CN1131105A - Anti-block brake controller for vehicle - Google Patents

Abstract

The invention confirms a target skidding rate line of a back wheel skidding rate decreasing with the increasing of a front wheel skidding rate in a rectangular coordinate system which takes the front wheel skidding rate and the back wheel skidding rate as the coordinate axes, calculates the distance between the current position of the skidding rate and the target skidding rate line in the rectangular coordinate system, sets the upward side of the target skidding rate line into a brake force-reducing control area and judges whether the current position of the skidding rate is in the brake force-reducing control area or not, and confirms a control amount of an adjuster at the brake force reducing side of a damper brake fro the front wheel and the back wheel when the current position of the skidding rate is in the brake force-reducing control area.

Description

The anti-block brake controller of vehicle

The present invention relates to the anti-block brake controller of vehicle, particularly relate to a kind of braking force, the device that carries out ABS (Anti-lock Braking System) control with mono-regulating control change front and back wheel damper brake.

For example, the spy opens flat 2-No. 234869 communiques and discloses a kind of anti-block brake controller, and this device makes the braking force of front and back wheel damper brake variable in order to carry out anti-lock control.

Above-mentioned spy opens in flat 2-No. 234869 disclosed devices of communique, because each wheel lock all needs regulating control, so increased cost and weight, is not suitable for as vehicle cheaply such as pedal motorcycle.

The applicant has proposed a kind of device, and it can utilize a single regulating control to make the braking force of front and rear wheel damper brake change (flat 6-No. 108753 of special hope).But, when merely controlling the braking force of front and rear wheel damper brake by the mono-regulating control, the front and back wheel damper brake influences each other, and can not control the rate of skidding of front-wheel and trailing wheel individually, so, wish to realize such control: make the rate of skidding of front and rear wheel promptly converge on a certain appropriate value.

The invention that the present invention makes just in view of the above problems, its objective is the slip controller that a kind of vehicle is provided, this device is not only controlled the braking force of front and rear wheel damper brake with the mono-regulating control, and can make the rate of skidding of front and rear wheel promptly converge on suitable value.

For achieving the above object, the ABS (Anti-lock Braking System) control system of the present invention's first scheme, the control setup of the action of the mono-regulating control that the braking force that comprise the front wheel brake lock, the trailing wheel damper brake that is installed on trailing wheel that are installed on front-wheel, can make front-wheel and trailing wheel damper brake changes, front-wheel speed sensor, trailing wheel speed sensor, controlled adjuster, it is characterized in that: this control setup comprises: according to the detected value of front-wheel and trailing wheel speed sensor, the rate of skidding of front-wheel and rear wheels slip rate of calculating is calculated means; The former wheel determines in the rectangular coordinate system that the rate of skidding and rear wheels slip rate are axis of coordinate that the skid target rate of skidding of rate straight line of target determines means, the rate straight line is such function and said herein target is skidded, promptly along with the skid increase of rate of front-wheel, the rear wheels slip rate reduces; The rate of skidding deviation calculation means are calculated skid distance between the rate line of the front-wheel that obtained by the above-mentioned rate calculating means of skidding and the rate of the skidding current location in the determined above-mentioned rectangular coordinate system of rear wheels slip rate and target; Decision means, it is set the skid upper side of rate straight line of target braking for and subtracts the power control area, and whether the current location of differentiating the rate of skidding is positioned at above-mentioned braking and subtracts the power control area; Controlling quantity is determined means, when above-mentioned differentiation means judge that the rate current location of skidding is positioned at braking and subtracts the power control area, according to above-mentioned distance, determines to subtract to the braking force of front-wheel and trailing wheel damper brake the controlling quantity of the regulating control of power one side; And the regulating control driving means, determine the controlling quantity that means obtain according to controlling quantity, the signal of output driving regulator.

Anti-lock vehicle braking force control system according to alternative plan of the present invention, on the formation base of first scheme, above-mentioned controlling quantity determines that means amass to determine controlling quantity according to what target was skidded rate straight line and skid distance between the rate current location and coefficient of correction, and above-mentioned coefficient of correction enters that braking subtracts the power control area after institute fixes time reduces gradually in the rate current location of skidding.

The anti-lock vehicle braking force control system of third party's case of the present invention, on the formation base of first scheme, the target rate of skidding determines that means make the target straight line that skids subtract power control area one side to the braking that diminishes and change according to the reduction of the speed of a motor vehicle.

The anti-lock vehicle braking force control system of the cubic case of the present invention, on the formation base of first scheme, target when the target rate of skidding determines that means determine that braking the subtracts power control rate straight line that skids, make it to compare, be set at and enlarge the side that braking subtracts the power control area with the target that non-braking the subtracts power when control rate straight line that skids.

The anti-lock vehicle braking force control system of the present invention's the 5th scheme, on the formation base of cubic case, the above-mentioned target rate of skidding is determined means, skidding the rate current location when braking subtracts the power control area and enters into non-braking and subtract the power control area, after this rate current location of skidding is left state continuance that braking subtracts the power control area and is fixed time, the target of rate straight line when changing to non-braking and subtracting power and the control rate straight line that skids that skids of the target when making braking subtract power control.

The anti-lock vehicle braking force control system of the present invention's the 6th scheme, on the formation base of first scheme, can be according to the operation of front wheel brake operating unit and with mechanical braking force be delivered to front wheel brake front wheel brake side transmission system and can be according to the operation of trailing wheel brake operating parts and with mechanical braking force be delivered to the pars intermedia of the rear-wheel brake side transmission system of rear-wheel brake, be connected with regulating control, it is certain that it makes the braking force of two locks change ratio, and the above-mentioned target rate of skidding determines that means determine the target rate straight line that skids according to the operating conditions of two braking operating units.

The anti-lock vehicle braking force control system of the present invention's the 7th scheme, on the formation base of first scheme, can be according to the operation of the operating unit of front wheel brake operating unit and with mechanical braking force be delivered to the front wheel side transmission system of front wheel brake lock and the centre that can be delivered to the rear wheel-side transmission system of rear-wheel brake according to the operation of trailing wheel brake operating parts with obtaining power machine, be connected with regulating control, it is certain that it makes the braking force of two locks change ratio, and the rate of skidding deviation calculation means are along calculating skid distance between the rate straight line of skid rate current location and target on the above-mentioned variation ratiometric direction.

According to first scheme of the present invention, skid rate and rear wheels slip rate of front-wheel all is that the target of the appropriate value rate straight line that skids is decision like this: present the front-wheel rate of skidding and increase, the functional relation that the rear wheels slip rate reduces, front and back wheel either party's the rate of skidding sloping portion are all compensated by the increase of the opposing party's the rate of skidding.Carry out the action control of regulating control according to the distance that target is skidded between the position that rate straight line and the current front and back two-wheeled rate of skidding represent, thus before and after can making two-wheel skid rate very rapid convergence in the target rate of skidding.

According to alternative plan of the present invention, when subtracting power control beginning, braking make the controlling quantity of regulating control bigger, and like this,, carry out bigger braking and subtract power control at the anti-lock control initial stage that the rate of skidding increases rapidly.According to third party's case of the present invention, make the target straight line that skids subtract power control area one side to the braking that diminishes and change according to the reduction of the speed of a motor vehicle.In the time of can avoiding low speed driving thus do not wish that the braking of carrying out subtracts power control, (this low speed driving is usually changed greatly by the uneven wheel velocity that causes in road surface.)

But can realize then that when running at high speed snap catch subtracts power control.

According to cubic case of the present invention, subtracting power when control target rate straight line that skids with non-braking compares, braking subtracts power when control target rate straight line that skids and is located at and becomes big braking force-reducing area territory one side, like this, when the bad road traveling of the big situation of the variable quantity of wheel velocity, be difficult for entering braking and subtract the power state of a control, but in case enter after braking subtracts the power state of a control, then can pay attention to car body stability, make braking subtract power control to last till the lower state of the rate of skidding.

According to the 5th scheme of the present invention, the target that subtracts power when control from braking skid the target of rate straight line when becoming non-braking and subtracting power control skid the variation of rate straight line be become time remaining that non-braking subtracts the power state of a control greater than carry out after fixing time, so, even produce overregulate at the anti-lock control beginning initial stage, also can avoid ABS (Anti-lock Braking System) control to interrupt, prevent dispersing of ABS (Anti-lock Braking System) control.

