JPH10129230A - Controller for slip of driving wheel of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a slip of driving wheels while reducing possibilities that an occupant of a vehicle feels a sense of incongruity. SOLUTION: Slip ratios Sl, Sr of right and left driving wheels are calculated (S10 to 30), whether the slip ratios exceed the reference value Sc or not is judged (S40, 50). When the slip ratios exceed the reference value Sc, the height of the driving wheels is decreased and the height of driven wheels is increased (S90). When the slip ratios exceed the reference value even if the height of the driving wheels is decreased to the prescribed value or less and the height of the driven wheels is increased to the prescribed value or more, the height of the driving wheels is increased by the relative high increase ratio so that supporting load of the driving wheels may be higher than supporting load at the time that height has the specified value, and the height of the driven wheels is reduced (S50 to 160) by the relative high decrease ratio.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wheel slip control device for a vehicle such as an automobile, and more particularly, to a drive wheel slip control device utilizing vehicle height adjustment.

[0002]

2. Description of the Related Art In a vehicle such as an automobile, as one of devices for controlling wheel slip using height adjustment, as disclosed in Japanese Patent Application Laid-Open No. 5-338424, for example, a vehicle body and wheels are controlled. In a vehicle equipped with a suspension device that controls the posture of the vehicle by supplying and discharging a pressure fluid to and from a cylinder interposed between the cylinders, the slip ratio of a wheel is determined when an anti-lock brake device or a traction control device is activated. Above this value, wheel slip control devices are known which are configured to increase the road surface reaction force of the wheel by increasing the cylinder pressure by means of a suspension device.

According to such a wheel slip control device, when the slip ratio of a wheel exceeds a predetermined value due to a sudden decrease in the coefficient of friction of the road surface or the like, the road surface reaction force of the wheel is increased, so that the wheel and the road surface are separated from each other. Is increased, the wheel slip can be effectively suppressed as compared with the case where the wheel slip is controlled only by the anti-lock brake device or the traction control device.

[0004]

However, in the conventional wheel slip control device described in the above-mentioned publication, the road surface reaction force of the wheel is increased by increasing the cylinder pressure. If the road surface reaction force is to be sufficiently increased, the vehicle height suddenly increases suddenly, which causes a problem that the occupant of the vehicle feels strange.

The present invention has been made in view of the above-mentioned problems in the conventional wheel slip control device, and a main object of the present invention is to reduce the weight of the vehicle when the driving slip of the driving wheels becomes high. An object of the present invention is to prevent a sudden change in the vehicle height by increasing the share ratio of the driving wheels related to the support, thereby reducing the possibility that the occupant of the vehicle feels strange.

[0006]

SUMMARY OF THE INVENTION According to the present invention, there is provided a vehicle for detecting a drive slip of a drive wheel, and when the drive slip exceeds a reference value, the vehicle height of the drive wheel is increased. A driving wheel slip control device for a vehicle having a vehicle height adjusting means for reducing the driving wheel slip control means, or a means for detecting a driving slip of the driving wheel, and a vehicle height of the driving wheel when the driving slip exceeds a reference value. Vehicle height adjusting means for reducing the vehicle load of the drive wheel when the drive slip exceeds a reference value even if the vehicle height of the drive wheel is reduced to a predetermined value or less. A drive wheel slip control device for a vehicle, wherein the vehicle height of the drive wheel is temporarily increased so as to be higher than the support load when the vehicle height of the drive wheel is the predetermined value. By configuration) It is made.

Generally, the center of gravity of a vehicle such as an automobile is higher than the ground point of each wheel, and the wheels are adjusted relative to the vehicle body in a direction substantially perpendicular to the front-rear direction (longitudinal direction) of the vehicle when adjusting the vehicle height. When the height of each wheel changes, the sharing ratio of each wheel related to the support of the vehicle weight fluctuates, and the supporting load of the wheel with reduced vehicle height is the standard vehicle height of each wheel. In contrast, the support load of the wheel whose vehicle height has been increased is reduced as compared with the case where the vehicle height of each wheel is the standard vehicle height.

According to the first aspect of the present invention, when the drive slip of the drive wheel exceeds the reference value, the height of the drive wheel is reduced to increase the load supported by the drive wheel. Is increased, thereby reducing the slip of the drive wheels. In this case, the reduction of the vehicle height may be performed slowly, so that the occupant of the vehicle does not feel discomfort.

