JP3167278B2 - Method and apparatus for detecting decrease in tire air pressure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting whether or not the air pressure of at least one of four tires mounted on a four-wheel vehicle has decreased.

[0002]

2. Description of the Related Art In recent years, as one of safety devices for four-wheeled vehicles such as passenger cars and trucks, a device for detecting a decrease in tire air pressure (DWS) has been proposed.
Has been developed and some have been put to practical use. One of the methods for detecting a decrease in tire air pressure is, for example, the difference between the rotational angular velocities F ₁ , F ₂ , F ₃ and F ₄ of _four tires W ₁ , W ₂ , W ₃ and W ₄ mounted on a vehicle. There is a way to use. This method utilizes the fact that the rotational angular velocity F _i (i = 1, 2, 3, 4) changes according to the condition of the air pressure of the tire W _i . That is, when the air pressure of any of the tires W _i drops, the effective rolling radius decrease of the tire W _i, as a result the rotational angular velocity F _i of the tire W _i is increased. Therefore, based on the difference between the rotational angular velocities F _i , it is possible to determine a decrease in the air pressure of the tire W _i .

[0003] The effective rolling radius is a value obtained by dividing the distance traveled by one rotation of the tire W _i that is freely rolling under a load by 2π. Discriminants used in detecting decrease in tire air-pressure W _i on the basis of the difference in the rotational angular velocity F _i is, for example, the following (1) is as shown in equation (JP 63-305011, JP Kaihei 4-212609
See Japanese Unexamined Patent Publication No. )

[0004]

(Equation 1)

[0005] Assuming that the effective rolling radii of the tires W _i are all the same, the rotational angular velocities F _i are all the same (F ₁ = F ₂ = F ₃ = F ₄ ). Therefore, the determination value D is 0. Therefore, threshold values D _TH1 and D _TH2 (where D _TH1 and D _TH2 > 0) are set. Then, when the condition shown in the following equation (2) is satisfied, it is determined that there is a tire W _i with a reduced air pressure. If this condition is not satisfied, it is determined that all of the tires _Wi have a normal internal pressure.

D <−D_TH1 Or D> D_TH2 ‥‥ (2) By the way, tire W_iRotational angular velocity F_iThe tire W
_iAir pressure situation does not always reflect faithfully,
Differences may be included. For example, tire W _iValid
The amount of variation in the rolling radius depends on the vehicle suspension and fluid.
Even if the air pressure drops at the same rate due to characteristics etc.,
It has the property of being different for each mounting position. Also, if the vehicle
When driving in a corner, the vehicle
As a result, the load moves toward the outside of the corner,
Tire W inside corner_iAnd the tire W outside the corner_i
And the amount of variation of the effective rolling radius differs. The result
As a result, the rotational angular velocity F_iIncludes an error. Therefore, this
Angular velocity F including an error such as_iDetermination value D based on
Is determined, there is a possibility that an erroneous determination is made.

[0007] As a technique for dealing with this, for example,
For example, the technique disclosed in Japanese Patent Application Laid-Open No. 7-137514 is disclosed.
There is art. In the technology disclosed in this publication,
Determined rotational angular velocity F_iMaximum rotational angular velocity F_iBut
Is extracted. Next, the extracted maximum rotational angular velocity F_i
Tires W corresponding to_iIs used as tire data
Stored in the RAM. And remembered tires
Among the data, the number is the largest and the number is
Tire data that exceeds a certain percentage of the stored number is checked.
You. As a result, if applicable tire data exists,
Ear W_iIdentified as likely to have low air pressure
It is. Then, this specified tire W _iCorresponding to
The constant correction coefficient is read, and the read correction coefficient is
Thus, the determination value D is corrected.

[0008] According to this technique, the tire W _i at which the air pressure is likely to be reduced is not specified by using an absolute threshold value, but is specified by comparison with another tire W _i . Therefore, even if the amount of variation in the effective rolling radius differs for each tire W _i , the tire W for which the air pressure is reduced
_i can be specified reliably. Thus, erroneous determination is avoided.