According to the 6th scheme of the present invention, can be according to the operation of front wheel brake operating unit and with mechanical braking force be delivered to front wheel brake front wheel brake side transmission system and can be according to the operation of trailing wheel brake operating parts and with mechanical braking force be delivered to the pars intermedia of the rear-wheel brake side transmission system of rear-wheel brake, be connected with regulating control.Can make according to the operating conditions of two braking control lever and be applied to front and back two-wheel braking force variation, therefore the front and back two-wheel rate of skidding also changes, and the rate straight line that can skid according to the operating conditions target setting of two braking control lever obtains the suitable rate of skidding.

According to the 7th scheme of the present invention, can be according to the operation of front wheel brake operating unit and with mechanical braking force be delivered to front wheel brake front wheel brake side transmission system and can be according to the operation of trailing wheel brake operating parts and with mechanical braking force be delivered to the pars intermedia of the rear-wheel brake side transmission system of rear-wheel brake, be connected with the braking force that makes front and back wheel and change the certain regulating control of ratio, formerly take turns the rate of skidding and the rear wheels slip rate is in the rectangular coordinate system of axis of coordinate, action with regulating control, the skid change direction of rate and rear wheels slip rate of front-wheel is the direction of being scheduled to, calculate target skid rate straight line and the distance between the rate current location of skidding in the direction, can further improve to the skid convergence of rate of target.

(Fig. 1) is the lateral plan of the motor scooter of first embodiment,

(Fig. 2) is the front view of the motor of Fig. 1,

(Fig. 3) is the assembly drawing of brake equipment,

(Fig. 4) be expression and front-wheel with and the lateral plan of the connecting bridge of the regulating control of trailing wheel usefulness transmission system,

(Fig. 5) Fig. 5 is 5-5 cutaway views of Fig. 4,

(Fig. 6) is the cutaway view of the formation of expression damping mechanism,

(Fig. 7) is 7-7 the amplification view of Fig. 6,

Interlock braking characteristics when Fig. 8 represents the operation of front wheel brake control lever.

Interlock braking characteristics when Fig. 9 represents the operation of trailing wheel brake operation lever.

Figure 10 represents the block diagram that control setup constitutes.

Figure 11 represents the block diagram that the driving information calculating part constitutes.

Figure 12 represents the formation mode chart of braking mode detection unit.

The sequential chart of the condition A establishment condition when Figure 13 is explanation control of braking mode decision.

The sequential chart of the condition B establishment condition when Figure 14 is explanation control of braking mode decision.

Figure 15 represents to carry out according to the car body speed of inferring the setting figure of the load speed of a motor vehicle coefficient of correction in CBS when control.

Figure 16 represents the target rate line that skids.

Figure 17 represents by the skid variation of rate line of the target of braking input pattern decision.

The target variation of rate line of skidding when Figure 18 represents ABS control and non-ABS control.

Figure 19 is the skid variation of rate line of the target of the corresponding speed of a motor vehicle.

Figure 20 is the variation diagram of the corresponding control of braking pattern of skip distance.

Symbolic representation wherein, 45 _F, 45 _R-front and rear wheel speed sensor, 52-controlling quantity are determined means, 53-regulating control driving means, 61 _F, 61 _R-the rate of skidding is calculated means, 64-as the braking input master mode decision means of decision means, 66-target rate of skidding is determined means, the 68-rate of skidding deviation calculation means, B _F, B _R-forward and backward hub brake, C-control setup, L _F, L _R-front and rear wheel brake operating thick stick, M-regulating control, T _F, T _R-front and rear wheel braking transmission system, W _F, W _R-front and rear wheel.

(embodiment)

Embodiments of the invention are described below with reference to the accompanying drawings

At first, in Fig. 1 and Fig. 2, head pipe 1 is equipped with in the car body crossbeam F front portion of motor, by with can operate the deflecting bar 2 bonded assembly pair of right and left front fork tubes 3 that turn to supporting also with head pipe 1, with front-wheel W _FSuspension is on car body crossbeam F.At the centre portion of car body crossbeam F, the change speed gear box 4 that is being pivotably connected is equipped with the driving device of transmission from the power that is equipped on the driving engine (not shown) output on this car body crossbeam F in the change speed gear box 4, trailing wheel W _RBe supported on the back of this change speed gear box rotationally.

At trailing wheel W _ROn, be installed with and apply corresponding to throw rod 5 _RThe known mechanical type trailing wheel brake equipment B of the braking force of actuating quantity _R, at front-wheel W _ROn, be installed with and apply corresponding to throw rod 5 _FThe known mechanical type front wheel brake device B of the braking force of actuating quantity _F

At the two ends, the left and right sides that are connected in the steering tiller 6 on the deflecting bar 2 handle 6 is installed _L, 6 _RThe left end of steering tiller 6 hinged as the trailing wheel brake equipment control lever L of brake equipment operating parts _R, this bar holds handle 6 _LLeft-handed operation, the right-hand member of steering tiller 6 hinged as the front wheel brake device control lever L of brake equipment operating parts _F, this bar holds handle 6 _RRight-hand operated.

Simultaneously with reference to Fig. 3, trailing wheel operation of braking means bar L _RWith trailing wheel brake equipment B _RThrow rod 5 _RBy corresponding to trailing wheel brake equipment control lever L _RBe delivered to trailing wheel brake equipment B the mechanical braking force of operation _RTrailing wheel transmission system T _RInterconnect the control lever L of front wheel brake device _FWith front wheel brake device B _FOperating bar 5 _FBy corresponding to front wheel brake device control lever L _FBe delivered to front wheel brake device B the mechanical braking force of operation _FFront-wheel transmission system T _FInterconnect.

Trailing wheel transmission system T _R, be connected in trailing wheel control lever L by an end _ROn rope stopper 7 _RBe connected in this rope stopper 7 with an end _RThe damping mechanism 8 of the other end _R, an end is connected in the rope stopper 9 of the damping mechanism other end _R, be connected in rope stopper 9 _RThe drive link 10 of the other end _RBe connected in trailing wheel brake equipment B _ROperating bar 5 _RAnd drive link 10 _RBetween rope stopper 11 _RConstitute.Rope stopper 9 _R, 11 _RLike this with drive link 10 _RLink, that is, and by corresponding to rope stopper 9 _RThe drive link 10 of drawing-in motion _RRotation, tractive force is acted on rope stopper 11 _ROn.Front-wheel transmission system T _FWith above-mentioned trailing wheel transmission system T _REqually constitute, be connected in front-wheel control lever L by an end _FRope stopper 7 _F, an end is connected in this rope stopper 7 _FThe damping mechanism 8 of the other end _F, an end is connected in the rope stopper 9 of the damping mechanism other end _FBe connected in rope stopper 9 _FThe drive link 10 of the other end _FAnd be connected in front wheel brake device B _FOperating bar 5 _FWith drive link 10 _FBetween rope stopper 11 _FConstitute.

At trailing wheel transmission system T _RMiddle drive link 10 _RAnd at front-wheel transmission system T _FMiddle drive link 10 _FConnecting regulating control M, this regulating control M is by sun and planet gear 14 and can positive and negatively freely switch rotation direction, to the sun and planet gear 14 conveying turning efforts time, motor 15 free to rotate under the no power state constitutes, and this motor can resistance braking.

Together with reference to Fig. 4 and Fig. 5, the casing 16 of regulating control M is by first casing 17 that motor 15 has been installed, constitute at second casings 18 that link with first casing 17 on motor 15 opposites, the 3rd casing 19 that links with second casing 18 on first casing, 17 opposites, sun and planet gear 14 is loaded in the gear case 21 that forms in the casing 16, front and back wheel transmission system T _R, T _FMiddle drive link 10 _R, 10 _FBe loaded on be formed on the 3rd casing 19 and with lid 20 that the 3rd casing 19 combines between start chamber 22 in, and rotatable.Again, the output shaft 23 of motor 15 stretches in the gear case 21, and motor 15 combines with first casing 17 of casing 16.