According to the second aspect of the present invention, the slip of the drive wheels is reduced as in the case of the first aspect, and the occupant of the vehicle can not only reduce the possibility of feeling discomfort, but also reduce the possibility of the drive wheels. If the drive slip exceeds the reference value even if the vehicle height of the drive wheel is reduced to a predetermined value or less, the drive wheels of the drive wheel will be higher than the support load when the drive wheel height of the drive wheel is at the predetermined value. The height is temporarily increased, and the reaction force causes the support load of the drive wheels to be higher than the support load when the vehicle height of the drive wheels is at a predetermined value. Slip of the drive wheels is reliably reduced.

[0010]

According to a preferred aspect of the present invention, in the configuration of the first aspect, the vehicle height adjusting means reduces the vehicle height of the drive wheel when the drive slip exceeds a reference value. In addition, it is configured to increase the vehicle height of the driven wheel (preferred mode 1).

[0011] Similarly, according to one preferred aspect of the present invention, in the structure of the second aspect, when the driving slip exceeds the reference value, the vehicle height adjusting means reduces the vehicle height of the driving wheel and drives the driven wheel. (Preferred mode 2).

According to a preferred aspect of the present invention, in the configuration according to the second aspect, the vehicle height adjusting means sets the drive slip to the reference value even if the vehicle height of the drive wheel is reduced to a predetermined value or less. When it exceeds, the vehicle load of the drive wheel is temporarily increased so that the support load of the drive wheel becomes higher than the support load when the vehicle height of the drive wheel is a predetermined value, and the support load of the driven wheel is increased to the vehicle height. Is configured to temporarily reduce the vehicle height of the driven wheels so as to be higher than the support load when the vehicle is at the standard vehicle height (preferred mode 3).

[0013] Similarly, according to a preferred embodiment of the present invention, in the configuration of the preferred embodiment 2, the vehicle height adjusting means reduces the vehicle height of the drive wheel to a predetermined value or less and reduces the vehicle height of the driven wheel. When the drive slip exceeds the reference value even when the drive slip is increased to the predetermined value or more, the vehicle height of the drive wheel is adjusted so that the support load of the drive wheel becomes higher than the support load when the vehicle height of the drive wheel is the reduction predetermined value. In addition to the temporary increase, the vehicle height of the driven wheel is temporarily reduced so that the support load of the driven wheel becomes higher than the support load when the vehicle height is the predetermined increase value (preferred mode 4). ).

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a schematic diagram showing one embodiment of a drive wheel slip control device according to the present invention applied to a rear wheel drive vehicle.

In FIG. 1, reference numerals 10fl and 10fr denote a front left wheel and a front right wheel which are driven wheels, respectively, 10rl and 1fr.
0rr indicates a left rear wheel and a right rear wheel which are driving wheels, respectively. At positions corresponding to these wheels, shock absorbers 12fl, 1fl, 1
2fr, 12rl, and 12rr are provided. The shock absorbers 12fl to 12rr are pivotally supported at the upper end by the vehicle body 14,
The lower ends are pivotally attached to suspension arms 16fl to 16rr.

The internal pressures of the shock absorbers 12fl to 12rr are controlled by a hydraulic control device 20 through supply and discharge conduits 18fl to 18rr, respectively. Is connected to a reservoir 28 by a supply conduit 24 and a discharge conduit 26 to which an accumulator not shown is connected. The hydraulic control device 20 may have a known configuration including a control valve such as a pressure control valve or a flow control valve corresponding to each wheel.
Each control valve selectively connects the corresponding supply / discharge conduit 18 to the supply conduit 24 or the discharge conduit 26 to supply / discharge oil to / from each shock absorber, thereby increasing / decreasing the internal pressure of each shock absorber. Wheel height Hi (i = f
l, fr, rl, rr) are controlled to values between the maximum vehicle height Himax and the minimum vehicle height Himin.

The hydraulic control device 20 is controlled by an electric control device 30.
May actually be constituted by a microcomputer having one well-known configuration including a CPU, a ROM, a RAM, and an input / output device, and a drive circuit. A signal indicating the wheel speed Vwi of each wheel is provided to an input / output device of the electric control device 30 through an A / D converter (not shown) from a wheel speed sensor 32i provided for each wheel. Is entered,
A signal indicating the vehicle height Hi of each wheel is input from the vehicle height sensor 34i via an A / D converter and a low-pass filter (not shown).

