GB2062786A

GB2062786A - Anti-skid braking systems

Info

Publication number: GB2062786A
Application number: GB8032577A
Authority: GB
Original assignee: Nissan Motor Co Ltd
Current assignee: Nissan Motor Co Ltd
Priority date: 1979-10-09
Filing date: 1980-10-09
Publication date: 1981-05-28
Also published as: DE3038212C2; GB2062786B; DE3038212A1

Description

SPECIFICATION Brake Control System for an Automotive Vehicle Background of the Invention The present invention relates generally to a brake control system for an automotive vehicle to prevent the vehicle wheels from skidding upon the vehicle being applied rapid brake. More specifically, the invention relates to a brake control system for controlling deceleration rate of the vehicle wheel rotation relative to vehicle speed and corresponding to friction between the wheel tread and road surface.

Upon braking of a moving vehicle and the like such as automotive vehicle, the vehicle wheel is apt to be locked to cause skidding. This will necessarily create unstable condition in the controlled motion of the vehicle. Wheel lock-up may cause such a loss in directional stability as to result in an uncontrolled skidding while at the same time the presence of locked wheels generally increases the distance required to stop due to reduced coefficient of friction while skidding under most road conditions; if skidding can be prevented, the vehicle can usually be stopped more safely in a shorter distance.

Therefore, various brake control systems for preventing the wheel from locking and thereby the vehicle from skidding. General and typical construction of such kind of brake control system has been described in United State Patent No.

3,897, 114, entitled to"Skid Control System"to Ronald S. Scharlork. The U. S. Patent discloses a brake control system for controlling the braking of a wheeled vehicle to prevent skidding in which relief of the braking force applied to the vehicle wheel, which system is effectively responsive to a critical slip signal ; the signal is generated in response to a sensed difference between a hypothetical vehicle deceleration as approximated by a decreasing ramp signal and the vehicle wheel speed. The comparison is made on a differential basis to provide an output signal which is utilized in controlling an output gate. The braking force is reapplied upon the sensing of a positive wheel acceleration signal and a change in the sign of the rate of change of wheel acceleration from a positive to a negative value. During this period, the skid signal is ineffective to control the brake force.

Generally, it is known that, when the vehicle is rapidly braked, a maximum braking effect can be obtained by providing about 15% of slipping rate for the vehicle wheel with respect to the road surface, since the friction between the wheel tread and road surface becomes maximum at that time. Accordingly, upon rapid brake operation, it is preferable to control wheel r. p. m. relative to the vehicle speed so that it becomes about 15% lower than the vehicle speed. Namely, the brake control system operates to control deceleration rate of the wheel r. p. m. with respect to the vehicle speed so that the wheel r. p. m. is not excessively decelerated relative to the vehicle speed so as not to cause locking of the wheels and thus slipping on the road surface. In practice, when the wheel r. p. m. is decelerated about 15% lower than the vehicle speed, a target wheel r. p. m. is determined based on the wheel r. p. m. and a predetermined friction coefficient. Corresponding to determined target wheel r. p. m. the deceleration rate of the wheel r. p. m. is controlled to approach the actual wheel r. p. m. to the target wheel r. p. m. Here, since the deceleration rate of the vehicle depends on friction between the wheel tread and the road surface, the target wheel r. p. m. is determined based on the vehicle speed and the friction coefficient.

In actual operation, the braking fluid applied to the brake device of each wheel such as wheel cylinder is relieved in response to decelerating of the wheel r. p. m. lower than the target wheel r. p. m. When the wheel r. p. m. is recovered to exceed the target wheel r. p. m. , the braking fluid is applied to the brake device of each wheel, again.

By repeating this operation, the vehicle can be gradually decelerated without causing locking of the wheel and therefore without casing skid of the wheel on the road surface.

In the conventional system, the friction coefficient between the wheel tread and the load surface is of constant value which is determined based on general load surface condition.

However, the friction coefficient of the wheel tread and the load surface is varied depending on wearing of the wheel tread and the load surface condition. If the actual friction coefficient is considerably varied from that of predetermined, the target wheel r. p. m. determined based on the predetermined friction coefficient may not correspond to the actual vehicle speed.

For effectively and satisfactorily skid controlling the vehicle brake system, it is required to determine the most suitable deceleration ratio corresponding to friction between the wheel tread and the road surface. As stated above, the friction between the wheel tread and the road surface becomes maximum at the wheel decelerating ratio approximate 15% lower than the vehicle speed. Therefore, by determining the peak of friction in each cycle of skid control operation and by controlling the ratio of applying and releasing the brake fluid to the wheel cylinder corresponding to detected peak of the friction, the vehicle braking operation can be effected most effectively and satisfactorily.

In case of the actual friction coefficient being larger than that of predetermined, the wheel r. p. m. is rather rapidly decelerated to reach a predetermined r. p. m. after relatively short period from braking operation. At the predetermined wheel r. p. m. , the target wheel r. p. m. is determined and brake control system becomes operative. By entering into controlled state at relatively short period after applying brake, the target wheel r. p. m. is determined based on relatively high vehicle speed. Therefore, the braking distance is rather longer than that

required. To the contrary, if the friction coefficient is smaller than that of normal, it takes relatively long period to decelerate the wheel r. p. m. to that of predetermined. In this result, the target wheel r. p. m. is determined remarkably lower than the vehicle speed to cause possible locking of the wheel.

Summary of the Invention Therefore, it is an object of the present invention to provide a brake control system for an automotive vehicle having a target wheel r. p. m. determining means for determining target wheel r. p. m. of each cycle of skid control operation, which target wheel r. p. m. is variable corresponding to friction between the wheel tread and the road surface.

Another and more specific object of the present invention is to provide a brake control system having a means for detecting peak of friction in each skid control operation and a means for determining target wheel r. p. m. based on the wheel r. p. m. at the time detecting of the peaks of the friction in current and immediate preceding cycle of skid control operation.

To accomplish the above-mentioned and other objects of the present invention, there is provided a brake control system having a means for determining wheel r. p. m. , a means for determining deceleration ratio of the wheel r. p. m. and generating a signal when the determined deceleration ratio becomes equal to or more than a predetermined value, a means for determining target wheel r. p. m. based on the wheel r. p. m. and being operative responsive to detecting of the peak of friction coefficient, and a control means for controlling applying and releasing of pressure fluid to wheel cylinders for skid controlling the wheel deceleration ratio. The target wheel r. p. m. determines ratio of deceleration of wheel r. p. m. based on the difference of wheel r. p. m. between the time of detecting the peak of friction coefficient and the time of detecting immediate preceding peak and the length of period between detecting of the peaks and thereby determining the target wheel r. p. m. by subtracting a deceleration value obtained based on the determined ratio of deceleration from the wheel r. p. m. determined at the time of detecting of the pea of friction coefficient.

