CN100447533C - Sliding decising device and sliding decising method and vehicle - Google Patents
Sliding decising device and sliding decising method and vehicle Download PDFInfo
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- CN100447533C CN100447533C CNB200410090974XA CN200410090974A CN100447533C CN 100447533 C CN100447533 C CN 100447533C CN B200410090974X A CNB200410090974X A CN B200410090974XA CN 200410090974 A CN200410090974 A CN 200410090974A CN 100447533 C CN100447533 C CN 100447533C
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Abstract
The present invention relates to a sliding deciding device used for preventing the slippage form deciding by mistake. The present invention monitors the detecting errors of wheel speed sensors 34a, 34b by comparing the wheel speed of driving wheels 28a, 28b directly detected by the wheel speed sensors 34a, 34b with the wheel speed of the driving wheels 28a, 28b calculated by the rotary position theta r of a driving shaft 26 (a rotary shaft of a motor 22) detected by high-accurate resolving device used for the driving control of the motor 22. When the speed of two wheels in not within a permissible range and the detecting error of the wheel speed sensors 34a, 34b is large, whether slippage is decided by deciding the deflection of the wheel speed of non-driving wheels 29a, 29b detected by wheel speed sensors 36a, 36b and the wheel speed of the driving wheels 28a, 28b calculated by the resolving device 32 is above a threshold value or not. Thereby, the present invention can prevent the slippage from deciding by mistake even under the condition of large detecting error of the wheel speed sensors 34a, 34b.
Description
Technical field
The present invention relates to a kind of to because of the slide deciding device judged by the slip of final reductor in the vehicle that the power with the driving shaft output of a part of mechanical connection of a plurality of wheels travels at least and slide deciding method and vehicle because of travelling to the power of exporting with the driving shaft of a part of mechanical connection of a plurality of wheels by final reductor at least.
Background technology
In the past, as this slide deciding device, proposed a kind of basis by the rotational speed that is installed in the detected driving wheel of vehicle-wheel speed sensor on the driving wheel be installed in the rotational speed of the detected engaged wheel of vehicle-wheel speed sensor on the engaged wheel (non-driving wheel), whether judged because of the idling products of driving wheel the scheme (for example opening flat 7-112634 communique) of sliding with reference to the spy.In this device, when the rotational speed of driving wheel adds that than the rotational speed of engaged wheel the numerical value of setting α is big, be judged to be slip has taken place.
Summary of the invention
In slide deciding device so,, exist the occasion that misinterpretation slides and takes place because of containing error in the detected rotational speed of vehicle-wheel speed sensor.
A purpose of slide deciding device of the present invention and slide deciding method is to solve these technical matterss, prevents the misinterpretation of slip.In addition, a purpose of vehicle of the present invention is more correctly to detect slip, and by guarantee the driving stability performance of vehicle at its countermeasure.
Slide deciding device of the present invention and slide deciding method and to achieve these goals at least one of vehicle have adopted following technical scheme.
Slide deciding device of the present invention is, a kind of slide deciding device that slip in the vehicle is judged, wherein, described vehicle travels because of the output to the power of driving shaft, described driving shaft passes through a part of mechanical connection of final reductor and a plurality of wheels at least, described slide deciding device has: the driving wheel rotary speed detecting device that detects the rotational speed of the driving wheel in described a plurality of wheel, detect the non-driving wheel rotary speed detecting device of the rotational speed of the non-driving wheel in described a plurality of wheel, detect the driving shaft rotary speed detecting device of the rotational speed of described driving shaft, rotational speed according to described detected driving shaft, calculate the driving wheel rotational speed calculation element of the rotational speed of described driving wheel, with rotational speed according to described detected driving wheel, the rotational speed of the rotational speed of described detected non-driving wheel and the driving wheel of described calculating, judge the slide deciding the unit whether slip that the idle running by described driving wheel causes takes place, wherein, described driving shaft rotary speed detecting device is designed to accuracy of detection and is higher than described driving wheel rotary speed detecting device.
