Description: Complete Specification:
The following specification describes and ascertains the nature of this invention and the manner in which it is to be performed:

Field of the invention:
[0001] The present invention relates to a controller to determine type of terrain during vehicle travel and a method thereof.

Background of the invention:
[0002] In the conventional art, the general concepts for surface detection of vehicles such as motorcycles work when the vehicle is either decelerating or accelerating, or through image processing which involves extra cost of camera and extra mountings. There exists manual switching of riding modes in vehicles but is dependent on the skill of the driver and sometimes the vehicle has to be stopped and right mode has to be selected. Various riding modes are provided on a motorcycle for efficient and safe riding. A rider takes extra effort and also forgets to switch the modes on a motorcycle for example off-road mode and road mode when riding normally.

[0003] A patent literature DE102011075297 discloses a method for selecting operating mode of motor car, involves producing signals for indicating driver of vehicle to adjust selected operating mode or to trigger automatic alteration of operating modes. The method involves making a determination to check whether a value of a driving dynamic state variable exceeds a given range of values during executing operating modes. A value of an operational parameter is computed for the modes, where the parameter is a fuel consumption value, a brake wear value or a stress value. One of the modes is selected based on results of the checking and computing steps. Signals are produced for indicating a driver of a vehicle to adjust the selected mode or to trigger automatic alteration of the modes. The operating modes are checked as engine states or clutch states, and the driving dynamic state variable is selected from a group consisting of velocity, speed change, lateral acceleration, lateral acceleration change, a greed rate or greed rate change. An independent claim is also included for a control device.

Brief description of the accompanying drawings:
[0004] An embodiment of the disclosure is described with reference to the following accompanying drawing,
[0005] Fig. 1 illustrates a block diagram of a controller to determine type of terrain during vehicle travel, according to an embodiment of the present invention;
[0006] Fig. 2 illustrates a graphs of input signal comprising noise parameters, according to an embodiment of the present invention, and
[0007] Fig. 3 illustrates a method for determining the type of terrain during a vehicle travel, according to the present invention.

Detailed description of the embodiments:
[0008] Fig. 1 illustrates a block diagram of a controller to determine type of terrain during vehicle travel, according to an embodiment of the present invention. The vehicle 100 is either an Internal Combustion Engine based or an Electric Vehicle 100 (EV) or a hybrid vehicle 100. The vehicle 100 comprises at least one wheel speed sensor 102, 104 such as a front wheel speed sensor 102, and a rear wheel speed sensor 104. The at least one wheel speed sensor 102, 104 are connected to the controller 110 either directly or through Controller Area Network (CAN) bus. The controller 110 is connected to other sensors and parts of the vehicle 100 as known in the art. The controller 110, configured to receive input signal from at least one wheel speed sensor 102, 104 of the vehicle 100, characterized in that, determine noise parameter in the input signal, and apply preset weightage to and based on values of the noise parameter and determine type of terrain 112.

[0009] In accordance to an embodiment of the present invention, the noise parameters comprises a magnitude 212 of the input signal and a time interval 214 of an event in the input signal. The event corresponds to value of the input signal away from a baseline 216 from a start time till an end time in either direction of the baseline 216. The noise parameters and the baseline 216 are explained with reference to Fig. 2.

[0010] According to an embodiment of the present invention, the controller 110 is configured to change a ride/drive mode 108 of the vehicle 100 to suit the determined type of terrain 112. The type of terrain 112 is selected from a group comprising but not limited to dry asphalt, wet asphalt, wet basalt, rural rough road, off-road surface, wet ceramic, paveway, cobalt stones and the like. The dry asphalt signifies normal tar roads on highways. The wet asphalt signifies asphalt in wet condition. The wet basalt signifies road surface or terrain made of concrete blocks(interlocks) in wet condition. The rural rough road signifies mixture of gravel fixed to the ground and loose gravel. The off-road signifies mixture of hard mud and loose mud. The wet ceramic signifies terrain/surface with very low coefficient of friction as that of terrain tiles in wet condition. The paveway is made of solid gravel blocks fixed to the ground with some distance between them. The cobalt stones corresponds to cobalt pebble stones fixed to the ground at a tiny distance between them. The type of terrains mentioned above are just for indication, other type of terrains are equally detectable which contains ice/snow or water etc.