Brief Description of the Drawings The present invention will become more fully understood from detailed description which will be given herebelow and from accompanying drawings of the preferred embodiments of the present invention, which, however, should not taken as limitative of the present invention but for elucidation and explanation only.

In the drawings: Fig. 1 is a schematic block diagram of a general circuit structure of brake control system according to the present invention, which shows fundamental and generic concept of the present invention; Fig. 2 is a graph showing varying of wheel r. p. m. and vehicle speed decelerated and controlled by the brake control system of the present invention, and showing varying of friction coefficient between the wheel tread and the road surface; Fig. 3 is a graph showing relationship of the wheel r. p. m. as decelerated and the target r. p. m.; Fig. 4 is a graph showing varying of vehicle speed and wheel r. p. m. decelerated and controlled by the conventional brake control system; Fig. 5 is block diagrams of a preferred target wheel r. p. m. determining means of the brake control system of Fig. 1; Fig. 6 is a chart of signals generated in the target wheel r. p. m. determining means of Fig. 5; Fig. 7 is a circuit diagrams of the target wheel r. p. m. thereof determining means of Fig. 5, showing detailed circuit structure; Fig. 8 is a chart of signals generated in the target wheel r. p. m. determining means of Fig. 7, which is illustrated corresponding to the chart of Fig. 6; Fig. 9 is a block diagram of another embodiment of the target wheel r. p. m. determining means according to the present invention; Fig. 10 is a schematic block diagram of a still another embodiment of a brake control system according to the present invention, in which the system of Fig. 1 is modified to simplify the construction thereof; Fig. 11 is a graph showing a varying of value of reference signals generated in the brake control system of Fig. 10 ; and Fig. 12 is a block diagram of a further embodiment of a brake control system according to the present invention, in which the system of Fig. 10 is further modified and simplified.

Description of the Preferred Embodiment According to the present invention, the preferred embodiment of a brake control system controls application and release of pressure fluid to a wheel cylinder for preventing the wheel from locking and thereby for preventing the vehicle from skiding. In the brake system according to the present invention, timing of releasing the fluid pressure and thereby releasing of brake is determined based on wheel r. p. m. determined by a wheel r. p. m. sensor and a target wheel r. p. m. determined by a target wheel r. p. m. determining. means. A skid control means in the brake control system generates a control signal for actuating a means for relieving pressure fluid in the wheel cylinder when the wheel r. p. m. is decelerated to equal to or less than the target wheel r. p. m. For. this purpose, the skid control means comprises a comparator circuit including differential circuit means for comparing the wheel r. p. m. with the target wheel r. p. m. during the brake portion of the cycle for stopping the vehicle and driving an output signal when the wheel r. p. m. bears a preselected relationship to the target wheel r. p. m.

In the preferred embodiment of the present invention, the target wheel r. p. m. is varied corresponding to varying of friction coefficient between the wheel tread and the road surface.

The brake control system further comprises a charge storage device which is supplied with electric energy when the wheel r. p. m. bears a preselected relationship to the charge on the storage device. The preselected relationship will occur when the wheel r. p. m. exceeds the charge on the storage device. The skid control system further includes a circuit for discharging the storage device when the wheel r. p. m. is less than the charge on the storage device. The discharge device causes the discharge of the storage device in accordance with a preselected deceleration relationship to approximate the deceleration of the vehicle. A means for giving greater effect to the target wheel r. p. m. as compared to the wheel r. p. m. to create a differential between the both r. p. m. The differential creating circuit means includes a fixed voltage drop circuit in the target wheel r. p. m. signal generating circuit and a fixed voltage drop circuit in the wheel r. p. m. signal generating circuit. The fixed voltage drop of the target wheel r. p. m. determining circuit exceeds that of the wheel r. p. m. sensor. A means for generating an output signal when the wheel r. p. m. falls a preselected magnitude below the target wheel r. p. m. to create critical slip signal. An output circuit controls the application of brake pressure. The critical slip signal provides an output signal to release brake pressure when the critical value is obtained and slip circuit disabling means is connected in responsive to relationship to said output circuit. The disabling means operates to disable the slip circuit when the output signal is generated. The critical slip signal causes a brake relieving condition which relieves brake pressure on the vehicle wheels. The skid control system further includes pressure applying circuit means including first signal generating means responsive to said wheel r. p. m. for generating a rate of change of wheel acceleration signal and second circuit means for generating a wheel acceleration signal. An output gate means correlating the rate of change of acceleration signal and the wheel acceleration signal to control the reapplication of brake pressure to the wheels.

Referring now to the drawings, particularly to Fig. 1, there is illustrated a fundamental and logical construction of a preferred embodiment of a brake control system according to the present invention. As apparent from Fig. 1, there has been briefly described the whole construction of the brake control system according to the present invention and some elements cocsisting the present system have described merely in summarized constructions and functions, since they have been well know to the person skilled in the art. Therefore, it will appreciated that herein after described in detail is merely a characterizing part of the brake control system achieving advantages and objects sought in the present invention.

Now, referring to Fig. 1, the reference numeral 20 denotes a skid control means for controlling application and release of brake pressure to a wheel cylinder of a driven wheel. The skid control means 20 of the driven wheel is to provide control parameters for skid control operation of the driving wheels. It will be advisable that, since the inertia of the driven wheel is substantially smaller than that of the driving wheel, response characteristics of the deceleration of the driven wheel r. p. m. with respect to brake pressure and friction between the wheel tread and road surface is rather high that that of the driving wheel.

Therefore by using the result of skid control operation of driven wheel is beneficial for skid controlling the driving wheel. The wheel r. p. m. of the driven shaft is determined by a wheel r. p. m. determining means 40 provided to the wheel shaft and generating alternative current of sensor signal Vw having frequency corresponding to the wheel shaft rotation speed. The sensor signal Vw is differentiated by a wheel r. p. m. decelerating state detecting means 30 to obtain deceleration ratio dV/dt. The obtained deleceration ratio dV/dt is compared with a predetermined value Vset indicative of desired deceleration ratio. When the determined deceleration ratio dVw'dt becomes equal to or more that the predetermined value V t, t detecting means 30 generates a signal eb. The generated signal eb is fed to a target wheel r. p. m. determining means 50. The target wheel r. p. m. determining means 50 calculates target wheel r. p. m. based on wheel r. p. m. signal Vw and generates a target r. p. m. signal Vwo. The target r. p. m. signal Vwo is fed to a known control means 60 for controlling the wheel cylinders.