Sun and planet gear 14 comprises the carriage 34 of sun gear 24, gear ring 25 and support and sun gear 24 and a plurality of planetary wheels 26 of gear ring 25 ingears.Trailing wheel transmission system T _RDrive link 10 _RConnect front-wheel transmission system T with gear ring 25 _FDrive link 10 _FConnect with planet carrier 34, the output shaft 23 of motor 15 connects with sun gear 24.

On first casing 17 of casing 16, supporting rotationally and having end axis, that be disposed at axis of revolution 27 in gear chamber 21 parallel with the output shaft 23 of motor 1, the other end of this axis of revolution 27 puts in start chamber 22, and connects the 3rd casing 19 and rotatable.Centre portion in the gear chamber 21 of axis of revolution 27 is provided with the flange part 27a that outwards bloats along radial direction, be installed with on the axis of revolution 27 between this flange part 27a and first casing 17 sun gear 24 and with the output shaft 23 that is installed in motor 15 on driven wheel 28 ingears, with the driven gear 29 of sun gear 24 fixed connections, sun gear 24 and driven gear 29 can relatively rotate with rotating shaft 27.Therefore, motor 15 is connected in sun gear 24 by driven wheel 28 and driven gear 29.

Again, drive link 10 is being fixed in the end of the axis of revolution in start chamber 22 27 _F, at this drive link 10 _FAnd between the above-mentioned flange 27a, disposing the cylinder 30 of coaxial encirclement axis of revolution 27, between this cylinder 30 and axis of revolution 27, bearing 31 is installed.And 22 side ends are being fixed drive link 10 in the start chamber of cylinder 30 _R, fixing gear ring 25 at gear chamber 21 side ends of cylinder 30.Thereby, drive link 10 _RConnect by cylinder 30 and gear ring 25.And, at gear ring 25 and drive link 10 _RBetween, the columnar lining 32 coaxial with cylinder 30 is installed, between this lining 32 and the 3rd casing 19, bearing 33 has been installed.

Moreover, fixing drive link 10 _FThe flange part 27a of axis of revolution 27 on, fixing planet carrier 34.Thereby, drive link 10 _FConnect by axis of revolution 27 and planet carrier 34.

In Fig. 6 and Fig. 7, damping mechanism 8 _RBe by connect trailing wheel brake equipment control lever L with base end side _RThe rope stopper 7 of side _R Fore side parts 36 be connected trailing wheel brake equipment B with base end side _RThe rope stopper 9 of side _R Start side component 37 between the damper spring 38 installed constitute.

Fore side parts 36 are bar-shaped, have designed along the outwards outstanding support portion 36a of radial direction in its leading section one.Start side part 37 is band round-ended cylinders that support portion 36a is embedded slidably, in a front of this actuator 37, embeds the circular seat board 39 that central part has sleeve 39a slidably, and fore side parts 36 pass sleeve 39a and can relatively move vertically.And, in actuator 37, compressed a damper spring 38 between strut member 36a and the seat board 39, for restriction seat board 39 moves towards the direction away from strut member 36a, embedded stopping wheel 40 at the end face of actuator 37.

Start side part 37 places in the shell 41 slidably, rope stopper 7 _RPass an end of shell 41 movably, and be connected with operating parts 36.Rope stopper 9 _RPass the other end of shell 41 movably, be connected with operating parts 37.And, according to trailing wheel brake equipment control lever L _RThe input of general brake operating, the loading of damper spring is arranged to not make damping mechanism 8 _RThe degree of compression.

Damping mechanism 8 _FHave and above-mentioned damping mechanism 8 _RSame formation, and be set at rope stopper 7 _FAnd rope stopper 9 _FBetween.

As shown in Figures 1 and 2, the front portion of vehicle frame F is covered by shroud upper panel 12, above-mentioned two damping mechanisms 8 _F, 8 _RCover by shroud upper panel 12 with regulating control M,, particularly regulating control M is placed the below of the stay bearing plate 12a that forms by shroud upper panel 12 and be installed on the vehicle frame F by the vehicle frame F fixed pedestal.

In this type of brake equipment, when not carrying out trailing wheel brake operation lever L _RBraking operation state under, only carry out front wheel brake control lever L _FBrake operating the time, then planet carrier 34 rotates, though by front-wheel transmission system T _FThe brake operation force that transmits makes front wheel brake device B _FBraking maneuver takes place, but when motor 15 is in not "on" position, because of sun gear 24 freely rotates, trailing wheel brake equipment B _RStill be in non-action status.And when motor 15 counter-rotating, because of sun gear 24 and planetary frame 34 rotate in the same way, so gear ring 25 reverses trailing wheel brake equipment B _RIn the time of action, front wheel brake device B _FGo up and obtain auxiliary force from motor 15.

That is, as shown in Figure 8, the braking force that increases the auxiliary force that the action be accompanied by motor 15 produces on the operating effort of front wheel brake control lever is by front wheel brake device B _FWhen bringing into play, the braking force of interlock of action of following motor 15 is at trailing wheel brake equipment B _RObtain performance, obtain shown in figure cathetus A with making a concerted effort that vector value is represented.

At this moment, reduction ratio from the output that is input to gear ring 25 of sun gear 24 is decided to be iR, be decided to be iC from the reduction ratio of the output that is input to planetary wheel 26 of sun gear 24, the number of teeth of gear ring 25 is decided to be ZR, when the number of teeth of sun gear 24 was decided to be ZS, the slope tan θ of the straight line of expression auxiliary force determined with the (1)～the (3) the following formula.

tanθ＝iR/iC…………(1)

iR＝ZR/ZS……………(2)

iC＝(ZR＋ZS)/ZS………(3)

The output torque of establishing motor 15 again is T, and when 24 reduction ratio was iS from motor 15 to sun gear, available (T * iS * ZR/ZS) obtained rear-wheel braking force, obtains the auxiliary force in the front wheel brake power with (T * iS * (ZR+ZS)/ZS).

In contrast, at the control lever L that does not carry out front wheel brake device _FThe state of brake operating under, only carry out trailing wheel operation of braking means bar L _RThe state of brake operating, when making motor 15 actions, as shown in Figure 9, then at trailing wheel operation of braking means bar L _RBrake operation force on increase the braking force of the auxiliary force be accompanied by the action of motor 15 and produce by trailing wheel brake equipment B _RIn performance time,, the braking force of interlock of action of following motor 15 is at front wheel brake device B _FObtain performance.

Judge trailing wheel W _RAnd front-wheel W _FIn any one possibility that wheel lockup takes place when increasing, make motor 15 towards and the interlock glancing impact oppositely rotate mutually, make sun gear 24 towards and forward rotation on the contrary when braking reinforcement.Therefore, planetary wheel 26 ... one side makes gear ring 25 towards reducing trailing wheel brake equipment B _RThe direction of braking force rotate, by the counter-force from gear ring 25, planetary frame 34 is also towards reducing front wheel brake device B _FThe direction of braking force rotate.This result reduces trailing wheel W _RAnd front-wheel W _FBraking force, the wheel that can avoid entering the braking with locked wheels state is absorbed in the locking state.When such anti-lock control, when recovering braking force, make the motor counter-rotating.

The action of the motor 15 among the regulating control M is controlled by electronic control package C (with reference to Fig. 3).Detect trailing wheel brake equipment control lever L _RThe trailing wheel of operation input with stroke sensor 44 _R, detect front wheel brake device control lever L _FThe front-wheel of operation input with stroke sensor 44 _F, detect trailing wheel W _RThe rear wheel rotation speed sensor 45 of rotating speed _RAnd detection front-wheel W _FThe front wheel rotation speed sensor 45 of rotating speed _F, detect front wheel brake control lever L _FThe front-wheel of operation with brake switch 47 _F, detect trailing wheel brake operation lever L _RThe trailing wheel of operation with brake switch 47 _R, detecting the detected value of the acceleration-deceleration sensor 48 of car body acceleration and deceleration and import respectively in this electronic control package, electronic control package C is according to the action of these detected value control motors 15.