[0011] In accordance to the present invention, the controller 110 comprises but not limited to a memory element 106 such as Random Access Memory (RAM) and/or Read Only Memory (ROM), Analog-to-Digital Converter (ADC) and a Digital-to-Analog Convertor (DAC), clocks, timers and at least one processor (capable of implementing machine learning) connected with each other and to other components through communication bus channels. The memory element 106 is pre-stored with logics or instructions or programs or applications or weightages, and threshold values, reference values and conditions which is/are accessed by the processor as per the defined routines. The internal components of the controller 110 are not explained for being state of the art, and the same must not be understood in a limiting manner. The controller 110 may also comprise communication units to communicate with the cloud server through wireless or wired means such as Global System for Mobile Communications (GSM), 3G, 4G, 5G, Wi-Fi, Bluetooth, Ethernet, serial networks, and the like.

[0012] In accordance to an embodiment of the present invention, the controller 110 is at least one of an internal control unit and an external control unit. The internal control unit is at least one of a Engine Control Unit (ECU), a Vehicle Control Unit (VCU), a Motor Control Unit (MCU) and Battery Control Unit (BCU). The external control unit is a control unit externally interfaced with the controller 110 through wired or wireless means such as Universal Serial Bus (USB), type-C, Bluetooth™, Wi-Fi etc. The external control unit is selectable from at least one of a smartphone, a portable computer, a wearable device, a cloud, and the like. In an embodiment, the internal control unit determines the noise parameters. In an alternative embodiment, the external control unit interfaced with the internal control unit determines the noise parameters. In yet another alternative, both the internal control unit and the external control unit together shares the processing load and determines the noise parameter.

[0013] According to the present invention, the controller 110 is implementable for vehicle 100 comprising two-wheelers such as scooters, motorcycles, three-wheelers such as auto-rickshaws, a four wheeler such as cars, and multi-wheel vehicles 100.

[0014] Fig. 2 illustrates a graphs of input signal comprising noise parameters, according to an embodiment of the present invention. A first graph 200 represents a first vehicle speed signal 202 and a raw first wheel speed signal 204. The first vehicle speed signal 202 is derived using the raw first wheel speed signal 204. A baseline 216 is shown. Similarly, a second graph 210 represents a second vehicle speed signal 206 and a raw second wheel speed signal 208. The second vehicle speed signal is derived using the raw second wheel speed signal 208. The first graph 200 is for dry asphalt surface/terrain 112 and the second graph 210 is for wet basalt surface/terrain 112. Only two surfaces are discussed for simplicity in understanding and the invention must not be restricted to the same. The present invention is applicable for different types of surfaces/terrains 112.

[0015] In the first graph 200, the first wheel speed signal 204 is received by the controller 110, which then analyses the noise pattern by determining the noise parameters, which are magnitude 212 and time interval 214. The magnitude 212 is stored in the memory element 106. The vertical lines A bi-directional arrow in between two vertical dashed line represents start time and end time of the event. The event can be seen in multiple numbers in both sides of the baseline 216. Similarly, the second wheel speed signal 208 is received by the controller 110, which then stores the noise parameters comprising the magnitude 212 and time interval 214. Based on the preset weightage for magnitude 212 and time interval 214, the controller 110 calculates a score and accordingly determines the type of surface during vehicle 100 travel.

[0016] According to the present invention, a working of the controller 110 is envisaged. The working of the controller 110 is explained using the Fig. 1 and Fig. 2. Consider a rider riding a motorcycle as the vehicle 100. The controller 110 receives the raw wheel speed signals 102, 104 in real-time and determines the noise parameters. The controller 110 applies the preset weightage to the noise parameters and calculates the score. The score is then compared to a table and corresponding terrain 112 is selected as the determined type of terrain 112 on which the vehicle 100 is travelling. Alternatively, the controller 110 calculates score for different types of terrain 112, and after a specific time, the type of terrain 112 with highest score is determined to the current terrain 112. Consider, the controller 110 detects the dry asphalt surface as shown in first graph 200. Once the type of terrain 112 is determined, the controller 110 activates the ride mode 108 which suits the determined type of terrain 112. In an embodiment, if a particular type of ride mode 108 is not present in the vehicle 100, the controller 110 selects the ride mode 108 which is closest to support the current terrain 112. The activation of ride/drive mode 108 comprises controlling the torque through the existing prime mover such as engine, motor or both and/or braking through Anti-Lock Braking Systems (ABS), Electronic Stability System (ESS), and the like.