Referring to Fig. 2, there is illustrated a graph showing target wheel r. p. m. determining operation effected by the means of Fig. 1. In Fig.

2, the operation is shown in a form of graph.

Assuming the brake is applied at time to, the wheel r. p. m. will be varied as shown by curve Vw.

The determined wheel r. p. m. represented by the sensor signal Vw is fed to the decelerating state detector 30. In the decelerating state detector 30, the sensor signal is differentiated to obtain the deceleration ratio dVdt. When the determined deceleration ratio becomes equal to or more than the predetermined value V t, t decelerating state detector 30 generates a signal eb at times t1, t,, .....

It will be advisable that generally, the peak F mex of friction coefficient will be detected twice in one cycle of skid control, i. e. at points slipping ratio being about 15% upon decelerating and accelerating.

Responsive to the signal eb, the target wheel r. p. m. determining means 50 determines wheel

r. p. m. V, V, Va, V, Vg..... at each time t,, t :' tg, t, tg..... Based on the determined wheel r. p. m., the target wheel r. p. m. determining means 50 determines target wheel r. p. m. Vwo within a period t2 to t3 so that the determined target wheel r. p. m. Vo has linearity with respect to inclination

in the period t1 to t2. Likewise, the target wheel r. p. m. Vwo in the period tg to t4 is determined linear to the inclination of the period t2 to t4. By repeating this operation the target wheel r. p. m.

Vwo is varied corresponding to inclination-Dv/Dt of immediate preceding period. With respect to the target wheel r. p. m. Vw, in this period is initially determined.

Varying of the target wheel r. p. m. V,, o can be seen from Fig. 3. Fig. 3 is compared with Fig. 4 in which is illustrated varying of wheel r. p. m. and vehicle speed according to conventional brake control system. As seen from Fig. 4, the target wheel r. p. m. Vwo is determined based on fixed inclination corresponding to fixed value of the friction coefficient. Therefore, in the conventional brake control system, the target wheel r. p. m. vwo cannot always correspond to varying of wheel r. p. m. and the vehicle speed. Contrary to this, according to the present invention, since the target wheel r. p. m. Vwo is determined corresponds to the varying friction coefficient, the target wheel r. p. m. can satisfactorily correspond to varying of wheel r. p. m. and the vehicle speed.

Based on the determined target wheel r. p. m., either one of driving wheel and driven wheel or both are skid controlled to reduce the difference of actual and target r. p. m.

Referring now to Fig. 5, there is illustrated detail of the target wheel r. p. m. determining means 50 of Fig. 1. The structure of the circuit shown in Fig. 5 will be described hereafter with explanation of the functions thereof with reference to time chart of Fig. 6.

In Fig. 5, a signal Vw indicative of the wheel r. p. m. determined the wheel r. p. m. determining means 40 is inputted to the target wheel r. p. m. determining means 50 through an input terminal 502. The signal Vw is inputted to a decelerating state detector 30 which differentiates the signal value and distinguishes as decelerating condition when the result of differentiation becomes minus.

The decelerating state detector 30 generates a decelerating signal eb responsive to detecting of decelerating condition. The decelerating signal eb and a timer signal et which is generated in response to a signal generated in response to actuating of an actuator for releasing the brake pressure and is inputted through an input terminal 504, are fed to a clock signal generator 508. The clock generator 508 generates clock signals S, to 58 to be fed as leads 510 through 515 illustrated in broken lines in Fig. 5. The clock signal 51 is fed to sample-hold circuits 518 and 520 which are switched between sampling mode and holding mode by the clock signal 51, Both of the samplehold circuits 518 and 520 are alternatively operated to hold the data indicative of wheel r. p. m. Vw inputted from the wheel r. p. m. determining means 30. For example, in Fig. 5, the sample-hold circuit 518 is outputting an output Vw2 indicative of wheel r. p. m. Vw2 corresponding to inputted wheel r. p. m. Vw. At the same time, the sample-hold circuit 520 outputs a predetermined value output Vw1 indicative of sampled wheel r. p. m. The outputs Vw and Vw1 are fed to a pole changer 522 including a pair of switches 5W1 and S,, 2. The pole changer 522 changes polarities of inputs to a subtracting circuit 524. For example, in Fig. 5, in the shown positions of the switches 5W1 and 5withe subtracting circuit 524 calculate Vw,-V. The switches 5W1 and S are turned to alternate positions in response to clock signal S2.

In this switch position, the subtracting circuit 524 calculates V-V. It will be advisable that the subtracts the wheel r. p. m. Vw from immediate preceding wheel r. p. m. Vw to obtain Dy.

On the other hand, the clock signal 52 generated by the clock signal generator 508 is fed to a timer 526. In response to the clock signal S3. the timer outputs a signal proportional to time interval Dt of occurrence of the signal eb. The outputs from the subtracting circuit 524 and timer 526 are inputted to a divider 528. The divider calculates Dy to obtain inclination of the

target whee ! r. p. m. Vo. The outputs indicative of Dfrom the divider 528 is fed to a holding circuit 530. The holding circuit 530 holds the output of the divider 528 until receiving of clock signal 54 from the clock signal generator 508. The holding circuit 530 renews the held output of the divider 528 responsive to the clock signal S4. The output of the holding circuit 530 is fed to an integrator 532 through a switching circuit 534.

The switching circuit 534 is operative in response to clock signal 54 inputted from the clock signal generator S4. The switching circuit 534 has two input terminals 536 and 538. The terminal 536 is connected with the holding circuit 530 and the other terminal 538 is connected with an initial target wheel r. p. m. setting circuit 540 for presetting an initial target wheel r. p. m. V of the first period of skid control. Therefore, either one of outputs of the holding circuit 532 and the initial target wheel r. p. m. setting circuit 540 is inputted to the integrator 532. The integrator 532 is generates a ramp signal e, corresponding to input indicative of inclination Dv/Dt of the target wheel r. p. m. Vo and feeds to a subtracting circuit 542. The subtracting circuit subtracts the value of lamp signal eL from the signal value Vw1 or V which are selectively inputted to the subtracting circuit 542. Thus, the subtracting circuit 542 calculates the target wheel r. p. m. Vg to be fed to a skid control circuit (not shown). Based on the target wheel r. p. m. V, o determined as above, the skid control means controls applying and releasing of hydraulic fluid to the wheel cylinders.