Moreover, as shown in Figure 6, stroke sensor 44 _R, 44 _FDetecting element 49 is arranged, be installed in damping mechanism 8 _R, 8 _F Housing 41 on.On the other hand, at damping mechanism 8 _F, 8 _RThe housing 41 and the side of actuator 37 be provided with joint-cutting 41a, the 37a that extends along the moving direction of seat board 39, on seat board 39, designed the detected member 39b that contacts with above-mentioned detecting element 49 that stretches out from the outside of the export-oriented shell 41 of this joint-cutting 41a, 37a integratedly, stroke sensor 44 _R, 44 _FBe installed on the housing 41, according to corresponding to trailing wheel and front wheel brake device control lever L _R, L _FThe moving of above-mentioned detected member 39b of operation, detecting element 49 is retracted.

Among Figure 10, control setup C comprises that driving information calculating part 50, braking mode judging part 51, controlling quantity determine means 52, regulating control actuating device 53.The above-mentioned information calculations portion of travelling is according to front-wheel speed sensor 45 _F, trailing wheel speed sensor 45 _R, front-wheel is with brake switch 47 _F, trailing wheel is with brake switch 47 _R, and the detected value of acceleration, deceleration sensor 48 obtain driving information; Driving information and front-wheel stroke sensor 44 that braking mode judging part 51 obtains according to the above-mentioned information calculations portion of travelling _F, trailing wheel is with stroke sensor 44 _R, front-wheel is with brake switch 47 _FAnd trailing wheel is judged braking mode with the detected value of brake switch; Controlling quantity determines that means 52 determine the controlling quantity of motor 15 among the regulating control M according to the judged result of this braking mode judging part 51; Regulating control actuating device 53 is determined the signal of the controlling quantity output drive motor 15 that means 52 obtain according to controlling quantity.

Among Figure 11, in the information calculations portion 50 of travelling, obtain front-wheel speed V as driving information _WF, trailing wheel speed V _WR, front-wheel acceleration-deceleration ω _WF, trailing wheel acceleration-deceleration ω _WR, the front-wheel rate λ that skids _WF, rear wheels slip rate λ _WR, and infer vehicle velocity V _RAnd driving information calculating part 50 comprises: by front-wheel speed sensor 45 _FOutput signal calculate front-wheel speed V _WFFront-wheel speed calculation means 55 _F, by trailing wheel speed sensor 45 _ROutput signal calculate trailing wheel speed V _WRTrailing wheel speed calculation means 55 _R, analog signal conversion that acceleration, deceleration degree sensor 48 is obtained becomes the A/D changer 56 of digital signal, at two braking switches 47 _F, 47 _FAt least one export when detecting brake operating high-level signal OR-circuit 57, according to A/D changer 56 and or the output signal of door 57 judges whether car body is in the acceleration, deceleration differentiation means 58 of acceleration, deceleration state, according to front-wheel speed V as flower wheel speed _WFWith digitized car body acceleration, deceleration degree G _XAnd the acceleration and deceleration differentiation result that differentiates means 58 come the calculation speed of a motor vehicle infer the speed of a motor vehicle calculate means 59, to front-wheel speed calculation means 55 _FThe front-wheel speed V that obtains _WFCarry out differential in the hope of front-wheel acceleration/accel ω _WFDifferential means 60 _F, to trailing wheel speed calculation means 55 _RThe trailing wheel speed V that obtains _WRCarry out differential in the hope of trailing wheel acceleration/accel ω _WFDifferential means 60 _R, according to inferring the speed of a motor vehicle and front-wheel speed V _WFCalculate the front-wheel rate λ that skids _WFThe rate of skidding calculate means 61 _F, according to inferring the speed of a motor vehicle and trailing wheel speed V _WRCalculate rear wheels slip rate λ _WRThe rate of skidding calculate means 61 _R

Means 58 are differentiated in acceleration and deceleration, at car body acceleration, deceleration degree G _XAbsolute value | G _X| surpass the definite value α of institute (| during Gx|＞α), or OR-gate 57 when being output as high level, judge that vehicle is in the acceleration, deceleration state.

When differentiating means 58 by acceleration, deceleration and judge that car bodies are in non-acceleration, deceleration state, infer the speed of a motor vehicle and calculate means 59 according to this front-wheel speed V that obtains _{WF (n)}With the infer vehicle velocity V of last time to calculate _{R (n-1)}Comparative result, try to achieve as follows and infer vehicle velocity V _RnThat is,

Work as V _{WF (n)}＞V _{R (n-1)}The time,

V _R(n)＝V _R(n-1)＋G ₁×t

Work as V _{WF (n)}＜V _{R (n-1)}The time,

V _R(n)＝V _R(n-1)－G ₂×t

Work as V _{WF (n)}=V _{R (n-1)}The time,

V _R(n)＝V _R(n-1)

In the above-mentioned equation, G ₁(＞0) is certain acceleration, G ₂(＜0) is certain deceleration/decel, and t is a computation period.

When judging that by acceleration, deceleration differentiation means 58 car bodies are in the acceleration, deceleration state, infer the speed of a motor vehicle and calculate means 59 with the following formula calculation speed of a motor vehicle.

$V_{R\left(n\right)}=V_{R(n-1)}+\∫\mathrm{Gxdt}$

Moreover the rate of skidding is calculated means 61 _F, 61 _RRespectively with λ _WF=(V _R-V _WF)/V _R, λ _WR=(V _R-V _WR)/V _RCalculate front-wheel and rear wheels slip rate λ _WF, λ _WR

Among Figure 12, braking mode detection unit 51 comprise control of braking could judging means 63, as braking input brake mode decision means 64, the coefficient of correction of decision means set that means 65, the target rate of skidding are determined means 66, the rate of skidding correction means 67, the rate of skidding deviation calculation means 68.

Control of braking could judging means 63 be to be used to judge that whether can carry out controlling the ABS (Anti-lock Braking System) control (ABS control) and the braking reinforcement that produce by the action of motor 15 controls (CBS).Infer vehicle velocity V by what driving information calculating part 50 obtained _R, front-wheel speed V _WFAnd trailing wheel speed V _WRBeing input to this control of braking could judging means 63.

And, at front-wheel speed V _WFAnd trailing wheel speed V _WRReach setting value V simultaneously _ABSHMore than (V _WF〉=V _ABSHAnd V _WR〉=V _ABSHThe time, control of braking could judging means 63 output expressions can carry out the ON signal of ABS control, but works as body speed of vehicle V _RDo not reach and set for less than above-mentioned setting value V _ABSHSetting value V _ABSL(V _R＜V _ABSL) time, its output can not be carried out the OFF signal of ABS control.In addition, under the quantitative data input initial condition, could export the OFF signal that can not carry out ABS control by judging means 63 by control of braking.

Control is such about CBS: when inferring vehicle velocity V _RGreater than setting value V _CBS(V during H _R〉=V _CBSH), can carry out the ON signal of CBS control and could export by judging means, when inferring vehicle velocity V by control of braking _RLess than being set at setting value V _CBSHFollowing setting value V _CBSLThe time, the OFF signal that can not carry out CBS control could judging means 63 outputs from braking.In addition, under the quantitative data input initial condition, the OFF signal that can not carry out CBS control could judging means 63 outputs from control of braking.

Braking input master mode decision means 64 according to control of braking could judging means 63 judged result and the rate of the skidding deviation S that obtains by the rate deviation calculation means 68 of skidding _λ, according to the form below 1 is set the control of braking pattern, simultaneously, and according to two braking switches 47 _F, 47 _ROutput signal set the braking input pattern.