In slide deciding device of the present invention, when detecting the rotational speed of driving wheel by the driving wheel rotary speed detecting device, detect the rotational speed of non-driving wheel by the non-driving wheel rotary speed detecting device, detect at least by final reductor rotational speed with the driving shaft of driving wheel mechanical connection by the driving shaft rotary speed detecting device, and calculate the rotational speed of driving wheel according to the rotational speed of this driving shaft, according to the rotational speed of the driving wheel of the rotational speed of the rotational speed of detected driving wheel and detected non-driving wheel and calculating, judge whether the slip that the idle running because of driving wheel causes takes place.Therefore, even and can not carry out more accurate slide deciding the time by the error of the rotational speed of the detected driving wheel of driving wheel rotary speed detecting device, owing to the rotational speed that can use based on the driving wheel that calculates by the rotational speed of the detected driving shaft of driving shaft rotary speed detecting device, can prevent the misinterpretation of sliding stop more reliably.
In so slide deciding device of the present invention, described driving shaft rotary speed detecting device can be the device of the body speed of vehicle that detects described vehicle.
In slide deciding device of the present invention, described vehicle can be to the vehicle of the motor of described driving shaft outputting power for having, described driving shaft rotary speed detecting device is for the described motor of drive controlling, and double as detects the device for detecting rotational position of the position of rotation of this motor.So, use the driving shaft rotary speed detecting device of the degree of precision of using for drive control motor, can prevent the misinterpretation of sliding stop more reliably.At this, " can to the motor of driving shaft outputting power " include except with power directly to driving shaft output device, that power is exported to driving shaft by mechanical transfer parts such as gear.At this moment, described driving shaft rotary speed detecting device can be resolver (レ ゾ Le バ).
In addition, in slide deciding device of the present invention, described slide deciding unit can be the rotational speed contradiction whether of judging the driving wheel of the rotational speed of described detected driving wheel and described calculating, when being judged to be not contradiction, rotational speed according to the rotational speed of the rotational speed of described detected driving wheel and described detected non-driving wheel is poor, judge whether described slip takes place, when being judged to be contradiction, rotational speed according to the rotational speed of the rotational speed of the driving wheel of described calculating and described detected non-driving wheel is poor, judges the device whether described slip takes place.So, can prevent the misinterpretation of sliding stop more reliably.In addition, described slide deciding unit can for: whether be in the judgement in the permissible range of regulation with the deviation of the rotational speed of the driving wheel of the rotational speed of carrying out described detected driving wheel and described calculating, judge the whether device of contradiction of two rotational speeies.In addition, described slide deciding unit can for: set decision threshold according to the body speed of vehicle of described vehicle, simultaneously, described rotational speed difference is judged to be the device that described slip has taken place when the decision threshold of this setting is above.So, owing to considered to exist with ... the error that contains in the rotational speed difference of body speed of vehicle, can prevent the misinterpretation of sliding stop more reliably.At this moment, described slide deciding unit can be for setting the device of described decision threshold with the high more then big more tendency of body speed of vehicle of described vehicle.
In addition, the present invention is except the form of above-mentioned slide deciding device, can also be the form of slide deciding method, perhaps be judged to be when take place sliding that drive controlling prime mover is with the form of the vehicle that will be limited to the driving force of driving shaft output by this slide deciding device.During as the form of vehicle, motor or generator motor that the output response during prime mover is preferably controlled is fast.
More specifically, vehicle of the present invention is a kind of like this vehicle, this vehicle travels because of the output to the power of driving shaft, wherein said driving shaft passes through a part of mechanical connection of final reductor and a plurality of wheels at least, described vehicle has: can be with driving force prime mover to described driving shaft output, above-described slide deciding device of the present invention, be judged to be when described slip takes place in slide deciding unit by this slide deciding device, control the control device that described prime mover is limited with the driving force of the described driving shaft of subtend output, wherein, described prime mover is a motor.