Now, the functions of the above-described circuit will be explained hereafter with reference to the time chart shown in Fig. 6.

Generally, for anti-skid controlling for the driving wheels, varying of the wheel r. p. m. of the driven wheel is measured. By measuring varying of the driven wheel r. p. m. V the friction coefficient F between the wheel tread and the road surface is determined. The reason is that since the driven wheels are applied smaller inertia

than that applied to the driving wheel, skid cycle of the driven wheel is substantially shorter than that of the driving wheel. Therefore, for controlling the driving wheel, the friction coefficient F can rapidly obtained. On the other hand, as known, during one cycle of skid controlling operation, it is detected twice of peak of the friction coefficients.

Assuming the brake being applied at the time to, the brake control system 20 becomes operative for anti-skid controlling for the driven wheels 22. Varying of the driven wheel r. p. m. Vw is determined by the wheel r. p. m. determining means 40, shown in Fig. 1. The sensor signal Vw fed from the wheel r. p. m. determining means 40 is differentiated to obtain the deceleration ratio dVw/dt is compared with the predetermined value Vast. When the deceleration ratio becomes equal to or more than the predetermined value, the decelerating state detector 30 generates the signal eb. Responsive to the signal eb, the clock signal generator 508 generates the clock signal Si. The clock signal 51 is fed to the switching circuit 521 to change the switch position from terminal 519 to terminal 523. By this, the sample-hold circuit 518 samples the wheel r. p. m.

Vol, fed from the wheel r. p. m. sensor 40, immediate after generating of the signal eb thereafter, since no input is inputted to the sample-hold circuit 518, it outputs constant value of output indicative of the sampled wheel r. p. m.

VW1'On the other hand, the sample-hold circuit 520 is sequentially inputted the output of the wheel r. p. m. sensor 40, which output is indicating determined wheel r. p. m. Vw. The sample-hold circuit 520 outputs the corresponding output having the same value as that of inputted thereto.

At the first cycle of the skid control operation, the clock signal generator 508 will not generates the clock signals 52 and S4. Therefore, the pole changer 522 and switching circuit 534 are maintained in shown position. Thus, the subtracting circuit 524 outputs an output indicative of Dy= (Vw1-V), The clock signal 53 is generated at time t'after the sample-hold circuit 518 samples the wheel r. p. m. Vw,, to make the timer 526 operative.

Thus, during the first cycle of skid control operation, the result of the divider 528 is not used for anti-skid controlling and the pre-set value in the initial target wheel setting circuit 540 is inputted to the integrator 532. The integrator generates the lamp signal eL based on the inputted preset value to input to minus side terminal of the subtracting circuit 542. To the plus side terminal of the subtracting circuit 542 is inputted a sampled constant value of signal Vwl.

The subtracting circuit 542 subtractively operates both inputs to obtain the target wheel r. p. m. Vwo.

Next, assuming deceleration ratio of the wheel r. p. m. dVw/dt becomes equal to or more than the predetermined value Vast time t2, the clock signal generator 508 generates the clock signal 54 responsive to the signal eb fed from the decelerating state detector 30. The clock signal 84 is fed to the holding circuit 530. Responsive to the clock signal S4, the holding circuit 530 holds inclination (D/D,) at the time t, . Further, responsive to the clock signal 85, the switching circuit 534 is switched the position thereof, therefore, the holding circuit 530 is connected to the integrator 532 through the terminal 538 of the switching circuit 534. At this time, the divider outputs an output indicative of

Therefore, corresponding to the divider output (Dy/Dt1)'the decelerating inclination of the wheel r. p. m. is set in the intergrator 532. The integrator 532 generates the lamp signal et having constant (Dy/Dt1) for increasing output value of the lamp signal.

On the other hand, immediate after the time t1, the clock signal generater 508 generates clock signals S, to Sg at time t'. The clock signal 51 is fed to the switching circuit 521 to switch the switch position from the terminal 523 to the terminal 519. Responsive to switching of the switching circuit 521, the sample-hold circuit 520 samples the wheel r. p. m. V during the term t2 to t2'and outputs the constant value of signal indicative of sampled wheel r. p. m. Viz Alternatively, the sample-hold circuit 518 is inputted sequentially the wheel r. p. m. Vw determined by the wheel r. p. m. sensor 40 to output the corresponding value of the output.

Therefore, the constant value V of the output of the sample-hold circuit 520 is inputted to the subtracting circuit 542. The subtracting circuit 542 subtract the value eL from the input value VW2 to obtain the target wheel r. p. m. V.

Meanwhile, the clock signal 52 is fed to the pole changer 522 to switch the switch positions of the switches SW, and SW2. By switching operation of the pole changer 522, the samplehold circuit 518 is switched the terminal of the subtracting circuit 524 to be connected from plus side to minus side and the sample-hold circuit 520 is switched to contact to the plus side terminal of the subtracting circuit. Therefore, the subtracting operation excuted by the subtracting circuit 522 is alternated and thus Dy== (V-V) is obtained. Further, the clock signal 54 resets the timer 526 during the rising time thereof and make the timer operative again to newly measuring the

term from the time t/to next time of generating the signal eb. Thus, by the timer 526, the interval Dt between the occurrence of the signals eb is determined.

By repeating the above-mentioned operation for determining the target wheel r. p. m. Vo, the driving wheels are accurately and satisfactorily anti-skid controlled according to the varying of friction coefficient between the wheel tread and the road surface.