Table 1

Input			Condition A	Condition B	Output
						ABS can	CBS can	The rate of skidding deviation	Master mode
???ON	???-	??????Sλ＞0			??-					-	ABS
			???ON	???-		??????Sλ≤0	??-	Set up	ABS-C
???ON	???-	??-Sλ CBS＜Sλ≤0			Set up					Be false	CONV
			???-	???ON		????Sλ≤-Sλ CBS	??-	Be false	CBS
Except that above-mentioned condition					??-					-	OFF

In the last table 1, S λ _CBSIt is the rate bias judge value of skidding.Condition A sets for: as shown in figure 13, and when front-wheel and trailing wheel brake switch 47 _F, 47 _RBoth sides or wherein the either party continue setting-up time T ₁More than, set up when detecting the brake operating input.In addition, condition B sets for: as shown in figure 14, when becoming the state of S λ≤0 by S λ＞0, the time of S λ≤0 is less than setting-up time T ₂Shi Chengli.And, the above-mentioned rate bias judge value S λ that skids _CBSWhen condition B was false, promptly the state of S λ≤0 surpassed setting-up time T ₂And when lasting, be linear change in fixing time, from

Change to

, set ${\mathrm{S\&lambda;}}_{{\mathrm{CBS}}_1}<S{\mathrm{\&lambda;}}_{{\mathrm{<figure-callout\; id="2"\; label="CBS"\; filenames="A9512055600341.png,A9512055600472.png"\; state="\{\{state\}\}">CBS</figure-callout>}}_2}$ 。

And, according to last table 1, control of braking could judging means the ON signal relevant of 63 outputs with ABS control be imported into the state that master mode decision means 64 is imported in braking, abs mode is set when S λ＞0, when the time that becomes S λ≤0 for less than short time of setting-up time T2 the time, ABS-C pattern is set, and-S λ _CBS＜S _λ≤ 0, the time of S λ≤0 is greater than setting-up time T ₂Long-time the time, the CONV pattern is set.In addition, from control of braking could judging means the ON signal relevant of 63 outputs with CBS be imported into the state of braking input brake master mode decision means 64, S λ≤-S λ _CBS, brake operating continues setting-up time T ₁When above, the CBS pattern is set.In addition, the state except that each master mode of above-mentioned ABS, ABS-C, CONV, CBS is configured to the OFF pattern.And said abs mode is to carry out subtracting power control by the braking that the ABS (Anti-lock Braking System) of regulating control M generation is controlled, ABS-C is the braking reinforcement control of carrying out by the ABS (Anti-lock Braking System) control of regulating control M generation, the CONV pattern is the control that stops by regulating control M generation, and the CBS pattern then is that the braking reinforcement that carries out being produced by regulating control M is controlled.

In addition, use and trailing wheel brake switch 47 at front-wheel _F, 47 _RDetection signal when all being OFF, braking input brake pattern discrimination means will brakes to import and will be set at OFF; At brake switch 47 _FDetection signal be ON and brake switch 47 _RDetection signal when being OFF, the braking input pattern is configured to " preceding "; At brake switch 47 _RDetection signal be ON and brake switch signal 47 _FDetection signal when being OFF, the braking input pattern is configured to " back "; When two braking switches 47 _F, 47 _RDetection signal when all being OFF, the braking input pattern is configured to " front and back ".

Coefficient of correction set means 65 according to the result of determination of braking input master mode decision means 64, infer the speed of a motor vehicle and two travel switches 44 _F, 44 _RDetected value, set initial skid rate coefficient of correction K _FWF, K _FWR, load coefficient K during ABS control _DABS, CBS when control initial actuating COEFFICIENT K _CBSI, CBS when control braking input coefficient of correction K _CBSST, CBS when control load speed of a motor vehicle COEFFICIENT K _CBSVLoad coefficient K when reaching CBS control _DCBSInitial skid rate coefficient of correction K _FWF, K _FWRFixed time when above by the state continuance beyond the abs mode at braking mode, $K_{\mathrm{FWF}}=K_{{\mathrm{FWF}}_{1,}}$ $K_{\mathrm{FWR}}=K_{{\mathrm{FWR}}_1}$ In addition under the state, $K_{\mathrm{FWF}}={\mathrm{<figure-callout\; id="2"\; label="K\; FWF"\; filenames="A9512055600341.png,A9512055600472.png"\; state="\{\{state\}\}">K</figure-callout>}}_{{\mathrm{FWF}}_{}},$ $K_{\mathrm{FWR}}={\mathrm{<figure-callout\; id="2"\; label="K\; FWR"\; filenames="A9512055600341.png,A9512055600472.png"\; state="\{\{state\}\}">K</figure-callout>}}_{{\mathrm{FWR}}_{}}$ 。And $K_{{\mathrm{FWF}}_1}>{\mathrm{<figure-callout\; id="2"\; label="K\; WFW"\; filenames="A9512055600341.png,A9512055600472.png"\; state="\{\{state\}\}">K</figure-callout>}}_{{\mathrm{WFW}}_{}}$ 、 $K_{{\mathrm{FWR}}_1}>$ ${\mathrm{<figure-callout\; id="2"\; label="K\; FWR"\; filenames="A9512055600341.png,A9512055600472.png"\; state="\{\{state\}\}">K</figure-callout>}}_{{\mathrm{FWR}}_{}}$ 。

When the control of braking pattern becomes abs mode, load coefficient K during ABS control _DABSBe set at initial value K _DABSH, make it to be changed to K after process institute fixes time simultaneously _DABSLAnd K _DABSH＞K _DABSLAnd when the control of braking pattern becomes ABS-C pattern, the load coefficient K when keeping the ABS control of this moment _DABS, and not to the elapsed time timing of ABS-C mode state.Load coefficient K during ABS control is arranged again _DABS, when the control of braking pattern becomes CONV, CBS and OFF pattern, will be initialised.

When the control of braking pattern becomes the CBS pattern, initial actuating COEFFICIENT K during CBS control _CBSIValue become 1 fix time from 0.When the control of braking pattern is pattern beyond the CBS pattern, initial actuating COEFFICIENT K during CBS control _CBSIBe initialised.

Braking input coefficient of correction K during CBS control _CBSST, according to two stroke sensors 44 _F, 44 _RDetected value in a bigger side value, promptly according to from front-wheel brake operation lever LF and trailing wheel brake operation lever L _RA bigger side's brake operation force is set in the brake operation force of input, and the change the earth is set along with brake operating input change is big.

Load speed of a motor vehicle COEFFICIENT K when as shown in figure 15, CBS controls _CBSV, with inferring vehicle velocity V _RUprise and be set with uprising.

Load coefficient K during CBS control _DCBSBe according to the result of determination of the braking input pattern of braking input master mode decision means 64, promptly " OFF ", " preceding ", " back " input pattern of respectively braking that reaches " front and back " is set.

As shown in figure 16, the target rate of skidding is determined the former target setting rate line L that skids that takes turns in the artesian coordinates that the rate of skidding and rear wheels slip rate are coordinate axle of means 66.

The above-mentioned target rate line L that skids is decided to be such functional relation: with the skid increase of rate of front-wheel, the rear wheels slip rate reduces, and for example sets for to connect that the rear wheels slip rate is 0, the front-wheel target rate of skidding is The time coordinate ( , 0) and the front-wheel target rate of skidding is 0, the trailing wheel target is skidded rate

The time coordinate (0, ) and the straight line of formation.And the skid upper side of rate straight line L of target is set braking for and is subtracted the power control area.And, the front-wheel target rate of skidding

With the trailing wheel target rate of skidding

Be calculated as follows according to the braking input pattern: (1) braking input pattern: OFF ${\mathrm{\&lambda;}}_{{\mathrm{WF}}_0}=(V_{\mathrm{SRF}}\&times;K_{\mathrm{FWF}}\&times;{\mathrm{\&lambda;}}_{\mathrm{FOOFF}})/(V_R+K_{\mathrm{VF}})$ ${\mathrm{\&lambda;}}_{{\mathrm{WR}}_0}=(V_{\mathrm{SRR}}\&times;K_{\mathrm{FWR}}\&times;{\mathrm{\&lambda;}}_{\mathrm{ROOFF}})/(V_R+K_{\mathrm{VR}})$ (2) braking input pattern: preceding ${\mathrm{\&lambda;}}_{{\mathrm{WF}}_0}=(V_{\mathrm{SRF}}\&times;K_{\mathrm{FWF}}\&times;{\mathrm{\&lambda;}}_{\mathrm{FOF}})/(V_R+K_{\mathrm{VF}})$ ${\mathrm{\&lambda;}}_{{\mathrm{WR}}_0}=(V_{\mathrm{SRR}}\&times;K_{\mathrm{FWR}}\&times;{\mathrm{\&lambda;}}_{\mathrm{ROF}})/(V_R+K_{\mathrm{VR}})$ (3) braking input pattern: after ${\mathrm{\&lambda;}}_{{\mathrm{WF}}_0}=(V_{\mathrm{SRF}}\&times;K_{\mathrm{FWF}}\&times;{\mathrm{\&lambda;}}_{\mathrm{FOR}})/(V_R+K_{\mathrm{VF}})$ ${\mathrm{\&lambda;}}_{{\mathrm{WR}}_0}=(V_{\mathrm{SRR}}\&times;K_{\mathrm{FWR}}\&times;{\mathrm{\&lambda;}}_{\mathrm{ROR}})/(V_R+K_{\mathrm{VR}})$ (4) braking input pattern: front and back ${\mathrm{\&lambda;}}_{{\mathrm{WF}}_0}=(V_{\mathrm{SRF}}\&times;K_{\mathrm{FWF}}\&times;{\mathrm{\&lambda;}}_{\mathrm{FOW}})/(V_R+K_{\mathrm{VF}})$ ${\mathrm{\&lambda;}}_{{\mathrm{WR}}_0}=(V_{\mathrm{SRR}}\&times;K_{\mathrm{FWR}}\&times;{\mathrm{\&lambda;}}_{\mathrm{ROW}})/(V_R+K_{\mathrm{VR}})$

Above-mentioned various in, V _SRFBe skid rate speed of a motor vehicle coefficient of correction, V of front-wheel target _SRRBe that skid rate speed of a motor vehicle coefficient of correction, above-mentioned coefficient of trailing wheel target is setting value; K _VFBe skid rate coefficient of correction, K of front-wheel _VRBe rear wheels slip rate coefficient of correction, be all setting value.