In addition, slide deciding method of the present invention is the slide deciding method that the slip in the vehicle is judged, described vehicle travels because of the output to the power of driving shaft, described driving shaft passes through a part of mechanical connection of final reductor and a plurality of wheels at least, described slide deciding method has: the step that (a) detects the rotational speed of the rotational speed of the driving wheel in described a plurality of wheel and the non-driving wheel in described a plurality of wheel, (b) detect the step of the rotational speed of described driving shaft, (c) according to the rotational speed of described detected driving shaft, calculate the step of the rotational speed of described driving wheel, (d) according to the rotational speed of described detected driving wheel, the rotational speed of the rotational speed of described detected non-driving wheel and the driving wheel of described calculating, judge the step whether slip that the idle running by described driving wheel causes takes place, wherein, the accuracy of detection of the rotational speed of the driving shaft in the described step (b) is higher than the accuracy of detection of the rotational speed of the driving wheel in the described step (a).
Description of drawings
Fig. 1 is the general configuration figure of structure that the automobile 20 of one embodiment of the invention is shown;
Fig. 2 is the process flow diagram that an example of the drive controlling routine that the electronic control unit 50 by the automobile 20 of embodiment carries out is shown;
Fig. 3 is for illustrating accelerator pedal aperture Acc and body speed of vehicle V, motor requirement torque T m
*The key diagram of an example of chart of relation;
Fig. 4 illustrates the process flow diagram that slide deciding that the electronic control unit 50 by the automobile 20 of embodiment carries out is handled an example of routine;
Fig. 5 is the chart that the relation of body speed of vehicle V and slide deciding threshold value Vref is shown;
Fig. 6 is the general configuration figure of structure that the electric automobile 120 of variation is shown;
Fig. 7 is the general configuration figure of structure that the electric automobile 220 of variation is shown;
Fig. 8 is the general configuration figure of structure that the electric automobile 320 of variation is shown.
Embodiment
Below, the specific embodiment of the present invention is described with embodiment.Fig. 1 is the general configuration figure of structure that the automobile 20 of one embodiment of the invention is shown.The automobile 20 of embodiment is as diagram, vehicle structure as two-wheel drive, have: use from accumulator 24 pass through the electric power that inverter circuit 23 supplies with and power can be passed through equalizing gear 27 and to driving wheel 28a, the motor 22 of driving shaft 26 outputs of 28b mechanical connection, detect driving wheel 28a, the vehicle-wheel speed sensor 34a of the wheel velocity of 28b, 34b, with detect non-driving wheel 29a, the vehicle-wheel speed sensor 36a of the wheel velocity of 29b, 36b (for example, utilize the rotation sensor of electromagnetism adapter (ピ Star ケ ア Star プ) etc.), position of rotation detecting sensor and precision as the position of rotation θ r that detects driving shaft 26 (turning axle of motor 22) are higher than vehicle- wheel speed sensor 34a, 34b, 36a, the electronic control unit 50 of the resolver 32 of 36b and control vehicle integral body.
For example outside surface is pasted with the rotor of permanent magnet (magnet) to motor 22 and the synchronous generator-motor of the PM type of the stator that is wound with polyphase winding constitutes by having.In addition, inverter circuit 23 is made of a plurality of on-off elements that will be transformed to polyphase current from the direct current power of accumulator 24 and supply with to each phase coil of motor 22.According to resolver 32 detected position of rotation θ r or be installed on that not shown current sensor senses on the inverter circuit 23 goes out put on phase current on the motor 22 etc., motor 22 is accepted the drive controlling that electronic control unit 50 carries out.
For the action of the automobile 20 of structure like this, particularly judge whether take place to describe because of the slip due to the idle running of driving wheel 28a, 28b and the action of drive controlling motor 22.The process flow diagram of one example of the running control routine that Fig. 2 carries out for the electronic control unit 50 by the automobile 20 of embodiment.Each special time of this routine (for example every 8msec) carries out repeatedly.