Now, referring to Fig. 7, there is illustrated a circuit construction of the target wheel r. p. m. determining means 50 of schematically shown in Fig. 5, according to the preferred embodiment of

the present invention. Hereafter, the detailed circuit construction of the target wheel r. p. m. determining means 50 will be described with reference to corresponding part of the circuit shown in Fig. 5. The sample-hold circuit 518 consists of a capasitor C, and oeprational amplifier A2 and the sampel-hold circuit 520 consists of the capacitor C2 and the operational amplifier A4. Both of the sample-hold circuits 518 and 520 are connected with the input terminal 502 to which the signal Vw indicative of the wheel r. p. m. determined by the wheel r. p. m. detector 40 is inputted, through analog siwtches 519 and 523 in use with field effect transistors Q, and Q2'Here, it should be noted that the operational amplifiers A, and A3 are provided as buffer of the transistors Q, and Q2. The switches SW, and SW2 of the pole changer 522 are respectively consisted pairs of field effect transistors Qg, Q and Qg, Qg. As stated in the foregoing description with respect to Fig. 5, the pole changer 522 changes input terminals of the subtracting circuit 524 respectively connected to the sample-hold circuits 518 and 520. The subtracting circuit 524 is consisted of differential amplifier of an operational amplifier A ; ;. The differential amplifier A5 generates output indicative of the difference between the outputs of the sample-hold circuits 518 and 520, i. e. Dv.

On the other hand, time interval Dt between occurrences of the signal eb is determined by an integrator circuit which acts as timer 516. The integrator circuit comprises an operational amplifier Ag and capacitor C3. Responsive to the signal eb fed from the decelerating state detector 30, a transistor Q7 becomes operative to reset the content of the timer 526. Outputs of the operational amplifiers A5 and Ag are fed to the divider 528. The divider is consisted in the well known manner and comprises operational amplifiers A7 to A.) n the divider 528, the arithmetic operation is effected to obtain the inclination (dv/Dt) of deceleration of wheel r. p. m.

The operational amplifier A, ; : outputs an output indicative of the determined inclination (Dv/Dt) to the holding circuit 530 through an analog switch

in use with a transistor Qg. The holding circuit comprises an operational amplifier A, 3 and a capacitor C4. The holding circuit 530 outputs constant value of signal indicative of determined inclination. At this time, the switching transistor Q. is switched between on and off position in response to the clock signal S4.

At the first cycle of skid control operation, from initially applying the brake pedal and generating the second signal eb, a flip-flop FF3 is maintained in set position. By this, Zener diode ZD outputs a signal Vg having constant value indicative of preset initial decelerating inclination. An operational amplifier A'4 consists of the integrator 532 with a capacitor Cl ;. The integrator 532 generates the lamp signal eL corresponding to input inputted from either the Zener diode ZD or the holding circuit 530. An operational amplifier A,, consists of the subtracting circuit 542 for subtracting the value of the lamp signal eL from the input selectively inputted form the either one of sample-hold circuit 518 and 520 and indicative of the sampled wheel r. p. m. As the result of subtracting operation, the subtracting circuit 542 outputs a signal indicative of the target wheel r. p. m. V.

In the above-described circuit of the target wheel r. p. m. determining means, the transistors Q, to Qg are turned between on and off by clock signals S, to S4. The clock signal generating circuit 508 comprises flip-flops FF,, FF, FF and FF5, monostable multivibrator MM,, MM2 and MM3, rising up time differentiation circuit 550 and rising down time differentiation circuit 552.

The function of the above-mentioned circuit of the target wheel r. p. m. determining means 50 will be described with reference to Fig. 8 in which are shown time charts of operation of each circuit of the target wheel r. p. m. determining means 50 of Fig. 7, which time chart is illustrated corresponding to Fig. 6. Now, assuming to apply rapid brake at time to, the wheel r. p. m. is rapidly decelerated and the deceleration ratio dVw/dt becomes equal to or more than the predetermined value Vast time t, . Responsive to this, the decelerating state detector 30 generates the signal eb. The signal eb is inputted to the clock signal generator 526. At this time, the signal et generated responsive to actuating of actuator which controls the application and release of brake pressure, is inputted to the clock signal generator 526 through the input terminal 504.

Responsive to rising of the signal eb, the flip-flop FF, becomes set condition, i. e. (Q=High level Q=Low level) through the differentiation circuit 552. At this moment, the wheel r. p. m. Vw, at the time t, is held in the capacitor c2 and the output of the operational amplifier A4 becomes constant with slight delay from the time tj, the output of the monostable multivibrator MM, turns to high level. The output of the monostable multivibrator MM, is fed to the flip-flop FF2 through the differentiation circuit 552 and inverter 556. The flip-flop FF2 is set responsive to the signal eb and is reset responsive to the output of the monostable multivibrator MM, . Thus, the flip-flop FF2 becomes Q being high level and Q being low level. At this position of the flip-flop FF2, the analog switch Q, turns on. The operational amplifier outputs an output indicative of inputted wheel r. p. m. Vw responsive to turning on of the analog switch Q,.

At the first time of generating the signal eb at time t" since the output values of the operational amplifiers A2 and A4 are equal to one another, the. differntial output of the operational amplifier A5 which acts as differential amplifier, becomes zero.

Also, the output of the operational amplifier A13 ans the divider 528 is zero. Therefore, in first cycle of skid control operation, the initially pre-set target wheel r. p. m. Vwo of the initial target wheel r. p. m. setting circuit 540 is used.

In anti-skid, control operation, an electromagnetic actuator such as solenoid becomes operative with delay from the time t, for

releasing the wheel cylinder and draining pressure fluid. In syncronism with releasing of wheel cylinder, a clock signal et is inputted to the target wheel r. p. m. determining means 50 through an input terminal 504. At the time t" since the signal value of the clock signal et is in low level, the flip- flop FF3 is made in set position by the signal eb. In this position, the output terminal Q of the flip-flop FF3 is applied high level potential. Responsive to this, the diode D, becomes on position to input the output of constant value of the Zener diode ZD to the operational amplifier A14. Therefore, the capacitor Cg is charged voltage increasing to voltage Vg and thereby outputs lamp signal eL' The lamp signal eL is inverted by the operational amplifier A1s and then inputted to the operational amplifier A'6 as subtracting circuit 542. On the other hand, a signal VIZ of constant value and indicating the sampled wheel r. p. m. Vw, is imputted to the operational amplifier A16 through the analog switch Q3'Thus, by subtracting the value of the lamp signal eL from the the value of the signal V,, the target wheel r. p. m. Vwo is obtained.

When the output of the monostable multivibrator MM, becomes low level at the time t/, the monostabte multivibrator tv) M becomes high level to turn on the analog switch Qg.

Responsive to turning on of the analog switch Qg, the capacitor C3 discharges the content therein to have no potential therein. The monostable multivibrator MM2 turns low level at the time t".

At this moment, the analog siwtch Qu turnes off and the capacitor C3 starts charging the potential therein. Namely, the capacitor C3 obtains potential proportional to length of period Dt from the time t, to next time of inputting the signal eb- The signal proportional to the length of the period Dt is generated by the operational amplifier A6 and is fed to the capacitor C3.