[0017] Fig. 3 illustrates a method for determining type of terrain during vehicle travel, according to the present invention. The method although explained independently, but complements the controller 110 and supports the same. The method comprises multiple steps, of which a step 302 comprises receiving input signal from at least one wheel speed sensor 102, 104 of the vehicle 100. The method is characterized by a step 304 which comprises determining noise parameter in the input signal. A step 306 comprises determining type of terrain 112 by applying the preset weightage to and based on the values of the noise parameter. The noise parameter comprises the magnitude 212 of the input signal and time interval 214 of the event in the input signal. The event corresponds to value of the input signal away from the baseline 216 from the start time till the end time in either direction of the baseline 216. The method also comprises a step 308 comprising changing the drive mode 108 of the vehicle 100 to suit the determined type of terrain 112. The type of terrain 112 is selected from a group comprising but not limited to dry asphalt, wet asphalt, wet basalt, rural rough road, off-road surface, wet ceramic, paveway, cobalt stones and the like

[0018] The controller 110 and method are designed based on the fact that on different surfaces/terrains 112, the wheel speed sensors 102, 104 behave differently since every surface has different texture and pattern. Every surface has its own reinforcement and topology. The acceleration pattern of a rolling wheel on a dry asphalt surface spends less time away from baseline 216 and at low magnitudes 212 compared to a wheel on wet basalt surfaces. The fluctuations between the positives and negatives of the baseline 216 happens quickly in wet basalt compared to dry asphalt surface. Similar behavior is observed or applicable on/for other surfaces. The controller 110 and method gives weightage to the magnitudes 212 and time intervals 214 and accordingly differentiates between the surfaces. Ultimately, the texture of different surfaces is recorded by the sensors. Once the surface/terrain 112 has been detected, the controller 110 automatically switches the drive mode 108 accordingly to use the surface friction coefficient efficiently and safely.

[0019] According to the present invention, the controller 110 and method provides automatic switching of riding/driving modes 108 based on surface/terrain 112 detection. The controller 110 and method comprises monitoring the wheel speed behavior which helps in determining the type of the surface on which the vehicle 100 is ridden/driven. When the vehicle 100 is ridden/driven on different surfaces, the unfiltered data from the wheel speed sensor 102, 104 is captured and the behavior of signals (acceleration/deceleration) are analyzed by the controller 110 to differentiate between the topology of the surface. Once the surface/terrain 112 is determined, the controller 110 automatically switches the riding/driving mode 108 to that particular mode without any extra effort from the rider/driver to ride/drive efficiently and comfortably.

[0020] It should be understood that embodiments explained in the description above are only illustrative and do not limit the scope of this invention. Many such embodiments and other modifications and changes in the embodiment explained in the description are envisaged. The scope of the invention is only limited by the scope of the claims.
 
, Claims: We claim:
1. A controller (110) to determine type of terrain (112) during vehicle (100) travel, said controller (110) configured to:
receive input signal from at least one wheel speed sensor (102, 104) of said vehicle (100), characterized in that
determine noise parameter in said input signal, and
apply preset weightage to and based on values of said noise parameter and determine type of terrain (112).

2. The controller (110) as claimed in claim 1, wherein said noise parameter comprises a magnitude (212) of said input signal and time interval (214) of an event in said input signal.

3. The controller (110) as claimed in claim 2, wherein said event corresponds to value of said input signal away from a baseline (216) from a start time till an end time in either direction of said baseline (216).

4. The controller (110) as claimed in claim 1, wherein a drive mode (108) of said vehicle (100) is changed to suit said determined type of terrain (112).

5. The controller (110) as claimed in claim 1, wherein said type of terrain (112) is selected from a group comprising dry asphalt, wet asphalt, wet basalt, rural rough road, off-road surface, wet ceramic, paveway, cobalt stones and the like.

6. A method for determining type of terrain (112) during vehicle (100) travel, said method comprising the steps of:
receiving input signal from at least one wheel speed sensor (102, 104) of said vehicle (100), characterized by
determining noise parameter in said input signal, and
applying preset weightage to based on values of said noise parameter and determining type of terrain (112).

7. The method as claimed in claim 6, wherein said noise parameter comprises a magnitude (212) of said input signal and time interval (214) of an event in said input signal.

8. The method as claimed in claim 7, wherein said event corresponds to value of said input signal away from a baseline (216) from a start time till an end time in either direction of said baseline (216).

9. The method as claimed in claim 6, comprises changing a drive mode (108) of said vehicle (100) to suit said determined type of terrain (112).

10. The method as claimed in claim 6, wherein said type of terrain (112) is selected from a group comprising dry asphalt, wet asphalt, wet basalt, rural rough road, off-road surface, wet ceramic, paveway, cobalt stones and the like.