JPS59140154A - Skid control apparatus - Google Patents

Abstract

PURPOSE:To prevent brake oil pressure from change-over to the pressure reduction side due to variation of road condition so as to permit satisfactory skid control by determining control signals according to reference speed, acceleration and deceleration obtained from acceleration and deceleration of wheels and supposed speed of a car body. CONSTITUTION:When actuators 13, 14 and 15 for supplying brake oil pressure to respective brake units of left and right front wheels and rear wheels are controlled by a control means 20, acceleration and deceleration values of the respective wheels are calculated from the outputs of respective speed detecting means 5, 7 and 9 of said wheels in a wheel acceleration and deceleration calculating means 21 of the control means 20. Also, in a supposed car body speed calculating means 22, the supposed car body speed is calculated on the basis of the speed of respective wheels and acceleration and deceleration value of respective wheels to prepare reference speed values by a reference speed preparing means 23 from the calculated value. And control signals to respective actuators 13-15 are prepared on the basis of the outputs of said respective means 21, 23 and preset reference acceleration and deceleration values.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a skid control device for a vehicle, particularly an electronic control system that alternately switches brake hydraulic pressure between a pressure increase side (normal state) and a pressure decrease side based on the wheel rotation speed during sudden braking. The system's skid control system uses d3 to adjust the rotational speed due to changes in road surface conditions, etc. (to prevent brake oil pressure from being properly adjusted in the event of disturbances in August), This relates to a rad control device.

When a running vehicle suddenly applies the brakes, the wheel speed normally decreases rapidly, but since there is a limit to the friction between the road surface and the tie A7, the wheels become stuck. This leads to the two-one-knit phenomenon.

In order to prevent this skid phenomenon, recently a detection means that detects the rotational speed of the middle wheel and based on the detected wheel speed,
i Determine the acceleration/deceleration value of 14 wheels and the virtual vehicle speed, and use those data to increase or increase the hydraulic pressure that is released in order to achieve a slip ratio with high friction during braking. (
In order to reduce the pressure, an electronically controlled skid control device is being developed, which is equipped with a control means that outputs a control 1211 signal indicating that the brake oil pressure is being reduced.

However, in such a skid control device, road surface fluctuations are undesirably detected by the above-mentioned detection means through the tie 7, and the detection signal including the fluctuation component, that is, the wheel speed signal, is generated, and as a result, the control means It has been found that the arithmetic processing for good player hydraulic pressure control is maintained as follows, and that this impedes improvement in braking performance.

That is, as shown in FIG. 1 as an explanatory diagram, Q a
When the shift begins, the wheel speed Vw is indicated by the solid line in the diagram.
After drawing a curve as shown in the figure, it is desirable for braking to continue to draw a curve as shown by the broken line C' in the figure and attenuate. However, if a change in the road surface is picked up near point A in the figure, the brake oil pressure will change to the pressure increase side or the pressure decrease side. As a result, the wheel speed Vw deviates greatly from the broken line curve, making it impossible to perform good hydraulic pressure control. Here brake oil 1
When switching to 1, it is smaller than OG.
The i speed GS is used as a reference level and the wheel speed V
The wheel acceleration/deceleration VW found from w is the reference acceleration/deceleration Qs
When it becomes smaller than the standard acceleration/deceleration Qs, the brake oil pressure is switched from the pressure increase side, that is, the normal state, to the pressure reduction side, and then when the middle wheel acceleration/deceleration VW becomes 6 times higher than the standard acceleration/deceleration Qs, the brake oil pressure is switched on/off to return to the pressure increase side. This is done through control.

The purpose of the present invention is to solve the above-mentioned problems by setting a reference speed (even if the wheel speed signal includes a fluctuation component, the control means will not malfunction due to the fluctuation), and ensuring that the brake fluid is in good condition. The purpose is to maintain 1F control and improve braking performance.

