speed sensors <NUM>.

Hereinafter, a method of operating the vehicle control apparatus <NUM> will be described in detail with reference to <FIG>.

Referring to <FIG>, the operating method of the vehicle control apparatus <NUM> according to an exemplary embodiment included in the present specification may include: acquiring information related to the number of revolutions per minute of at least one motor (S110); acquiring failure information of a plurality of wheel speed sensors and wheel speed values measured by the wheel speed sensors (S210); determining whether the wheel speed sensors fail (S310); determining an estimated wheel speed value of the defective wheel speed sensor (S320), determining effective rolling radii of tires (S410); determining whether the tires have a low pressure based on resonance frequency values measured by the wheel speed sensors and the effective rolling radii of the tires (S420) and outputting (S500).

In step S110 of acquiring the information related to the number of revolutions per minute of the at least one motor, the information acquisition device <NUM> may obtain the information related to the number of revolutions per minute from the at least one motor. For example, step S100 in <FIG> may include step S110.

In step S210 of acquiring the failure information of the wheel speed sensors and the wheel speed values measured by the wheel speed sensors, the information acquisition device <NUM> may obtain the failure information of the wheel speed sensors <NUM> from the wheel speed sensors <NUM> and the wheel speed values measured by the wheel speed sensors <NUM>. For example, in step S210, the information acquisition device <NUM> may not acquire the measured wheel speed value in the case of a defective wheel speed sensor among the wheel speed sensors <NUM>. Step S200 in <FIG> may include step S210.

In step S310 of determining whether the wheel speed sensors fail, the calculator <NUM> may determine whether each wheel speed sensor fails based on the obtained failure information of the wheel speed sensors <NUM>.

In step S320 of determining the estimated wheel speed value of the defective wheel speed sensor, the calculator <NUM> may determine an estimated wheel speed value of the defective wheel speed sensor based on information related to the number of revolutions per minute of at least one motor and the wheel speed values measured by the wheel speed sensors <NUM>. For example, a process of determining the estimated wheel speed value by the calculator <NUM> in step S320 may be substantially the same as the process by which the calculator <NUM> determines the estimated wheel speed value in step S300 described above.

In step S410 of determining the effective rolling radii of the tires, the controller <NUM> may determine an effective rolling radius of a corresponding tire based on the estimated wheel speed value in the case of the defective wheel speed sensor, and the wheel speed sensor, which is not a failure, may determine the effective rolling radius of the corresponding tire based on the wheel speed value measured by the wheel speed sensor. For example, the controller <NUM> may determine an effective rolling radius of a tire coupled to the first wheel <NUM> based on the first estimated wheel speed value when the first wheel speed sensor <NUM> fails, and may determine the effective rolling radius of the tire coupled to the first wheel <NUM> based on the wheel speed value of the first wheel <NUM> measured by the first wheel speed sensor <NUM> when the first wheel speed sensor <NUM> does not fail.

In step S420 of determining whether the tires have the low pressure based on the resonance frequency values measured by the wheel speed sensors and the effective rolling radii of the tires, the controller <NUM> may obtain the resonant frequency values of the tires when at least one wheel speed sensor of the wheel speed sensors <NUM> does not fail, and may determine whether the tires have the low pressure based on the resonant frequency values of the tires and the determined effective rolling radii of the tires. For example, the controller <NUM> may determine whether the tires have the low pressure by comparing the effective rolling radii and the resonance frequency values of the tires, which have predetermined normal pressures, with the determined effective rolling radii and the resonance frequency values of the tires.

On the other hand, in step S420, when all of the wheel speed sensors <NUM> are defective, the controller <NUM> may be unable to obtain the resonant frequency values of the tires, and thus may determine whether the tires have the low pressure based only on the effective rolling radii of the tires.

The operation method of the vehicle control apparatus <NUM> according to an exemplary embodiment included in the present specification may further include an output step S500.

In the output step S500, when the controller <NUM> determines that at least one tire has a low pressure, the output device <NUM> may output information related to the low-pressure tire. For example, when it is determined whether a tire has a low pressure and a position of the low-pressure tire is determined, the output device <NUM> may output information related to whether the tire has a low pressure and position information of the low-pressure tire. Furthermore, in the output step S500, when only determining whether the tire has the low pressure, the output device <NUM> may output information related to whether the tire has the low pressure.