As another technique, the present applicant has previously published
The technology disclosed in Japanese Patent Application No. 8-58039 is
is there. In this technology, the rotational angular velocity
Degree F _iAvoids misjudgment by rejecting
Can be More specifically, if the vehicle is traveling in a corner
The tire W depending on the turning radius of the vehicle._iTo
Side slip occurs and the rotational angular velocity F_iContains an error. So
Here, in this technology, based on the rotational angular velocity of the driven tire,
The turning radius of the vehicle is calculated by
It is determined whether the turning radius is below a predetermined threshold value.
You. As a result, if the turning radius of the vehicle is
If the rotational angular velocity F_iIs rejected. This allows
Since the judgment value D is not calculated, it may include an error after all.
The rotational angular velocity F with it_iThat judgments based on
And In this way, erroneous determination can be avoided.

However, in each of the above-mentioned technologies,
In this case, the error cannot be completely eliminated from the determination value D, and the
May be long. More specifically, in the former technique,
Writing of tire data to RAM is performed even at normal internal pressure
However, if the vehicle runs on a corner during normal internal pressure,
Lateral acceleration acts on the vehicle and the load is directed to the outside of the corner.
As a result, the tire W inside the corner_iRotation angle
Speed F_iTire W outside the corner compared to_iAngular velocity of rotation
Degree F _iBecomes relatively large. Also, the rotation of the driving tire
Since the angular velocity slips even if slightly, the same
The rotation angular velocity of the driven tire outside the
You.

As a result, for example, when the vehicle is traveling on a long corner, the rotational angular velocity of the drive tire outside the corner is often determined to be the maximum rotational angular velocity. Therefore, the tire data corresponding to the driving tire outside the corner is the largest, and the R
It will be stored in the AM. Therefore, even if all the tires _Wi have the normal internal pressure, there is a possibility that the air pressure of the driving tire outside the corner is erroneously determined to be low.

In the latter technique, the turning radius of the vehicle is calculated based on the rotational angular velocity of the driven tire. However, when the air pressure of the driven tire is reduced, the detected rotational angular velocity includes an error. Therefore, it is impossible to accurately calculate the turning radius of the vehicle. As a result, since it is not whether a reject condition by turning radius of the vehicle including the error is satisfied is judged, it is also considered if not rejected by mistake the rotational angular velocities F _i to be rejected would otherwise. In this case, the rotational angular velocity F _i including the error
Since the determination value D is calculated based on the above, there is a possibility that an erroneous determination is made.

[0013] Therefore, an object of the present invention is to solve the above-mentioned technical problem and to solve the problem even when traveling on a long corner.
An object of the present invention is to provide a method for detecting a decrease in tire air pressure that can avoid erroneous determination. It is another object of the present invention to provide a method for detecting a decrease in tire air pressure that can avoid erroneous determination even when the air pressure of a driven tire is decreasing.

Still another object of the present invention is to provide a tire pressure drop detecting device for implementing the above-mentioned method.

[0015]

According to a first aspect of the present invention, there is provided an apparatus for detecting a rotational angular velocity of a front left tire, a front right tire, a rear left tire and a rear right tire mounted on a vehicle. A first step of calculating the speed of each tire based on the detected rotational angular speed;
A third step of obtaining a speed ratio of the front left and right tires and a speed ratio of the rear left and right tires based on the calculated tire speed, a fourth step of obtaining a difference between the obtained speed ratios, A fifth step of determining whether or not the difference is within a predetermined normal difference range; as a result, if it is determined that the difference between the speed ratios is within the normal difference range, all tires are assumed to have normal internal pressure. If it is determined that the difference between the speed ratios exceeds the normal range of the difference, it is estimated that there is a tire having a reduced air pressure, and the difference between the speed ratios is determined .
If it is estimated that there is an ear, the third step
One of the speed ratios is determined based on the determined speed ratio.
Normal range and the other is within the normal range.
It is determined whether or not the condition is satisfied, and as a result,
If it is determined that the ratio is satisfied, the normal range of the ratio
Of the left and right tires corresponding to the speed ratio determined to exceed
A sixth step of estimating that the air pressure has decreased, and determining whether or not the tire air pressure has decreased based on the estimation result in the sixth step and the rotational angular velocity calculated in the first step. And a seventh step of detecting a decrease in tire air pressure.