Therefore, the control device of the present invention includes a detection means for detecting the rotational speed of the wheels of the vehicle, and a brake hydraulic pressure applied to the middle wheels of the vehicle.
Upon receiving the wheel speed signal from the adjusting actuator and the above-mentioned detection means, outputting a control signal to the above-mentioned actuator.
The above play 1-1111 IJ
In the skid control device, which is switched to the alternating current mode by 9 times to the decompression side, the first stage of the control 0IIT has the following functions: (a) Based on the wheel speed signal, η Ru Shinwa acceleration/deceleration performance Q Ding Dan and (b)”
- a virtual vehicle speed calculation means for calculating a virtual speed value of the vehicle body based on the wheel speed signal and the wheel acceleration/deceleration value obtained by the middle wheel acceleration/deceleration calculation means; (c) the virtual vehicle speed calculation means; (d) a reference speed creation means for creating a reference speed value for noise countermeasures against the wheel speed signal based on the virtual vehicle speed value determined by the above; a determination means that determines the control signal based on the reference acceleration/deceleration value determined; Its distinctive feature is that it is designed to hold one eyebrow.

The present invention will be explained below with reference to FIGS. 2 to 4.

FIG. 2 shows the configuration of an embodiment of a skid control device according to the present invention.

83 in Fig. 2, 1, 2, 3 and 4 are the right front wheel, the left front wheel, the right rear wheel, and the rear wheels respectively, and 5 is arranged on the right front wheel shaft 6 to detect the rotational speed of the right front wheel 1. 7 is disposed on the left front wheel shaft 8 and detects the rotational speed of the left front wheel 2. h = front wheel speed detection means; 9 is disposed on the differential I sensor > Represents a rear wheel speed detection means for detecting the average rotational speed of .4, and each detection means 5ζ7 or 9 is an electromagnetic pickup method that is a combination of a rotor and an electromagnetic pickup, or a reed switch method. A wheel speed signal having a frequency proportional to the rotational energization of the wheel 1.2 or 3.4 is generated.

11 to 19 are the main components of the brake system, 11 is the brake pedal, 12 is the mask cylinder, 13 is the right front wheel brake hydraulic pressure adjustment actuator,
'14 is the left front wheel brake hydraulic pressure adjustment actuator, 1
5 is the rear wheel brake oil pressure adjustment actuator, 16 is the right front wheel brake oil pressure adjustment actuator.
ζSb14 Front wheel oil conduit, 1, which guides brake oil with regulated pressure to the wheel cylinder (not shown) of the right front wheel 1.
7 is left front wheel play 1 - oil J1 adjustment actuator 1
Apply brake fluid with pressure adjusted to 4 to 20 to the left front wheel.
Oil conduit for left front wheel leading to wheel cylinder (not shown), 18
19 is a rear wheel oil conduit that guides the brake oil with the pressure adjusted by the rear wheel play = 1 oil adjustment actico 1-Y 15 to each wheel cylinder of the rear wheel 3.4 (shown in the figure). 19 is necessary. 20 is a brake detecting means provided in accordance with the present invention, for example, a known control means including two lamp switches. The wheel acceleration/deceleration calculation means 21 includes a wheel acceleration/deceleration calculation means 21, a virtual vehicle speed calculation means 22, a reference speed generation means 23, and a determination means 24.The wheel acceleration/deceleration calculation means 21 receives the right front wheel speed signal V from the right front wheel speed detection means 5.
FP, left front wheel speed signal V from left front wheel speed detection means 7
Rear wheel speed signal Vg from FL and rear wheel speed detection means 9
Then, the right front wheel acceleration/deceleration value V, the left front wheel acceleration/deceleration value TS, and the rear wheel acceleration/deceleration value VR are calculated, respectively. The virtual vehicle speed calculation means 22 is based on the right front wheel speed low VFR, the right front wheel speed signal VFL, the rear wheel speed signal VR, the right front wheel acceleration/deceleration value VFR, the left front wheel acceleration/deceleration value FL, and the rear wheel acceleration/deceleration value VR. The virtual vehicle speed, that is, the virtual vehicle body 12
Calculate the degree value v6. Basic ((speed creation means 23
+, iC reference speed value VSN based on the virtual vehicle speed value VB calculated by the virtual vehicle speed controller 22
Create. Here, the reference speed field VSN is the braking detection means 1
Low level l+ci when not braking due to the signal from 9
V91L, while high level value VS is applied to brake 114.
I am made to take NH. The determining means 24 inputs the intermediate acceleration/deceleration calculating means 21 to the calculated right front wheel acceleration/deceleration value V, the left front wheel acceleration/deceleration value PL, the rear wheel acceleration 1lli, and the rear wheel speed 1lri. Based on the reference speed value Vs) I created by the reference speed creation means 23 and the preset or semi-acceleration speed Qs, the right front wheel play-1 oil pressure adjustment actuator 13 and the left front wheel brake ) - Oil Ii - Control No. 18 CFI for the adjustment actuator 1/11 and the rear wheel brake hydraulic pressure adjustment actuator 15! , outputs the control signal CFL and the control low level Ck.