Thus, shock absorbers 12 fl to 12 fl
The rr, the hydraulic control device 20, the hydraulic pump 22, the electric control device 20 and the like cooperate with each other to constitute a vehicle height adjusting means for individually increasing or decreasing the vehicle height of the left and right front wheels and the left and right rear wheels.

Next, a main routine of the drive wheel slip control in the illustrated embodiment will be described with reference to a general flowchart shown in FIG.

First, at step 10, the wheel speed Vwi
Is read, and in step 20, the average wheel speed Vwaf of the left and right front wheels is calculated according to the following equation (1).

[Expression 1] Vwaf = (Vwfr + Vwfl) / 2

In step 30, the drive slip ratios Sl and Sr of the left rear wheel and the right rear wheel are calculated in accordance with the following formulas 2 and 3, respectively. In step 40, the control slip ratio is calculated in accordance with the following formula 4 The rate S is calculated. Equation 4 means that the largest value among Sl, Sr and 0 is selected.

[0023]

## EQU2 ## Sl = (Vwrl-Vwaf) / Vwaf

Sr = (Vwrr-Vwaf) / Vwaf

S = MAX (Sl, Sr, 0)

In step 50, it is determined whether or not the control slip ratio S exceeds a reference value Sc (positive constant). If a negative determination is made, in step 60, the counter counts. When the value j is reset to 0 and the hydraulic control device 20 is controlled, Hoi
(Positive constant) is set as the standard vehicle height of each wheel, the vehicle height feedback control is performed so that the vehicle height of each wheel becomes the vehicle height of the standard vehicle height range Hoi-α to Hoi + α (α is a constant), and a positive determination is made. If so, the count value j is incremented by one in step 70.

In step 80, it is determined whether or not the count value j is a reference value Nj (a positive constant integer), that is, whether or not the affirmative determination in step 50 has been performed Nj times in succession. When the negative determination is made, in step 90, the A control is performed according to the flowchart shown in FIG. 3, that is, the vehicle height of the left and right front wheels is slowly increased, and the vehicle height of the left and right rear wheels is slowly reduced. When the control for reducing the count is performed and the determination is affirmative, the count value j is reset to 0 in step 100.

In step 110, the absolute value of the deviation between the drive slip ratios Sl and Sr of the left and right rear wheels is set to a reference value So.
It is determined whether or not the value is equal to or more than (positive constant). If a negative determination is made, B control is performed in step 120 according to the flowchart shown in FIG. 4, that is, the shock absorbers 12rl and 12rr for the left and right rear wheels. Is increased at the maximum possible pressure increase rate, and the pressure in the left and right front wheel shock absorbers 12fl and 12fr is reduced at the maximum possible pressure decrease rate. Proceed to 130.

In step 130, it is determined whether or not the drive slip ratio Sl of the left rear wheel exceeds the drive slip ratio Sr of the right rear wheel. If a negative determination is made, the process proceeds to step 140. And C control according to the flowchart shown in FIG. 5, that is, the shock absorber 1 for the right rear wheel.
The pressure in 2rr is increased at the maximum possible pressure increase rate, the pressure in the left front wheel shock absorber 12fl is reduced at the maximum possible pressure decrease rate, and the vehicle height of the left rear wheel and the right front wheel is standard. When the control for adjusting to the vehicle height range is performed and the affirmative determination is made, the D control is performed in step 160 according to the flowchart shown in FIG. 6, that is, the maximum pressure in the shock absorber 12rl of the left rear wheel is possible. Pressure increase rate at
Control is performed such that the pressure in the shock absorber 12fr for the right front wheel is reduced at the maximum possible pressure reduction rate, and the vehicle height of the right rear wheel and the left front wheel is adjusted to the standard vehicle height range. Step 9
After completing steps 0, 120, 140, and 160, the process returns to step 50.

Next, the subroutines of the A control to the D control will be described with reference to the flowcharts shown in FIGS.

First, in step 91 of the flowchart of the A control shown in FIG. 3, the control valves of the left and right front wheels of the hydraulic control device 20 are controlled with a small duty ratio, so that the vehicle height Hfl of the left and right front wheels is controlled. And Hfr is slowly increased, the front wheel height increasing control is started, and in step 92, the control valves of the left and right rear wheels of the hydraulic control device 20 are controlled with a small duty ratio, so that the right and left rear wheels are controlled. Rear wheel vehicle height reduction control in which the vehicle heights Hrl and Hrr are slowly reduced is started.

In step 93, a signal indicating the vehicle height Hi of each wheel is read. In step 94, the average vehicle height Hf of the left and right front wheels and the left and right rear wheels are calculated according to the following equations (5) and (6). Is calculated.