Assuming the next signal eb is detected at the time t2, the signal eb operates the target wheel r. p. m. determining means 50 in the same way as discussed above. The signal eb inversely sets the flip-flop FF. At this time, the flip-flop FF, is maintained in set position and the flip-flop FF2 is inversely set. By this, the analog switch Q, is turned off to hold the wheel r. p. m. V in the capacitor C,. Therefore, the operational amplifier A2 outputs constant value of output indicative of the sampled wheel r. p. m. VW2. Since the flip-flop FFg is in reset position and therefor the analog switch Sw, is off and the analog switch SW2 is on during the first cycle of skid control operation, the operational amplifier A4 is connected with the plus side input terminal of the operational amplifier Ag and the operational amplifier is connected with the minus side input terminal of the operational amplifier Ag. Therefore, the output of the operational amplifier A2 indicative of the wheel v. p. m. VW2 is inputted to the minus side and output of the operational amplifier A4 is inputted to the plus side of the operational amplifier Ag.

The operational amplifier Ag obtains the difference Dv (==V-V) from both inputs.

At the same time the operational amplifier Ag outputs an output indicative of the interval of period Dt, between the times t, and t2 through the operational amplifier A7 Both of outputs of the operational amplifiers Ag and Ag are fed to the divider 528. The divider 528 calculates both inputs ot determine the inclination (Dv1/Dt1) of decelerator of the wheel r. p. m. and output an output proportional to the determined inclination.

The output of the divider 528 is outputted from the operational amplifier A'2 to the holding circuit 530. During the period from t2 to tithe monostable multivibrator MM, becomes high level to turn on the analog switch Qg. Thus, the capacitor C4 holds the outputs of the operational amplifier A. At the time t2" the analog switch Qg becomes off responsive to lowering of output level of the monostable multivibrator MM,. By this, the content of the capacitor C4 is outputted through the operational amplifier A, g as a constant value.

On the other hand, since the output of the timer 526 is high level, the flip-flop FF3 is reset by the signal eb at the time t2 and the diode D, becomes inoperative. Therefore, the output of the Zener diode ZD is not fed to the operational amplifier A is inputted the output of the

operational amplifier A, g indicative ot the determined inclination (D,,/Dtl). Likewise to analog switch Qg, the analog switch 09 is kept in on this, the capacitor Cg discharges the content to become the potential therein zero.

At the time t/, the output of the monostable multivibrator MM, becomes now level. Since the flip-flop FF is in set position, the flip-flop FF, turns to reset position. Responsive to this, the analog switch O2 turns on. Therefore, the operational amplifier A4 outputs an output having value corresponding to the input indicative of wheel r. p. m. V Here, the reset terminal R of the flip-flop FF2 is maintained at low level potential by the input fed from the output terminal Q of the flip-flop FF4. Thereby, the analog switch Q, is maintained off position. Thus, the operational amplifier A2 outputs constant value or output indicative of sampled wheel r. p. m. Viz The flip-flop FFg is turned to set position in response to turning of the flip-flop FF2. By this, the analog switch SW, becomes on and the analog switch SW2 becomes off. Therefore, the operational amplifier A2 is connected with the plus side of the operational amplifier Ag and the operational amplifier A4 is connected with the minus side.

Further, responsive to high level of output of the monostable multivibrator Mm2 during the period t2" the analog switch Q7 turns on to discharge the content of the capacitor C3..

Thereafter, the capacitor C3 starts measuring duration of the second cycle of skid control operation.

After above-mentioned operation, the operational amplifier A14 outputs the lamp signal having value corresponding to output of the operational amplifier A, ;,, at the time t/'. The

output of the operational amplifier A14 is inverted through the operational amptifierA and is inputted to the minus side input terminal of the operational amplifier A'8'At the same time, the output v of the operational amplifier A4 as the constant value and indicative of the sampled wheel r. p. m. V is fed to the plus side input terminal of the operational amplifier Abased on both inputs V02 and e, the operational amplifier Al. determines the target wheel r. p. m. Vo and outputs a signal indicative of the determined target wheel r. p. m.

From the third cycle of the skid control operation, the target wheel r. p. m. determining means 50 repeats the same functions explained above with respect to the second cycle of the skid control operation. During repeating of cycles of skid control operation, the analog switches Q, and O2 are alternatively and repeatedly turned on an off by function of the flip-flop FF, and Fa 2' Likewise, the analog switches SW, and SW2 are alternatively operated by the flip-flop FFg.

When the anti-skid control operation is completed, the timer output et becomes low level.

Responsive to this, the output of the monostable multivibrator MMa becomes high level. The flip- flop FF2 is reset during rising of the output of the monostable multivibrator Mm3 and the flip-flop FF, is reset during rising down of the same. As this result, the f) ip-fiop FFg is reset. Thus, the target wheel r. p. m. determining means 50 becomes inoperative.

Now referring to Fig. 9, there is illustrated another embodiment of the target wheel r. p. m. determining means 50 according to the present invention. In the embodiment described hereinafter, the target wheel r. p. m. is determined by way of digital operation.

In Fig. 9, the reference numeral 600 denotes an arithmetic circuit for determining difference Dv of the wheel r. p. m. varied during intervals between occurance of the signals eb which is generated by a decelerating state detector 626 when the deceleration ratio becomes equal to or more than the predetermined value V, , and for determining the length of the period D1'To the arithmetic circuit 600 is inputted a sensor signal indicative of wheel r. p. m. from the wheel r. p. m. determining circuit 624. The outputs of the arithmetic circuit 600 indicative of the determined Dt and Dv are inputted to a divider 602. The divider 602 has substantially the same circuits as shown in Fig. 7. The reference numeral 604 denotes an initial decelerating inclination setting circuit for generating a signal V having a potential corresponding to a predetermined signal wheel r. p. m. The initial decelerating inclination setting circuit 604 is operable during the first cycle of skid control operation. Either one of outputs of the divider 602 and the initial target wheel r. p. m. setting circuit 604 is fed to a V/F converter 606 through a switching circuit 607.

The V/F converter 606 generates a pulse signal having frequency corresponding to value of input.

The pulse signal generated by the V/F converter 606 is fed to a preset counter 608 through a switching circuit 610. The switching circuit 610 is connected with an AND gate 612. A timer signal et generated by a timer 628 in response to the actuator signal is inputted to the AND gate 612.