In addition, λ _FOOFFFront-wheel target when the being OFF rate of skidding,

λ _ROOFFTrailing wheel target when the being OFF rate of skidding,

λ _FOFFront-wheel target when being " preceding " rate of skidding,

λ _ROFTrailing wheel target when being " preceding " rate of skidding,

λ _FORFront-wheel target when being " back " rate of skidding,

λ _RORTrailing wheel target when being " back " rate of skidding,

λ _FOWFront-wheel target when being " front and back " rate of skidding,

λ _ROWTrailing wheel target when being " front and back " rate of skidding,

Be all preset value at above-mentioned each coefficient.And, each target rate λ that skids _FOOFF, λ _ROOFF, λ _FOF, λ _ROF, λ _FOR, λ _ROR, λ _FOW, λ _ROWAll set for: as shown in figure 17, determine the target rate straight line that skids according to the braking input pattern, that is, and when the braking input pattern is OFF, for the auxiliary force that has only regulating control M to produce is applied to front wheel brake lock B _FAnd trailing wheel damper brake B _FOn state, make braking subtract little ground of the power control area stenosis target setting rate straight line L that skids _OFFWhen the braking input pattern is " preceding ", remove brake operation lever L _FOutside the operating effort that produces, front wheel brake lock B _FOn also act on the auxiliary force of regulating control M, and trailing wheel damper brake B _ROn only act on the auxiliary force of regulating control M, in front-wheel rate one side of skidding, make braking subtract the power control area and become the earth target setting rate straight line L that skids _FWhen the braking input pattern is " back ", remove brake operation lever L _ROutside the operating effort that produces, trailing wheel damper brake B _ROn also act on the auxiliary force of regulating control M, and front wheel brake lock B _FOn only act on the auxiliary force of regulating control M, in rear wheels slip rate one side, make braking subtract the power control area and become the earth target setting rate straight line L that skids _RWhen braking input master mode is " front and back ", remove two braking control lever L _F, L _ROperating effort outside, at two damper brake B _F, B _ROn also effect the auxiliary force of regulating control M is arranged, so, make braking subtract the power control area to add the earth and set the target rate L that skids in the front and back wheel rate both sides of skidding _W

In addition, above-mentioned initial skid rate coefficient of correction K in various _FWF, K _FWR, fixed time when above by the state continuance beyond the abs mode in the control of braking pattern, set for

And state in addition, even promptly the control of braking pattern is abs mode and is non-abs mode but this state for not through above-mentioned state of fixing time the time, the above-mentioned rate coefficient of correction that skids set for less than So, the rate λ that skids of the front-wheel target when the control of braking pattern is non-abs mode _WFOAnd the trailing wheel target rate λ that skids _WROFront-wheel target when the being ABS rate λ that skids than master mode _WROAnd the trailing wheel target rate λ that skids _WROWanting of setting is big, like this, as shown in figure 18, the rate straight line L that skids of the target when the control of braking pattern is ABS _ABSTarget when the being non-ABS rate straight line L that skids with the control of braking pattern _NABSCompare, be configured to make control of braking force-reducing area territory to become big.

Also have, above-mentioned various in, with inferring vehicle velocity V _RBecome big, above-mentioned front-wheel, the trailing wheel target rate λ that skids _WFO, λ _WRODiminish.So as shown in figure 19, target is skidded and is determined means 66, makes and infers vehicle velocity V _RThe target when low rate straight line L that skids _VLWith infer the target of the speed of a motor vehicle when high rate straight line L that skids _VHCompare to be set at and reduce the side that braking reduces control area.

Front-wheel acceleration/accel ω _WF, trailing wheel acceleration/accel ω _WR, the front-wheel rate λ that skids _WF, rear wheels slip rate λ _WRBy the driving information calculating part input rate correction means 67 that skids, this rate of skidding is filled means 67 and is carried out following calculating:

λ _WFX＝λ _WF－ω _WF×K _RF

λ _WRX＝λ _WR－ω _WR×K _RR

In the following formula, K _RFBe skid rate coefficient of correction, K of front-wheel _RRBe rear wheels slip rate coefficient of correction, be setting value.And in the rate correction means 67 that skids, the front and rear wheel rate λ that skids _WFX, λ _WRXRespectively by front and rear wheel acceleration/accel ω _WRRevise.

On target setting skids the artesian coordinates of rate straight line L, promptly skid with front-wheel rate and rear wheels slip rate is on the artesian coordinates of coordinate axle, the front and rear wheel rate λ that skids after the correction of revising by the rate correction means 67 that skids _WFX, λ _WRXThe distance that current skid rate and the above-mentioned target of determining skidded between the rate straight line L is the rate deviation S that skids _λ, this deviation S _λRate deviation calculation means 68 are calculated by skidding.

When the formation of regulating control M is determined, the front wheel brake lock B that produces with the action of this regulating control M _F, and trailing wheel damper brake B _RBraking force change ratio, promptly the variation ratio of front-wheel index sliding rate and rear wheels slip rate as shown in Figure 16, determines that by the direction with certain angle β the above-mentioned rate deviation S λ that skids is along straight line L _CDirection calculated.

That is, when setting tag β=γ, the rate of skidding deviation S λ is calculated by following formula: $\mathrm{S\&lambda;}=\frac{{(\mathrm{\&lambda;}}_{\mathrm{WRO}}{\mathrm{\&lambda;}}_{\mathrm{WFX}}+{\mathrm{\&lambda;}}_{\mathrm{WFO}}\&times;{\mathrm{\&lambda;}}_{\mathrm{WRX}}-{\mathrm{\&lambda;}}_{\mathrm{WRO}}\&times;{\mathrm{\&lambda;}}_{\mathrm{WFO}})\sqrt{1+{\mathrm{\&gamma;}}^2}}{(\mathrm{\&gamma;}\&times;{\mathrm{\&lambda;}}_{\mathrm{WFO}}+{\mathrm{\&lambda;}}_{\mathrm{WRO}})}$

The positive and negative of the rate of skidding deviation S λ that following formula is tried to achieve is: shown in the position A of Figure 16 like that, be "+" under the state of the rate of skidding current location when braking subtracts the power control area and promptly surpasses target and skid the position of rate straight line L; Otherwise, shown in the position B of Figure 16 like that, the rate of skidding current location subtracts the power control area in non-braking and promptly is in and is "-" when target is skidded state under the rate straight line L.This rate deviation S λ that skids is transfused to braking input brake mode decision means 64, and one of decision factor during as judgement control of braking pattern is used.

Referring again to Figure 10, control of braking pattern, each coefficient of correction K of obtaining by braking mode detection unit 51 _DABS, K _CBSI, K _CSST, K _CBSV, K _DCBSAnd the rate deviation S λ that skids is imported into controlling quantity and determines in the means 52.And determine in the means 52 that in controlling quantity the load DUTY that produces according to each control of braking pattern, by the motor among the regulating control M 15 and turning to determines as follows:

(1) control of braking pattern: ABS

DUTY=S λ * K _DABS+ O _DABS(O _DABS: set value partially).