In the output step S500, the output device <NUM> may output information related to an error of a low tire pressure detection device when at least one wheel speed sensor fails and it is impossible to detect whether at least one tire has a low pressure. That is, the user may check whether the tire has the low pressure and whether the tire low pressure detection device fails based on the information outputted from the output device <NUM>, may repair the vehicle, and may enable safe driving.

In another exemplary embodiment included in the present specification, controllers connected to the wheel speed sensors <NUM> inside the vehicle <NUM> may determine the estimated wheel speed value which may be replaced when there is a failure of the wheel speed sensors <NUM> by use of the method of determining the estimated wheel speed value described above. For example, the function of the system may be limited, but maintained, reducing the risk of causing a dangerous situation to the driver by use of a method of determining the estimated wheel speed value when there is a failure of the plurality of wheel speed sensors <NUM> described above in a controller that performs various roles such as smart cruise control (SCC), electronic control suspension (ECS), and electronic stability control) using wheel speed values.

In another exemplary embodiment included in the present specification, the vehicle <NUM> may reversely use the estimated wheel speed value determination method to determine an estimated number of revolutions per minute of at least one motor based on the wheel speed values measured by the wheel speed sensors <NUM> in the case where there is a failure in RPM information of the at least one motor. For example, the controller configured for a traction control system (TCS) function utilizes the number of revolutions per minute of the motor, and thus when there is the failure in the RPM information of the at least one motor, it is possible to solve a problem of sudden performance degradation of the TCS function due to the failure in the RPM value of the at least one motor by estimating the number of revolutions per minute of the motor based on the wheel speed values measured by the wheel speed sensors <NUM> and using it in the controller.

The above description is merely illustrative of the technical idea included in the present specification, and those skilled in the art to which exemplary embodiments included in the present specification pertains may make various modifications and variations without departing from the essential characteristics of the exemplary embodiments included in the present specification.

Furthermore, the term related to a control device such as "controller", "control unit", "control device" or "control module", etc refers to a hardware device including a memory and a processor configured to execute one or more steps interpreted as an algorithm structure. The memory stores algorithm steps, and the processor executes the algorithm steps to perform one or more processes of a method in accordance with various exemplary embodiments of the present invention. The control device according to exemplary embodiments of the present invention may be implemented through a nonvolatile memory configured to store algorithms for controlling operation of various components of a vehicle or data about software commands for executing the algorithms, and a processor configured to perform operation to be described above using the data stored in the memory. The memory and the processor may be individual chips. Alternatively, the memory and the processor may be integrated in a single chip. The processor may be implemented as one or more processors. The processor may include various logic circuits and operation circuits, may process data according to a program provided from the memory, and may generate a control signal according to the processing result.

The control device may be at least one microprocessor operated by a predetermined program which may include a series of commands for carrying out the method included in the aforementioned various exemplary embodiments of the present invention.

The aforementioned invention can also be embodied as computer readable codes on a computer readable recording medium. The computer readable recording medium is any data storage device that can store data which may be thereafter read by a computer system. Examples of the computer readable recording medium include hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), read-only memory (ROM), random-access memory (RAM), CD-ROMs, magnetic tapes, floppy discs, optical data storage devices, etc and implementation as carrier waves (e.g., transmission over the Internet).

In various exemplary embodiments of the present invention, each operation described above may be performed by a control device, and the control device may be configured by multiple control devices, or an integrated single control device.

In various exemplary embodiments of the present invention, the control device may be implemented in a form of hardware or software, or may be implemented in a combination of hardware and software.

Claim 1:
A vehicle control apparatus (<NUM>) comprising:
an information acquisition device (<NUM>) configured to acquire information related to at least one motor (<NUM>) in a vehicle (<NUM>) and information related to a plurality of wheel speed sensors (<NUM>);
a calculator (<NUM>) configured to determine an estimated wheel speed value according to the information related to the at least one motor (<NUM>) and the information related to the plurality of wheel speed sensors (<NUM>); and
a controller (<NUM>) configured to determine an air pressure state of a tire corresponding to each of the plurality of wheel speed sensors (<NUM>) of the vehicle (<NUM>) according to the estimated wheel speed value and the information related to the plurality of wheel speed sensors (<NUM>),
wherein the controller (<NUM>) is configured to:
estimate the wheel speed value of the defective wheel speed sensor using the information related to the at least one motor (<NUM>) and wheel speed values of wheel speed sensors among the plurality of wheel speed sensors (<NUM>) in which the failure has not occurred when at least one wheel speed sensor among the plurality of wheel speed sensors (<NUM>) fails, and
determine the tire pressure using the estimated wheel speed value.