When implementing the running control routine, the CPU52 of electronic control unit 50 at first imports from the accelerator pedal aperture Acc of accelerator pedal position sensor 44 and from the position of rotation θ r of the driving shaft 26 of resolver 32, wheel velocity Vfr, the Vf1 from each wheel of vehicle- wheel speed sensor 34a, 34b, 36a, 36b, the processing (step S100) of Vrr, Vr1 etc.
Then, calculate body speed of vehicle V (step S110), and according to the accelerator pedal aperture Acc of input and the body speed of vehicle V of calculating set should be from motor 22 outputs require torque T m
*Processing (step S120).At this, body speed of vehicle V can calculate according to the position of rotation θ r of input, perhaps can calculate according to wheel velocity Vfr, Vf1, Vrr, the Vr1 of each wheel.In addition, require torque T m
*Setting be to will speed up pedal aperture Acc, body speed of vehicle V and require torque T m in an embodiment
*Relation obtain in advance and as chart memory in ROM54, when providing accelerator pedal aperture Acc and body speed of vehicle V, derive the corresponding torque T m that requires from chart
*Set.This chart one for example shown in Figure 3.
Then, judge that the slide deciding whether slip that the idle running because of driving wheel 28a, 28b causes takes place handles (step S130).This slide deciding is handled by the slide deciding processing routine of Fig. 4 and is undertaken.When carrying out slide deciding processing routine, the CPU52 of electronic control unit 50 is by calculating in the routine of Fig. 2 from vehicle-wheel speed sensor 34a, the driving wheel 28a of 34b input, each wheel velocity Vfr of 28b, the mean value of Vf1, simultaneously, calculating is from vehicle-wheel speed sensor 36a, the non-driving wheel 29a of 36b input, each wheel velocity Vrr of 29b, the mean value of Vr1, calculate driven wheel side wheel velocity Vf and non-driving wheel sidecar wheel speed Vr (step S200) respectively, position of rotation θ r to the driving shaft 26 imported in the routine of Fig. 2 carries out time diffusion, multiply by reduction coefficient K simultaneously and (connects driving wheel 28a, the gear of 28b and the equalizing gear of driving shaft 26 compares etc.) to calculate driven wheel side wheel velocity Vf2 (step S210).
Then, to the driven wheel side wheel velocity Vf that in step S200, calculates and the driven wheel side wheel velocity Vf2 that in step S210, calculates, judge both whether processing (step S220) in the permissible range of regulation of deviation Vf-Vf2.This is handled in the present embodiment, is specially, by judging that deviation Vf-Vf2 is whether by predefined lower limit (for example ,-3.0km/h) and higher limit (in for example ,+1.5km/h) definite scope.Be judged to be deviation Vf-Vf2 when being in the permissible range, be judged as by vehicle-wheel speed sensor 34a, the detected wheel velocity Vfr of 34b, the error that contains among the Vf1 is less, and by will be according to vehicle-wheel speed sensor 34a, the driving wheel wheel velocity Vf of 34b deducts non-driving wheel sidecar wheel speed Vr, calculate the difference in wheel speed Δ V (step S230) that uses in the slide deciding described later, be judged to be deviation Vf-Vf2 when not being in the permissible range, be judged as by vehicle-wheel speed sensor 34a, the detected wheel velocity Vfr of 34b, the error that contains among the Vf1 is bigger, then will deduct non-driving wheel sidecar wheel speed Vr according to the driven wheel side wheel velocity Vf2 of high-precision resolver 32, calculate difference in wheel speed Δ V (step S240).