The AND gate 612 calculates a logical multiplication of the signal eb and the timer signal et and generates a signal corresponding to the determined logical multiplication.

On the other hand, the input indicative of the wheel r. p. m. Vw determined by the wheel r. p. m. sensor 624 is fed to a latch circuit 616. Further, the signal eb is also inputted to the latch circuit 616. The latch circuit latches the wheel r. p. m. Vw in response to the eb and outputs an output corresponding to latched value. The outputs an output corresponding to latched value. The output of the latch circuit 616 is fed to the preset counter 608. The preset counter 608 counts down the value of pulse signal from the output of the latch circuit 616. The output of the preset counter 608 is fed to a D/A converter to be converted into an analog signal indicative of the target wheel r. p. m.

The function of the above-explained circuit will be explained hereafter. When the rapid brake is applied and the deceleration ratio determined by the deceleration state detector 626 becomes equal to or more than the predetermined value, the deceleration state detector generates a signal eb. Responsive to the signal eb, the latch circuit 616 becomes operative to latch value of signal indicative of the wheel r. p. m. Vw determined by the wheel r. p. m. sensor 624. At this time, since the difference of the wheel r. p. m. is zero and therefore the output of the arithmetic circuit 600 is zero, the output of the divider 602 is also zero.

Meanwhile, responsive to the output of the AND gate 612, the switching circuit 607 is turned to connect the initial target wheel r. p. m. setting circuit 604 to the V/F converter 606. Therefore, the V/F convertor 606 generates the pulse signal corresponding to the preset initial decelerating inclination.

At the same time, the signal eb is fed to the switching circuit 610 to turn on the same. Also, the constant value of output of the latch circuit 616 is fed to the preset counter 608 and preset therein. The preset value in the preset counter 608 is counted down by a pulse signal fed from the V/F counter 606.

Thus, the preset counter 608 generates a pulse signal having frequency corresponding to the target wheel r. p. m. Vwo. The pulse signal is converted to the analog signal indicative of the target wheel r. p. m. Vwo.

In response to detecting of the second signal eb, the actuator signal is inputted to the target wheel r. p. m. determining means 50. Responsive to the actuator signal the timer generates the timer signal et. The AND gate 612 outputs an outputs to turn the switching circuit 608 to connect the divider 602 to the V/F converter 606 in response to timer signal et. At this time, the arithmetic circuit 600 effects arithmetic operation to obtain the difference of wheel r. p. m.

Dvi {=Vw, -VW2) and period D, of first skid control operation. The divider 602 thus obtains D,,,/Dt, and generates an output proportional to the determined value of decelerating inclination (D/D). During the above-mentioned operation, the content of the preset counter 608 is cleared and preset the wheel r. p. m. VW2 at the time of detecting the second signal eb, which wheel r. p. m. V is lached in the lach circuit 616 and outputted therefrom as a constant value.

Referring to Figs. 10 and 11, there is schematically illustrated a still another embodiment of the brake control system according to the present invention. In the shown embodiment, several different value of decelerating inclinations are presetted. One of the presetted decelerating inclinations is selected corresponding to wheel r. p. m. The target wheel r. p. m. determining means 708 determines the target wheel r. p. m. Vwo based on the selected decelerating inclination.

Now, we briefly explain the construction of the shown embodiment of the brake control system with functions thereof. The reference numeral 700 denotes a wheel r. p. m. determining means for determining wheel r. p. m. Vw. The wheel r. p. m. determining means 700 generates a signal proportional to determined wheel r. p. m. Vw. The signal is fed to a decelerating state detector 702.

The decelerating state detector 702 differenciates the signal value to determine deceleration ratio dVw/dt. In the decelerating state detector, the determined deceleration ratio is compared with a predetermined value viz When the deceleration ratio is equal to or more than the predetermined value, the decelerating state detector 702 generates a signal eb. The signal eb is fed to a reference signal generator 704. Responsive to the signal eb, the reference signal generates various value OG to 0.8G of signals. These signals OG to 0.8G, as shown in Fig. 11, are respectively indicating presetted values of deceleration inclination of the wheel r. p. m. The signals OG to 0.8G are fed to a comparator 706. At the same time, a signal fed from the wheel r. p. m. determining means 700 and indicative of the determined wheel r. p. m. Vw is inputted to the comparator 706. In the comparator, the signal Vw is compared with the signals OG to 0.8G. The comparator selects one of the signals OG to 0.8G value of which is closer to the value of signal Vw.

Thus, the signal indicative of the decelerating inclination is determined. The determined signal is fed to a target wheel r. p. m. determining means 708. The target wheel r. p. m. determining means 708 determines the target wheel r. p. m. Vwo based on the inputted signal from the comparator 706.

Here, assuming the brake is applied and the deceleration ratio dVw/dt of the wheel r. p. m. becomes equal to or more than the predetermined value Viet at a time t" the decelerating state detector 702 generates the signal eu. Responsive to the signal e b, the reference signal generator 704 generates various value of signals OG to 0.8G. At this time, the comparator 706 is maintained in inoperative position.

By inoperative of the comparator 706, the target wheel r. p. m. Vo for the first cycle of the skid control operation will not be given to the skid control system. However, as stated in above, cycle of skid controls for the driving wheel and driven wheel are substantially different and the skid control for the driving wheel will lags to the driven wheel so that there cause no problem by inoperative position of the comparator. But, if necessary, the initial decelerating inclination setting means which is consisted likewise as to the foregoing embodiments, is provided in the system.

Responsive to the second signal eb generated at the time t2, the comparator 706 become operative. The comparator 706 compares the signal indicative of wheel r. p. m. V at the time t2 with the signals OG to 0.8G previously generated responsive to the first signal eb and respectively reduced the value thereof corresponding to passing to time at respective given rate. As shown in Fig. 11, if the value of signal Vw is intermediate between values of the signals 0.3G and 0.4G, the comparator 706 outputs an output indicative of deceleration inclination corresponding to a signal value of either one of 0.3G and 0. 4G. Thus, based on the determined decelerating inclination, the target wheel r. p. m. determining means 708 determines the target wheel r. p. m. Vwo.

Likewise to responding to the first signal ebt the reference signal generator 704 generates signals OG to 0. 8G in response to the second signal eb. These signals OG to 0. 8G are used with next cycle of skid control operation.

In Fig. 12, there is shown a further embodiment of the brake control system as a modification of the foregoing embodiment of Fig.