Next, read the flowchart in Figure 3. Reference i1. r
The processing by the control unit I:Q20 will be explained.

When the ignition -1-- is turned on, the control means 20 starts executing the process, and first executes step 100 to perform initial settings for the subsequent process.

Next, run Sfutsubu 101, set the right front wheel speed to low VFR,
Based on the left front axle transmission signal VFL and the rear wheel speed signal VR, the right front wheel speed value Vw mark, the left front wheel speed value Vv mark, and the rear wheel a degree value VWR are calculated, respectively.

Next, step 10.2 is executed, and the front left wheel speed value VwpR1 is calculated in step 101 above.
Based on pL and rear wheel speed value VwR, the right front wheel acceleration/deceleration value VwPg, the left front wheel acceleration/deceleration value VwFL, and the rear wheel acceleration/deceleration ("1 WR" are calculated.

Next, step 103 is executed, and the right front wheel play 11JVwvg, the left front wheel speed value V scream and the rear wheel speed value VW section, which were shut out in step 101, and Step 1 in F
Right front wheel acceleration/deceleration value Vwvp calculated in 02, left 1)
A virtual vehicle speed value V8 is calculated based on the a-wheel acceleration/deceleration value VWFL and the rear wheel acceleration/deceleration value vwR.

Next, step 104 is executed to create a first reference speed value Vs having a relatively high level value from the virtual vehicle speed bQ Vδ calculated in step 103 above.

Next, step 105 is executed to create a second base semi-velocity value VGNL having a relatively low level value from the virtual vehicle speed value Vs calculated in step 103 above.

Next, step 106 is executed, and it is determined whether or not the vehicle is braking based on the signal 11 from the braking detection means 19.

If there is no braking n,'IC, then step 107 is executed and the second reference speed (ll
Use IVsNL to make it look like a monkey. - 10,000 braking ■, - If there is (Y), then execute step 108 and base rf
Speed value V5 - Doji and the above first reference speed 1ii + VsN
Allows you to use H.

Next, execute the step 109 and proceed to step 101 (
The extracted right front wheel speed value Vmg, left front wheel speed value V and rear wheel speed value VwR, and the step 107 or 1-
A comparison is made between the reference speed value VSN determined in the slap 108 and the reference speed value VSN.

If the wheel speed value Vw is equal to or greater than the intermediate speed value Vs+I, then execute Smooth 110 and set the pressure adjustment pressure to 3.14 or 15. .

In other words, the brake hydraulic pressure is changed to the normal pressure increasing side. and return to step 101 described above.

If the wheel speed value VW of -1 is less than the base 4 (speed value vsN), then step 111 is executed, and whether or not the wheel acceleration/deceleration value VW is smaller than the reference acceleration/deceleration 1ift G s J: judge.

If the wheel acceleration/deceleration value VW is equal to or greater than the base I'1 (acceleration/deceleration value Qs), then step 110 is performed as in the case where the wheel speed value VW is greater than or equal to the reference speed value VSN as described above.
Execute and return the brake hydraulic pressure to the pressure increasing side of the normal state.

Then, the process returns to step 101 described above.

On the other hand, if there is a wheel acceleration/deceleration value t4"c, then step 112 is executed,
Brake oil pressure adjustment actuator 13.14 or 15
Turn on. That is, the brake oil pressure is set to the reduced pressure side. Then, return to step 101 where you have improved.