[0031]

Hf = (Hfl + Hfr) / 2

Hr = (Hrl + Hrr) / 2

In step 95, the average vehicle height Hf of the left and right front wheels is set to a high vehicle height reference value Hfa (the maximum vehicle height of the front wheels Hflmax =
It is determined whether or not the value is equal to or greater than Hfrmax (a positive constant close to Hfrmax). If an affirmative determination is made, the vehicle height increase control of the left and right front wheels is stopped in step 96, and a negative determination is made. If so, go to step 97.

In step 97, the average vehicle height Hr of the left and right rear wheels is set to the low vehicle height reference value Hrb (the minimum vehicle height Hrlmi of the left and right rear wheels).
It is determined whether or not n is equal to or greater than Hrrmin and equal to or less than the positive constant), and when a positive determination is made, the vehicle height reduction control of the left and right rear wheels is stopped in step 98, When a negative determination is made, the process returns to step 93.

In step 121 of the flowchart of the B control shown in FIG. 4, the control valves of the left and right rear wheels of the hydraulic control device 20 are controlled at the maximum duty ratio, so that the left and right rear wheels are controlled. Shock absorber 12rl and 1
Pressure increase control for increasing the pressure within 2rr at the maximum possible pressure increase rate is started. In step 122, the control valves of the left and right front wheels of the hydraulic control device 20 are controlled at the maximum duty ratio. The shock absorber 1 for the left and right front wheels
Pressure reduction control is started in which the pressure within 2fl and 12fr is reduced at the maximum possible pressure reduction rate.

In step 123, the vehicle height Hi of each wheel
Is read, and in step 124, the average vehicle height Hf of the left and right front wheels is calculated according to the above equations (5) and (6).
And the average vehicle height Hr of the left and right rear wheels is calculated.

In step 125, the average vehicle height Hr of the left and right rear wheels is set to a high vehicle height reference value Hra (the maximum vehicle height Hrl of the left and right rear wheels).
max = a positive constant smaller than and close to Hrrmax)
It is determined whether or not this is the case. When the affirmative determination is made, the pressure increase control of the left and right rear wheels is stopped in step 126, and when the negative determination is made, step 127 is performed.
Proceed to.

In step 127, the average vehicle height Hf of the left and right front wheels is set to the low vehicle height reference value Hfb (the minimum vehicle height Hfl of the left and right front wheels).
min = a positive constant greater than and close to Hfrmin)
It is determined whether or not the following conditions are satisfied. If an affirmative determination is made, the pressure reduction control of the left and right front wheels is stopped in step 128, and if a negative determination is made, step 123 is performed.
Return to

Further, in step 141 of the flow chart of the C control shown in FIG. 5, the control valve of the right rear wheel of the hydraulic control device 20 is controlled at the maximum duty ratio, so that the right rear wheel is controlled. The pressure increase control in which the pressure in the shock absorber 12rr is increased at the maximum possible pressure increase rate is started. In step 142, the control valve of the left front wheel of the hydraulic control device 20 operates at the maximum duty ratio. By being controlled, pressure reduction control in which the pressure in the shock absorber 12fl of the left front wheel is reduced at the maximum possible pressure reduction rate is started,
In step 143, the vehicle heights of the left rear wheel and the right front wheel are respectively set to the standard vehicle height ranges Horl-α to Horl + α and Hofr-α.
The vehicle height feedback control is performed so as to be ＨHofl + α.

In step 144, the vehicle height Hi of each wheel
Is read, and in step 145, the vehicle height Hrr of the right rear wheel is a positive constant smaller than and close to the high vehicle height reference value Hrc (the maximum vehicle height Hrlmax = Hrrmax of the left and right rear wheels). It is determined whether or not the above is the case. If an affirmative determination is made, a vehicle height reduction control for reducing the vehicle height of the right rear wheel relatively slowly is started in step 146, and a negative determination is made. If so, the process proceeds to step 147.

In step 147, the vehicle height H of the left front wheel is set.
fl is the low vehicle height reference value Hfd (the minimum vehicle height Hflmin of the left and right front wheels =
It is determined whether or not the value is greater than or equal to Hfrmin (a positive constant close to Hfrmin). If the determination is affirmative, the vehicle height of the front left wheel is increased relatively slowly in step 148. When the high increase control is started and a negative determination is made, the process returns to step 144.