After calculating difference in wheel speed Δ V, according to the body speed of vehicle V that in the routine of Fig. 2, calculates, set slide deciding threshold value Vref, judge that difference in wheel speed Δ V is whether more than slide deciding threshold value Vref (step S260), be judged to be difference in wheel speed Δ V when slide deciding threshold value Vref is above, be judged to be the slip (step S270) that the idle running by driving wheel 28a, 28b causes has taken place, finish this routine.At this, the setting of slide deciding threshold value Vref is that the relation of body speed of vehicle V and slide deciding threshold value Vref is obtained in advance, and remembers in ROM54 as chart in the present embodiment, when giving body speed of vehicle V, from chart, derive corresponding slide deciding threshold value Vref and set.One example of this chart is illustrated by Fig. 5.In this chart, as shown in Figure 5, under the above situation of regulation body speed of vehicle, just set to such an extent that big more mode is given body speed of vehicle V relation with interim slide deciding threshold value Vref the high more then slide deciding of body speed of vehicle V threshold value Vref.It is high more that this is based on body speed of vehicle V, and then the error that contains among the difference in wheel speed Δ V gives the influence of slide deciding with regard to big more reason.In addition, when the not enough slide deciding threshold value of difference in wheel speed Δ V Vref, be not judged to be and slide, finish this routine.
Return the drive controlling routine of Fig. 2, handle routine by above-mentioned slide deciding and be judged to be (step S140) when slip has taken place, the slip that takes place in order to suppress requires torque T m to what set among the step S120
*Limit (step S150).Require torque T m
*Restriction, for example can be from requiring torque T m
*In deduct setting, also can be from requiring torque T m
*In deduct the degree of slip big more, be that difference in wheel speed Δ V is with respect to the big more just big more numerical value of slide deciding threshold value Vref.In addition, handle routine, be judged to be when not taking place to slide, not to requiring torque T m by above-mentioned slide deciding
*Limit.
Then, carry out drive controlling motor 22, with from motor 22 output with set by step S120 require torque T m
*Or require torque T m by step S150 restriction
*The processing of Shi moment of torsion (step S160) finishes this routine mutually.The drive controlling of motor 22 is in particular by switch controlling signal is carried out to the on-off element output of inverter circuit 23.
In the automobile 20 of embodiment, be to set slide deciding threshold value Vref, but consider, be not limited to body speed of vehicle V from the effect of anti-sliding stop misinterpretation with the high more then big more tendency of body speed of vehicle V, can adopt effect a bit weaker, can be with setting as slide deciding threshold value Vref.
In the automobile 20 of embodiment, be when in judging driving wheel 28a, 28b, slip taking place, restriction is from the moment of torsion of motor 22 output, but also can be except the restriction of moment of torsion like this or replace the restriction of this moment of torsion, the driver is carried out specific warning (for example emergency warning lamp lights or the output of warning tones etc.).
In an embodiment, have and power directly can be illustrated to the automobile 20 of the driving shaft that is connected with driving wheel 28a, 28b motor 22 output, mechanical connection being applicable to, but also applicable to so long as have power can be to the vehicle of prime mover of driving shaft output.For example, applicable to having engine, the generator that is connected with the output shaft of engine, using from the generation power of generator hybrid vehicle motor, so-called tandem type to the driving shaft outputting power.In addition, also applicable to shown in Figure 6, has engine 122, the planet wheel 126 that is connected with engine 122, the motor that generates electricity 124 that is connected with planet wheel 126, same when being connected with planet wheel 126 can with power to driving shaft 28a, the driving shaft output that 28b connects and with the motor 22 of driving shaft mechanical connection, the hybrid vehicle 120 of so-called mechanical distribution type, also applicable to as shown in Figure 7, have motor 224 and can with power to driving shaft output and with the hybrid vehicle 220 of the so-called electrical distribution type of the motor 22 of driving shaft mechanical connection, wherein, motor 224 has the internal rotor 224a that is connected with the output shaft of engine 222 and is installed to and driving wheel 28a, outer rotor 224b on the driving shaft that 28b connects, the relative rotation by the electromagnetic action of internal rotor 224a and outer rotor 224b.Perhaps, also applicable to as shown in Figure 8, has by variator 324 (buncher or the automatic transmission etc. of level is arranged) motor 22 that is connected with driving shaft on being connected to driving wheel 28a, 28b, with the hybrid vehicle 320 of the engine 322 that is connected with the turning axle of motor 22 by clutch coupling CL.At this moment, control when take place sliding in the driving wheel, quick etc. by by the output response in the control, the motor of major control and driving shaft mechanical connection, limit moment of torsion, but also can control other motors or control engine mutually in phase with the control of this motor to driving shaft output.