Turn to: just change

In this abs mode, shown in following formula, DUTY is load coefficient K when skidding rate deviation S λ and ABS control _DABSProduct determine, and, load coefficient K when ABS control _DABSSet the initial value K when becoming the ABS control pattern for _DABSH, and be reduced to K gradually through the schedule time _DABSLSo,, at the ABS control pattern initial stage, it is bigger that DUTY sets.

(2) control of braking pattern: ABS-C

DUTY＝(|Sλ|—Sλ _CBS)×K _CBSV×K _DCBS＋O _DCBS

(O _DCBS: set value partially)

Turn to: reverse

This ABS-C pattern, the rate of promptly skidding deviation S λ is S λ≤0 o'clock from the state variation of S λ＜0, the time of S λ＜0 does not reach specified time T ₂State under, shown in following formula, DUTY is determined by the difference of the absolute value of the rate deviation S λ that skids and the rate bias judge value of skidding.

(3) control of braking pattern: CBS

DUTY＝CBS _DO×K _CBSV×K _DCBS×K _CBSI×K _CBSST＋O _DCBS；

(CBS _DO: constant load)

Turn to: reverse

Under this CBS pattern, the DUTY when promptly implementing the control of braking reinforcement is depicted as definite value as following formula.Regulating control M applies certain auxiliary force in braking reinforcement side.And, initial stage action COEFFICIENT K during CBS control _CBSI, when the control of braking pattern becomes to the CBS pattern, its value from 0 through fix time and be changed to 1, the auxiliary force that regulating control M applies through fix time and be increased to institute's definite value gradually.Load speed of a motor vehicle COEFFICIENT K when in addition, CBS controls _CBSVSet for inferring vehicle velocity V _RIncrease and become big, the auxiliary force that regulating control M applies becomes big with the increase of body speed of vehicle.Moreover, load coefficient K during CBS control _DCBSAccording to " OFF ", " preceding ", " back ", " front and back " are respectively braked input pattern and are set, and the auxiliary force that regulating control M is applied changes according to braking operation state.

(4) control of braking pattern: CONV

DUTY=0 preferably produces braking to motor 15.

When the control of braking pattern was the CONV pattern, the rate of promptly skidding changed SA when D λ＞0 becomes the state of S λ≤0, T that this state continuance is fixed time ₂Situation under, rate deviation S λ is positioned at (S λ when skidding _CBSDuring≤S λ≤0) scope, do not carry out the control of braking that produces by regulating control M.As shown in figure 20, the skid below of rate straight line L of target, width is S λ _CBSScope in be configured to the dead band.The below in this dead band is braking reinforcement zone.The width in this dead band, the rate of promptly skidding deviation decision content S λ _CBSIn institute after the control of braking pattern becomes the CONV pattern fixes time, from

Arrive

Become the earth and change this decision content S λ _CBSWhen the control of braking pattern is ABS control pattern and ABS-C master mode, narrow when promptly carrying out the anti-lock master mode, but not widely be set during the ABS (Anti-lock Braking System) master mode.

The following describes the effect of present embodiment.Skid rate and rear wheels slip rate of front-wheel all is that the target of the appropriate value rate straight line L that skids is configured to straight line shown in Figure 16, owing to as one man control front wheel brake lock B with the target rate straight line L that skids _FAnd trailing wheel damper brake B _RBraking force, therefore, not only by mono-regulating control M control front wheel brake lock B _FAnd trailing wheel damper brake B _R, and the two-wheel rate of skidding stably converges on the target rate of skidding before and after can making.And, former take turns with the rectangular coordinate system of rear wheels slip rate for coordinate in length and breadth in, the target rate straight line L that skids presents the front-wheel rate of skidding and increases, the functional relation that the rear wheels slip rate reduces, and front and back wheel either party's the rate of skidding sloping portion is all compensated by the increase of the opposing party's the rate of skidding.So can guarantee that car body is continual and steady, reach fully and slow down.

Subtract power when control braking, according to skid distance between the position that rate straight line L and the current front and back two-wheeled rate of skidding represent of target, the rate of promptly skidding deviation S λ carries out the action control of the motor 15 among the regulating control M, thus very rapid convergence in the target rate of skidding.And in the ABS control pattern, i.e. braking subtracts the power control initial stage, the controlling quantity of regulating control M be the DUTY of motor 15 set bigger, so, at the ABS (Anti-lock Braking System) control initial stage that the rate of skidding sharply increases, take to carry out bigger braking and subtract power control, can prevent to produce the rate of skidding more greatly.

As shown in Figure 19, the target rate straight line L that skids reduces and changes to a side that reduces braking force-reducing area territory with body speed of vehicle, in the time of can avoiding low speed driving thus do not wish that the braking of carrying out subtracts power control, (this low speed driving is usually changed greatly by the uneven wheel velocity that causes in road surface.) but can realize then that when running at high speed snap catch subtracts power control.

Also have, as shown in Figure 18, the target rate straight line L that skids is set as and subtracts power when control in non-braking and reduce to brake force-reducing area territory one side when subtracting power control than braking and change, like this, when under the big condition of road surface of the variable quantity of wheel velocity is bad, travelling, be difficult for entering braking and subtract the power state of a control, but in case enter after braking subtracts the power state of a control, then can pay attention to car body stability, make braking subtract power control to last till the lower state of the rate of skidding.

And, target when braking subtracts power control and becomes non-braking and subtract power control skid the variation of rate straight line L be become time remaining that non-braking subtracts the power state of a control greater than carry out after fixing time, so, even when anti-lock control beginning initial stage reinforcement, produce overregulate, also can avoid ABS (Anti-lock Braking System) control to interrupt, prevent dispersing of ABS (Anti-lock Braking System) control.

Also have, as shown in figure 17, according to two braking control lever L _F, L _RThe operating conditions target setting rate straight line that skids, can obtain the suitable rate of skidding according to the front and back two-wheeled that is combined in by the auxiliary force of driver's brake operating input and regulating control M.

Calculate the target of braking when subtracting power control skid rate straight line L and the distance between the rate current location of skidding, promptly calculate when skidding the rate deviation, calculating is to carry out along the front-wheel that is produced by the action of regulating control M and the variation ratiometric direction of rear wheels slip rate, like this, follow the skid convergence of rate of the target of the action of regulating control M further to be enhanced.

When entering non-ABS (Anti-lock Braking System) control from ABS (Anti-lock Braking System) control, the time of S λ≤0 is less than fixing time T ₂The ABS-C pattern of state under, determine DUTY according to the absolute value of the deviation ratio S λ that skids and the difference of the rate bias judge value of skidding, when braking reinforcement control after this, the controlling quantity of motor 15 (DUTY) is set to definite value among the regulating control M.So when ABS (Anti-lock Braking System) control entered non-ABS (Anti-lock Braking System) control, can suppress braking force increased, and avoids occurring undesirable rate of skidding and increases.Also have, when the control of braking reinforcement, under front and rear wheel skids the less state of rate, avoid the auxiliary force of regulating control M to increase to unnecessary degree, prevent that the car body deceleration/decel from increasing to undesirable degree.

The control of braking reinforcement is greater than fixing time T at the brake operating input duration ₁Shi Jinhang's, when the sudden stop that often needs in the short time of ABS (Anti-lock Braking System) control, even entering into braking from braking reinforcement control area, the rate of skidding of front-wheel and trailing wheel subtracts the power control area, the direction of action of the motor 15 among the regulating control M also is not transformed into braking from braking reinforcement direction of action (reverse directions) and subtracts power direction of action (positive veer), but at high speed is realized ABS (Anti-lock Braking System) control.

When the control of braking reinforcement, the auxiliary force that is applied by regulating control M increases to certain value gradually, like this, can improve driver's control when braking reinforcement control.Also have, according to inferring vehicle velocity V _RDetermine the auxiliary force of regulating control M, like this, can obtain and the corresponding car body deceleration/decel of Vehicle Speed, determine the auxiliary force that regulating control M produces, so just can be met the car body deceleration/decel of driver's intention according to the braking input pattern.