10. In the shown embodiment, the wheel r. p. m.

Vw determined by a wheel r. p. m. determining means 750 is fed to a decelerating state detector 752 and a comparator 754. When the deceleration ratio dVw/dt becomes equal to or less than the predetermined value V, et, the decelerating state detector 752 generates a signal eb. With substantially short delay, the reference signal generator 756 generates various value of signals which is indicating target wheel r. p. m. Vwo. The signals generated by the reference signal generator 756 are fed to the comparator 754 to be compared with the signal Vw. The comparator selects one of the signals of the reference signal generator 756 and generates a signal. The signal is fed to a switching circuit 758.

Responsive to the signal, the switching circuit connects one of output terminals of the reference signal generator 756 to an output terminaj. Thus, the signal indicative of desired target wheel r. p. m.

Vo can be outputted to the skid control means of the driving wheel.

By this embodiment, constructed as above, the structure of the system can be more amplified.

The output of the divider 602 is converted to a pulse signal having frequency corresponding to

determined inclination (D,,/D,,) through the V/F converter 606. Based on the preset wheel r. p. m.

V and the pulse signal fed from the V/F converter 606, the preset counter 608 generates a pulse signal corresponding to the target wheel r. p. m. V woo The pulse signal of the preset counter 608 is converted to an analog signal having potential corresponding to the determined target

wheel r. p. m. v,.

From the third skid control operation each circuit of the target wheel r. p. m. determining means repeats the same function as the aboveexplained second skid control operation.

As described above, since the brake control system according to the present invention is varied the target wheel r. p. m. corresponding to varying of friction between the wheel tread and the road surface during skid control operation and varying of friction coefficient being determined by detecting of deceleration ratio of wheel r. p. m. , even when the friction is remarkably varied during braking condition, the wheel r. p. m. is decelerated at the most effective ratio to satisfactorily and effectively decelerate the vehicle.

It will be preferable to detect varying of deceleration ratio of the driven wheels for skid controlling the driving wheel, since the skid cycle of the driven wheel is considerably firster than that of the driving wheel. This will aid for increasing accuracy of detection of the peak of the friction coefficient.

Claims 1. A brake control system for an automotive vehicle for controlling application and release of brake pressure to a wheel cylinder to prevent a vehicle from skidding, comprising: a first means for determining wheel r. p. m. and generating a first signal indicative of determined wheel r. p. m.; a second means determining deceleration ratio of wheel r. p. m. based on said first signal and generating a second signal when determined deceleration ratio becomes equal to or more than a predetermined value ; a third means responsive to said second signal to hold signal value of said first signal per each cycle of skid control operation, to determine a deceleration ratio of the wheel r. p. m. based on the held value of said first signals generated at current cycle and immediate preceding cycle of skid control operation and interval between said second signals, to determine a ramp signal indicative of decelerating r. p. m. in the next cycle of skid control operation based on determined deceleration ratio and to determine the target wheel r. p. m. by subtracting the value of said ramp signal from the value of said first signal ; and a fourth means for controlling application and release of brake pressure to the wheel cylinder based on the first and third signal, which fourth means is operative to release the brake pressure when the value of said wheel r. p. m. drops to be equal to or less than said target wheel r. p. m. and being operative for reapplication of brake pressure when said wheel r. p. m. becomes equal to or more than the vehicle speed.

Claims

2. A brake control system as set forth in claim 1, wherein said third means comprises a first circuit for receiving said first signal and holding signal value of inputted first signal in response to a clock signal; a second circuit for receiving said fifth signal from said fifth means and generating said clock signal responsive to said fifth signal to make said first circuit operative to hold said signal value ; a third circuit for measuring an interval between said fifth signals ; a fourth circuit for determining a difference of signal values of current and immediate preceding first signals held in said first circuit and for obtaining deceleration ratio of wheel r. p. m. based on determined difference and the interval measure by said third circuit; a fifth circuit for determining a value of said ramp signal bsed on determined deceleration ratio of wheel r. p. m.; and a sixth circuit for determining the target wheel r. p. m. by subtracting the value of said ramp signal from the value of current first signal held in said first circuit.

3. A brake control system as set forth in claim 2, wherein said third means further comprises: a seventh circuit for presetting an initial deceleration ratio of wheel r. p. m. for the first cycle of skid control operation and generating a signal of presetted deceleration ratio; and a eighth circuit for selectively inputting signals generated in said fourth circuit and said seventh circuit to said fifth circuit, said eighth circuit being operative to input signal of said seventh circuit in response to the first fifth signal and being operative to switch the input signal from the eighth circuit to fourth circuit responsive to the second fifth signal.

4. A brake control system as set forth in claim 2 or 3, wherein said fourth circuit comprises a pair of sample-hold circuit operating alternatively for sampling and holding said first signal, each of which outputs an output corresponding to held first signal of immediate preceding cycle of skid control operation and the other outputs an output corresponding to inputted current first signal, a switching circuit for selectively inputting said firstsignal to one of said sample-hold circuit and a divider receiving outputs from said sample-hold circuits, subtracting said output value corresponding to held first signal from the output value corresponding to inputted first signal value and divide the difference of outputs obtained by. subtraction by value of fifth signal fed from said third circuit.

5. A brake control system as set forth in claim 4, wherein said switching circuit is operative to switch operation of said sample-hold circuits in responsive to said clock signal fed from said second circuit.

6. A method for controlling a brake system of an automotive vehicle comprising in combination the steps of : -

<Desc/Clms Page number 11>

determining wheel r. p. m. and generating a first signal indicative of the determined wheel r. p. m.; determining deceleration ratio of the wheel based on the determined wheel r. p. m.; comparing the determined deceleration ratio to a predetermined reference value and generating a second signal when the determined deceleration ratio becomes equal to or more than the predetermined reference value ; and subtracting said value of ramp signal from the value of first signal at the time of detecting said peak of friction coefficient.

7. A method as set forth in claim 6, wherein said method further comprises: presetting an initial ratio of deceleration of wheel r. p. m.; and determining value of said ramp signal based on presetted value of deceleration ratio in first cycle of skid control operation.

8. A method as set forth in claim 7, wherein determining of ramp signal value of the presetted value is carried out responsive to first clock signal generated in response to detecting of first peak of friction coefficient and is ceased in response to second clock signal generated responsive to second peak of friction coefficient.

9. A brake control system for an automotive vehicle substantially as hereinbefore described with reference to the accompanying drawings.