More than, with embodiment example of the present invention is illustrated, but the present invention is not limited to these embodiment, much less, in the scope that does not break away from main idea of the present invention, can adopt various forms to implement.
Claims (10)
1, a kind of slide deciding device that slip in the vehicle is judged, described vehicle travels because of the output to the power of driving shaft, and by a part of mechanical connection of final reductor and a plurality of wheels, described slide deciding device has described driving shaft at least:
Detect the driving wheel rotary speed detecting device of the rotational speed of the driving wheel in described a plurality of wheel,
Detect the non-driving wheel rotary speed detecting device of the rotational speed of the non-driving wheel in described a plurality of wheel,
Detect the driving shaft rotary speed detecting device of the rotational speed of described driving shaft,
According to the rotational speed of described detected driving shaft, calculate described driving wheel rotational speed driving wheel rotational speed calculation element and
According to the rotational speed of the driving wheel of the rotational speed of the rotational speed of described detected driving wheel, described detected non-driving wheel and described calculating, judge the slide deciding the unit whether slip that the idle running by described driving wheel causes takes place,
It is characterized in that described driving shaft rotary speed detecting device is designed to accuracy of detection and is higher than described driving wheel rotary speed detecting device.
According to the described slide deciding device of claim 1, it is characterized in that 2, described driving shaft rotary speed detecting device is the device that detects the body speed of vehicle of described vehicle.
3, according to the described slide deciding device of claim 1, it is characterized in that, described vehicle is that have can be to the vehicle of the motor of described driving shaft outputting power, described driving shaft rotary speed detecting device is for the described motor of drive controlling, and double as detects the device for detecting rotational position of the position of rotation of this motor.
According to the described slide deciding device of claim 3, it is characterized in that 4, described driving shaft rotary speed detecting device is a resolver.
5, according to each described slide deciding device in the claim 1 to 4, it is characterized in that, described slide deciding unit is: the rotational speed contradiction whether of judging the driving wheel of the rotational speed of described detected driving wheel and described calculating, when being judged to be not contradiction, rotational speed according to the rotational speed of the rotational speed of described detected driving wheel and described detected non-driving wheel is poor, judge whether described slip takes place, when being judged to be contradiction, rotational speed according to the rotational speed of the rotational speed of the driving wheel of described calculating and described detected non-driving wheel is poor, judges the device whether described slip takes place.
6, according to the described slide deciding device of claim 5, it is characterized in that, the moving identifying unit of institute's ski-running is: whether be in the judgement in the permissible range of regulation with the deviation of the rotational speed of the driving wheel of the rotational speed of carrying out described detected driving wheel and described calculating, judge the whether device of contradiction of two rotational speeies.
7, according to the described slide deciding device of claim 5, it is characterized in that described slide deciding unit is: the body speed of vehicle according to described vehicle is set decision threshold, simultaneously, described rotational speed difference is judged to be the device that described slip has taken place when the decision threshold of this setting is above.
According to the described slide deciding device of claim 7, it is characterized in that 8, described slide deciding unit is: the device of setting described decision threshold with the high more then big more tendency of body speed of vehicle of described vehicle.
9, a kind of vehicle, this vehicle travels because of the output to the power of driving shaft, and by a part of mechanical connection of final reductor and a plurality of wheels, described vehicle has described driving shaft at least:
The prime mover that driving force can be exported to described driving shaft,
The described slide deciding device of claim 1,
Be judged to be in slide deciding unit when described slips takes place, control the control device that driving force that described prime mover exports with the described driving shaft of subtend is limited, it is characterized in that described prime mover is a motor by this slide deciding device.