In step 149, the vehicle height Hi of each wheel
Is read, and in step 150, the vehicle height Hrr of the right rear wheel is set to the standard vehicle height Horr as a reference value.
It is determined whether or not the following conditions are satisfied. If an affirmative determination is made, the vehicle height reduction control of the right rear wheel is stopped in step 151. If a negative determination is made, step 15 is executed.
Proceed to 2. In step 152, the left front wheel height Hfl
Is determined to be equal to or greater than the standard vehicle height Hofl. If an affirmative determination is made, the vehicle height increase control for the left front wheel is stopped in step 153, and if a negative determination is made, step 149 is performed. Return to

As shown in FIG. 6, steps 161 to 173 of the D control are executed in the same manner as steps 141 to 153 of the C control shown in FIG. 5, except that the left and right are reversed. .

Thus, in the illustrated embodiment, when the vehicle is properly accelerated and the slip ratios Sl and Sr of the left and right rear wheels are both equal to or smaller than the reference value Sc,
A negative determination is made in step 50 and step 60
The vehicle height of each wheel is controlled to the standard vehicle height range. Therefore, in this case, no substantial adjustment of the vehicle height is performed for the left and right rear wheels.

On the other hand, if the acceleration of the vehicle becomes excessive and the slip ratio Sl or Sr of the right and left rear wheels exceeds the reference value Sc, an affirmative determination is made in step 50 and a negative determination is made in step 80. As a result, the above-described A control is executed in step 90, whereby the vehicle height of the front wheels is gradually increased and the vehicle height of the rear wheels is gradually reduced, whereby the vehicle body is slowly controlled to the rearward leaning posture. You.

Therefore, according to the illustrated embodiment, when the driving slip of the driving wheel becomes excessive, the frictional force between the driving wheel and the road surface is increased by increasing the supporting load of the driving wheel. The drive slip of the wheels can be reduced to achieve good traction, and the vehicle height can be increased or decreased slowly, so that the occupant of the vehicle can be prevented from feeling uncomfortable.

Also, according to the illustrated embodiment, step 9
Even if the average vehicle height Hr of the rear wheels is reduced below the predetermined reduction value Hra by the A control of 0, and the average vehicle height Hf of the front wheels is increased above the predetermined increase value Hfa, the left and right rear wheels are left and right. If the slip ratio is higher than the reference value Sc, the pressure in the shock absorber of the drive wheel is increased at the maximum possible pressure increase ratio in steps 100 to 160, and the driven wheel is increased. The pressure in the shock absorber is reduced at the maximum possible pressure reduction rate, and therefore the driving load on the driving wheels can be increased as compared with the case of the A control to effectively reduce the driving slip of the driving wheels. .

In this case, since steps 110 to 160 are not executed without executing step 90, in other words, steps 120, 140,
When the B to D controls 160 are executed, the A control is always executed prior to the execution, and the vehicle height of the drive wheels is increased in a state reduced by the A control. ~ Compared to when D control is performed,
In B to D control, the pressure increase rate of the pressure in the shock absorber of the drive wheel and the pressure decrease rate of the pressure in the shock absorber of the driven wheel can be set to be high. Thus, the drive slip of the drive wheels can be reduced more reliably.

In particular, according to the illustrated embodiment, step 9
In the A control at 0, the vehicle height of the rear wheels is gradually reduced and the vehicle height of the front wheels is gradually increased. Therefore, compared to the case where only the reduction of the vehicle height of the rear wheels is performed, The change in vehicle height at the position of the occupant of the vehicle can be reduced, and therefore, the occupant of the vehicle can also be less likely to feel discomfort. The reduction in the vehicle height of the rear wheels required to achieve this can be reduced, so that the distance between the vehicle body near the drive wheels and the road surface can be prevented from becoming too small.

According to the illustrated embodiment, B control, C control,
In the D control, since the pressure in the shock absorber of the drive wheel is increased and the pressure in the shock absorber of the driven wheel is reduced, only the pressure in the shock absorber of the drive wheel is increased. As compared with the case, the change in the vehicle height at the position of the occupant of the vehicle can be reduced, and the rolling resistance of the driven wheel can be reduced to further improve the acceleration performance and the starting performance of the vehicle.

Further, according to the illustrated embodiment, when the difference between the drive slip ratios Sl and Sr of the left and right rear wheels is large, an affirmative determination is made in step 110 and a step 13 is performed.
0 to 160 are executed, whereby the pressure in the shock absorber of the rear wheel on the side with the higher drive slip ratio is increased,
On the other hand, since the pressure in the shock absorber of the driven wheel on the diagonal line is reduced, steps 110, 130-
As compared with the case where the step 160 is not performed, even in a situation where the drive slip ratio of one drive wheel is high, the slip of the drive wheel can be effectively reduced.

Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to the above-described embodiments, and various other embodiments may be included within the scope of the present invention. It will be clear to those skilled in the art that is possible.

For example, in the above embodiment, the drive slip ratios Sl and Sr of the left and right rear wheels are calculated using the average wheel speed Vwaf of the left and right front wheels as a reference wheel speed. The rate may be calculated based on the ground speed of the vehicle, or the drive slip rates of the left rear wheel and the right rear wheel may be calculated using the wheel speeds of the left front wheel and the right front wheel as reference wheel speeds.

In the above embodiment, the vehicle is a rear-wheel drive vehicle. However, the present invention may be applied to a front-wheel drive vehicle. Rates are calculated, and in step 9
The front wheels and the rear wheels in the A, D, and 0, 120, 140, and 160 control are interchanged.

In the above-described embodiment, if a negative determination is made in step 50, the vehicle height of each wheel is reduced in step 60 even if the A control in step 90 has been executed until then. Although the vehicle is controlled to the standard vehicle height range, once the A control in step 90 is executed, the body posture of the A control is maintained for a predetermined time even if a negative determination is made in step 50. It may be modified as follows.

Further, the drive wheel slip control device of the present invention
As shown by the phantom line in FIG. 1, when the drive slip ratio of the drive wheel exceeds the reference value, the engine control device 36
May be applied to a vehicle in which a traction control device that reduces the output of the engine 38 according to the drive slip ratio is incorporated.

[0056]

As is apparent from the above description, according to the first aspect of the present invention, when the drive slip of the drive wheel exceeds the reference value, the height of the drive wheel is reduced, so that the drive wheel is reduced. Increases the frictional force between the drive wheels and the road surface, thereby reducing the slip of the drive wheels and increasing the traction, and reducing the vehicle height slowly. Therefore, it is possible to prevent the occupant of the vehicle from feeling uncomfortable.

According to the second aspect of the present invention, it is possible not only to reduce the slip of the driving wheels but also to reduce the possibility that the occupant of the vehicle feels strange as in the case of the first aspect. If the drive slip exceeds the reference value even when the vehicle height of the drive wheel is reduced to a predetermined value or less, the drive load of the drive wheel is set to be higher than the support load when the drive wheel height is the predetermined value. Is temporarily increased, and the reaction force causes the support load of the drive wheels to be higher than the support load when the vehicle height of the drive wheels is at a predetermined value. As a result, the slip of the drive wheels can be reduced more reliably, and the vehicle height of the drive wheels is increased from the reduced state, so that the vehicle height of the drive wheels is increased without being reduced. To increase the height of the vehicle, thereby increasing the supporting load of the drive wheels. It is possible to increase the large amount.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing one embodiment of a drive wheel slip control device according to the present invention applied to a rear wheel drive vehicle.

FIG. 2 is a general flowchart showing a main routine of drive wheel slip control in the embodiment shown in FIG.

FIG. 3 is a flowchart showing a subroutine of A control in step 90 shown in FIG. 1;

FIG. 4 is a flowchart showing a subroutine of B control in step 120 shown in FIG. 1;

FIG. 5 is a flowchart showing a subroutine of C control in step 140 shown in FIG. 1;

FIG. 6 is a flowchart showing a subroutine of D control in step 160 shown in FIG. 1;

[Explanation of symbols]

 12fl to 12rr: shock absorber 20: hydraulic control device 26: electric control device 32i: wheel speed sensor 34i: vehicle height sensor

Claims (2)

[Claims] Means for detecting drive slip of a drive wheel;
A drive wheel slip control device for a vehicle, comprising: vehicle height adjusting means for reducing the height of the drive wheel when the drive slip exceeds a reference value. 2. A means for detecting a drive slip of a drive wheel;
Vehicle height adjusting means for reducing the vehicle height of the driving wheel when the driving slip exceeds a reference value, wherein the vehicle height adjusting means performs the driving even if the vehicle height of the driving wheel is reduced to a predetermined value or less. When the slip exceeds a reference value, temporarily increasing the vehicle height of the drive wheel so that the support load of the drive wheel becomes higher than the support load when the vehicle height of the drive wheel is the predetermined value. Driving wheel slip control device for vehicles.