As is clear from the flowchart 11-1- configured in this way, in order for the brake oil pressure to switch from the normal state, that is, from the increasing pressure side to the pressure decreasing side, the wheel speed value VW must be set to the reference speed value V.
Two conditions 1q are required to be satisfied: the wheel acceleration/deceleration value is less than sN and the wheel acceleration/deceleration value W is equal to the reference acceleration/deceleration value Qs. In other words, as shown in FIG. Speed value VW is reference speed value VSN
The wheel acceleration/deceleration value V W is not yet irI'l.
When becomes the standard acceleration/deceleration ratio Gs final vortex, play 1-
The oil pressure switches to the pressure reducing side.

According to this embodiment, as shown in FIG. 4, the wheel speed VW includes a fluctuation component a during braking, and the middle wheel acceleration/deceleration I good value VW is less than the standard acceleration/deceleration electric value GS. Even if the wheel speed values V to V are based on the standard
Since the reference speed value VsNh) is higher than the reference speed value VsNh), the play 4 oil pressure is still in the normal state, that is, on the increase 11 side, and as a result, the wheel speed VW is l1ri. Shinoto 41, which is relatively similar to the curve
This makes it possible to achieve good air conditioning control.

As described below, the present invention includes a detection means for detecting the rotational speed of both wheels, an actuator for adjusting the brake hydraulic pressure applied to the wheels in response to an electric signal, and a In the skid control device, the brake oil pressure is switched between an increasing pressure side and a pressure decreasing side by receiving a wheel speed signal and outputting a control signal to the controller. (a) a wheel acceleration/deceleration calculation means for calculating the acceleration/deceleration electric value of the wheel based on the wheel speed signal; and (b) a wheel speed signal and a vehicle transport IJ11 deceleration. virtual vehicle speed calculation means for calculating a virtual speed value of the vehicle body based on the wheel acceleration/deceleration values obtained by the calculation means; (d) the wheel acceleration/deceleration (t) based on the base 41-speed 1ffj and a predetermined reference acceleration/deceleration value;
a determining means for determining the control signal; and a determination means for maintaining the brake oil pressure on the pressure increasing side when 1 of the wheel speed signal is greater than the reference speed value (!+1 = 1J).

Therefore, according to the present invention, it is possible to prevent the play A oil pressure from undesirably switching to the reduced pressure side due to changes in road surface conditions, etc., and it is possible to perform good skid control.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram for explaining conventional skid control.
FIG. 2 is a block diagram of an embodiment of the skid control device according to the present invention, and FIG. 3 shows an example of processing by the control means. An explanatory diagram for explaining each is shown. 1.2.3.4...Wheel 5), 7.9...Detection means 13.1/I, 15...Akuji'ator 20...Control means 21...Wheel acceleration/deceleration valve Means 22...Virtual medium body speed performance means 23...! aQ! , speed creation means 24...judgment means cost 1M! Person Ben Sokudo Ashi Yl Tsutomu Haka 1 person

Claims (1)

[Scope of Claims] Detecting means for detecting the rotational speed of the middle wheel of the vehicle; control means for receiving a wheel speed signal from the detecting means and outputting a control signal to the actuator; In the skid control device that is alternately switched, the control means includes (a) a vehicle acceleration/deceleration calculating means for calculating acceleration/deceleration values of the wheels recorded in -(-) based on the wheel speed signal; and (b) (c) virtual vehicle speed calculation means for calculating a virtual speed value of the vehicle body based on the wheel speed signal and the wheel acceleration/deceleration value obtained by the wheel acceleration/deceleration driver; and (c) virtual vehicle speed calculation means. (d) a reference speed creation means for creating a noisier standard speed value for the wheel speed signal based on the virtual vehicle speed value; (d) the wheel 7J11 deceleration value, the reference speed value and the predetermined and a determination means for determining the control signal based on a reference acceleration/deceleration value, and configured to maintain the brake oil pressure on the pressure increasing side when the value of the wheel speed signal is greater than the reference speed value. Features Dozuru Skin 1 ~ Control device.