10, a kind of slide deciding method that slip in the vehicle is judged, described vehicle travels because of the output to the power of driving shaft, and by a part of mechanical connection of final reductor and a plurality of wheels, described slide deciding method has described driving shaft at least:
(a) detect the step of the rotational speed of the rotational speed of the driving wheel in described a plurality of wheel and the non-driving wheel in described a plurality of wheel,
(b) detect the step of the rotational speed of described driving shaft,
(c) according to the rotational speed of described detected driving shaft, calculate described driving wheel rotational speed step and
(d) according to the rotational speed of the driving wheel of the rotational speed of the rotational speed of described detected driving wheel, described detected non-driving wheel and described calculating, judge the step whether slip that the idle running by described driving wheel causes takes place,
It is characterized in that the accuracy of detection of the rotational speed of the driving shaft in the described step (b) is higher than the accuracy of detection of the rotational speed of the driving wheel in the described step (a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410090974XA CN100447533C (en) | 2004-11-11 | 2004-11-11 | Sliding decising device and sliding decising method and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410090974XA CN100447533C (en) | 2004-11-11 | 2004-11-11 | Sliding decising device and sliding decising method and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1773219A CN1773219A (en) | 2006-05-17 |
| CN100447533C true CN100447533C (en) | 2008-12-31 |
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|---|---|---|---|
| CNB200410090974XA Expired - Fee Related CN100447533C (en) | 2004-11-11 | 2004-11-11 | Sliding decising device and sliding decising method and vehicle |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102001295A (en) * | 2009-09-02 | 2011-04-06 | 程乃士 | Electric vehicle with continuously variable transmission |
| EP3876068A1 (en) | 2011-04-28 | 2021-09-08 | Positec Power Tools (Suzhou) Co., Ltd | Automatic working system, automatic walking device and steering method thereof |
| CN102880175B (en) * | 2011-07-16 | 2016-02-17 | 苏州宝时得电动工具有限公司 | Automatic running device |
| JP6219326B2 (en) * | 2015-03-02 | 2017-10-25 | 本田技研工業株式会社 | Motorcycle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60121129A (en) * | 1983-12-05 | 1985-06-28 | Nippon Denso Co Ltd | Slip preventing device for vehicle |
| JPH07164927A (en) * | 1993-12-15 | 1995-06-27 | Nissan Motor Co Ltd | Acceleration slippage control device by internal combustion engine output and left and right driving torque |
| CN1148017A (en) * | 1995-07-14 | 1997-04-23 | 日产柴油机车工业株式会社 | Antilock brake device |
| JPH10331676A (en) * | 1997-05-29 | 1998-12-15 | Suzuki Motor Corp | Slip preventive device for vehicle |
| US6334656B1 (en) * | 1996-06-13 | 2002-01-01 | Honda Giken Kogyo Kabushiki Kaisha | Method and system for controlling the yaw moment of a vehicle |
-
2004
- 2004-11-11 CN CNB200410090974XA patent/CN100447533C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60121129A (en) * | 1983-12-05 | 1985-06-28 | Nippon Denso Co Ltd | Slip preventing device for vehicle |
| JPH07164927A (en) * | 1993-12-15 | 1995-06-27 | Nissan Motor Co Ltd | Acceleration slippage control device by internal combustion engine output and left and right driving torque |
| CN1148017A (en) * | 1995-07-14 | 1997-04-23 | 日产柴油机车工业株式会社 | Antilock brake device |
| US6334656B1 (en) * | 1996-06-13 | 2002-01-01 | Honda Giken Kogyo Kabushiki Kaisha | Method and system for controlling the yaw moment of a vehicle |
| JPH10331676A (en) * | 1997-05-29 | 1998-12-15 | Suzuki Motor Corp | Slip preventive device for vehicle |
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| CN1773219A (en) | 2006-05-17 |
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