Moreover, target is skidded and is set the dead band between rate straight line L and the braking reinforcement control area, owing in this dead band, stopped control towards braking reinforcement direction by regulating control M generation, so, before and after the two-wheel rate of skidding can not arrive undesirable degree greatly because of the auxiliary force of regulating control M when implementing the dead control of braking of anti-wheel, can quicken to the skid convergence of rate line L of target.At this moment, by motor 15 is carried out dynamic brake (resistance braking), can be more effectively to the target rate straight line L convergence of skidding.

The amplitude in the dead band rate bias judge value S λ that promptly skids _CBSCarrying out narrower, broad during in non-ABS (Anti-lock Braking System) control of ABS (Anti-lock Braking System) when control, so, the stabilization of the rate of skidding in the time of can realizing ABS (Anti-lock Braking System) control, and the car body stability can realize non-ABS (Anti-lock Braking System) control the time.In addition, the variation of dead band amplitude is slow, so can suppress the impact variation along with the control of dead band variation.

Describe embodiments of the invention above in detail, but the invention is not restricted to the foregoing description, only otherwise exceed the content of this claim, the present invention can have the variation in the various designs.

According to first scheme of the present invention, skid rate and rear wheels slip rate of front-wheel all is that the target of the appropriate value rate straight line L that skids is decision like this: present the front-wheel rate of skidding and increase, the functional relation that the rear wheels slip rate reduces, front and back wheel either party's the rate of skidding sloping portion are all compensated by the increase of the opposing party's the rate of skidding.According to skid distance between the position that rate straight line L and the current front and back two-wheeled rate of skidding represent of target, carry out the action control of regulating control M, so the two-wheel rate of skidding very rapid convergence in the target rate of skidding.

According to alternative plan of the present invention, when subtracting power control beginning, braking make the controlling quantity of regulating control bigger, and at the anti-lock control initial stage that the rate of skidding increases rapidly, carry out bigger braking and subtract power control, can prevent that the rate of skidding is excessive.

According to third party's case of the present invention, make the target straight line that skids subtract power control area one side to the braking that diminishes and change according to the reduction of the speed of a motor vehicle, in the time of can avoiding low speed driving thus do not wish that the braking of carrying out subtracts power control, (this low speed driving is usually changed greatly by the uneven wheel velocity that causes in road surface.)

According to cubic case of the present invention, subtracting power when control target rate straight line that skids with non-braking compares, braking subtracts power when control target rate straight line that skids and is located at and becomes big braking force-reducing area territory one side, like this, when the bad road traveling of the big situation of the variable quantity of wheel velocity, be difficult for entering braking and subtract the power state of a control, but in case enter after braking subtracts the power state of a control, then can pay attention to car body stability, make braking subtract power control to last till the lower state of the rate of skidding.

According to the 5th scheme of the present invention, target when braking subtracts power control and becomes non-braking and subtract power control skid the variation of rate straight line L be become time remaining that non-braking subtracts the power state of a control greater than carry out after fixing time, so, even when anti-lock control beginning initial stage reinforcement, produce overregulate, also can avoid ABS (Anti-lock Braking System) control to interrupt, prevent dispersing of ABS (Anti-lock Braking System) control.

According to the 6th scheme of the present invention, can make according to the operating conditions of two braking control lever and be applied to front and back two-wheel braking force variation, therefore the two-wheel rate of skidding also changes before and after, and the rate straight line that can skid according to the operating conditions target setting of two braking control lever obtains the suitable rate of skidding.

According to the 7th scheme of the present invention, former rear wheels slip rate is in the system of axes of coordinate axle, calculate the target of braking when subtracting power control skid rate straight line L and the distance between the rate current location of skidding, when promptly skidding the rate deviation, calculating is to carry out along the direction of the variation of front-wheel that is produced by the action of regulating control M and rear wheels slip rate, like this, can further be enhanced to the skid convergence of rate of target.

Claims (7)

1. the ABS (Anti-lock Braking System) control system of a vehicle comprises being installed on front-wheel (W _F) front wheel brake lock (B _F), be installed on trailing wheel (W _R) trailing wheel damper brake (B _R), can make front-wheel and trailing wheel damper brake (B _F, B _R) braking force the mono-regulating control (M), the front-wheel speed sensor (45 that change _F), trailing wheel speed sensor (45 _R), the control setup (C) of the action of controlled adjuster (M), it is characterized in that: this control setup (C) comprising: according to front-wheel and trailing wheel speed sensor (45 _F, 45 _R) detected value, the rate of skidding of front-wheel and rear wheels slip rate of calculating is calculated means (61 _F, 61 _R); The former wheel determines in the rectangular coordinate system that the rate of skidding and rear wheels slip rate are axis of coordinate that the skid target rate of skidding of rate straight line of target determines means (66), the rate straight line is such function and said herein target is skidded, promptly along with the skid increase of rate of front-wheel, the rear wheels slip rate reduces; The rate of skidding deviation calculation means (68) are calculated by the above-mentioned rate of skidding and are calculated means (61 _F, 61 _R) obtain skid distance between the rate line of the rate of skidding current location in the above-mentioned rectangular coordinate system that front-wheel and rear wheels slip rate determine and target; Decision means (64), it is set the skid upper side of rate straight line of target braking for and subtracts the power control area, and whether the current location of differentiating the rate of skidding is positioned at above-mentioned braking and subtracts the power control area; Controlling quantity is determined means (52), when above-mentioned differentiation means (64) judge that the rate current location of skidding is positioned at braking and subtracts the power control area, according to above-mentioned distance, determine regulating control (M) to front-wheel and trailing wheel damper brake (B _F, B _R) braking force subtract power one side control amount; And regulating control driving means (53), determine the controlling quantity that means (52) obtain according to controlling quantity, the signal of output driving regulator (M).

2. anti-lock vehicle braking force control system as claimed in claim 1, it is characterized in that: above-mentioned controlling quantity determines that means (52) amass to determine controlling quantity according to what target was skidded rate straight line and skid distance between the rate current location and coefficient of correction, and above-mentioned coefficient of correction enters that braking subtracts the power control area after institute fixes time reduces gradually in the rate current location of skidding.

3. as the anti-lock vehicle braking force control system of claim 1 record, it is characterized in that: the target rate of skidding determines that means (66) make the target straight line that skids subtract power control area one side to the braking that diminishes and change according to the reduction of the speed of a motor vehicle.

4. as the anti-lock vehicle braking force control system of claim 1 record, it is characterized in that: the rate straight line that skids of the target when the target rate of skidding determines that means (66) determine that braking subtracts power control, make it to compare, be set at and enlarge the side that braking subtracts the power control area with the target that non-braking the subtracts power when control rate straight line that skids.

5. as the anti-lock vehicle braking force control system of claim 4 record, it is characterized in that: the above-mentioned target rate of skidding is determined means (66), skidding the rate current location when braking subtracts the power control area and enters into non-braking and subtract the power control area, after this rate current location of skidding is left state continuance that braking subtracts the power control area and is fixed time, the target of rate straight line when changing to non-braking and subtracting power and the control rate straight line that skids that skids of the target when making braking subtract power control.

6. as the anti-lock vehicle braking force control system of claim 1 record, it is characterized in that: can be according to front wheel brake operating unit (L _F) operation and with mechanical braking force be delivered to front wheel brake (B _F) front wheel brake side transmission system (T _F) and can be according to trailing wheel brake operating parts (L _R) operation and with mechanical braking force be delivered to rear-wheel brake (B _R) rear-wheel brake side transmission system (T _R) pars intermedia, be connected with regulating control (M), it makes two lock (B _F, B _R) braking force to change ratio certain, the above-mentioned target rate of skidding determine means (66) according to two braking operating units (4, L _R) operating conditions determine the target rate straight line that skids.

7. as the anti-lock vehicle braking force control system of claim 1 record, can be according to front wheel brake operating unit (L _F) operating unit (L _F) operation and with mechanical braking force be delivered to front wheel brake lock (B _F) front wheel side transmission system (T _F) and can be according to trailing wheel brake operating parts (L _R) operation and be delivered to rear-wheel brake (B with obtaining power machine _R) rear wheel-side transmission system (T _R) the centre, be connected with regulating control (M), it makes two lock (B _F, B _R) braking force to change ratio certain, it is characterized in that: the rate of skidding deviation calculation means (68) are along calculating skid distance between the rate straight line of skid rate current location and target on the above-mentioned variation ratiometric direction.

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