The method for detecting a decrease in tire air pressure according to the present invention can be implemented, for example, by the apparatus for detecting a decrease in tire air pressure according to the fourth embodiment. When the vehicle is traveling on a corner, the speed of the driving tire outside the corner is maximized. At this time, the speed of the driven tire on the outside of the corner is higher than that of the tire on the inside of the corner, though not as high as that of the driving tire. That is, at normal internal pressure,
The difference between the speed ratio of the front left and right tires and the speed ratio of the rear left and right tires is not very large.

Accordingly, in the present invention, the speed ratio of the front left and right tires and the speed ratio of the rear left and right tires are obtained, and further, the difference between the obtained speed ratios is obtained. It is determined whether or not the difference is within the normal range. If it is determined that the difference between the speed ratios exceeds the normal difference range, it is estimated that there is a tire whose air pressure is decreasing. Thereby, even when the vehicle is traveling on a long corner, it is possible to reliably estimate whether or not there is a tire with a reduced air pressure.
Therefore, erroneous determination can be reliably avoided.

It is preferable that each speed ratio obtained in the third step is subjected to a smoothing process. According to this configuration, even if a sudden speed effect is included in the required speed ratio, the effect can be reliably eliminated. Further, in the sixth step, when it is estimated that there is a tire whose air pressure is decreasing, it is also estimated which of the front left and right tires and the rear left and right tires the air pressure is decreasing . If the speed ratio of the hand is larger than the other speed ratio, the air pressure on the side of the tire corresponding to the larger speed ratio can be determined to have decreased.

[0019]

[0020] invention 請 Motomeko second aspect, one of the right and left front tires or the rear left and right tires when driving force is the following tires not transmitted prior to the third step, is calculated in the second step Determining a turning radius of the first vehicle based on the speeds of the driven tires among the speeds of the respective tires, and determining whether the obtained turning radius of the first vehicle is equal to or less than a predetermined threshold value. Determining, and, as a result, when it is determined that the turning radius of the first vehicle is equal to or smaller than the threshold value, rejecting the rotational angular velocity detected in the first step, further comprising: In the seventh step, when it is estimated in the sixth step that the air pressure of the driven tire has decreased, the second step is performed based on each speed of the driving tire.
Determining the turning radius of the vehicle, determining the lateral acceleration of the vehicle based on the determined turning radius of the second vehicle, and determining the first step based on the determined lateral acceleration of the vehicle. Determining whether or not to reject the rotational angular velocity detected in the step, and, as a result, determining whether or not the tire air pressure has decreased if it is determined that the rotational angular velocity is not to be rejected. 2. The method for detecting a decrease in tire air pressure according to claim 1, wherein:

The method for detecting a decrease in tire air pressure according to the second aspect can be implemented, for example, by the apparatus for detecting a decrease in tire air pressure according to the fifth aspect . According to the present invention, the turning radius of the first vehicle is determined based on the speed of the driven tire. If the turning radius of the first vehicle is equal to or smaller than a threshold, the tire slips and the rotational angular velocity includes an error. Is determined, the rotational angular velocity is rejected. That is, the determination of a decrease in tire air pressure is prohibited. On the other hand, if the air pressure of the driven tire is decreasing, the calculated turning radius of the first vehicle may include an error and may be an incorrect value. In this case, even if the rotational angular velocity is to be rejected, there is a possibility that it is erroneously determined that the rotational angular velocity does not need to be rejected.

Therefore, according to the present invention, when it is estimated that the air pressure of the driven tire has decreased, the turning radius of the second vehicle is newly obtained based on each speed of the driving tire. The lateral acceleration of the vehicle is determined based on the turning radius of the second vehicle determined in step (1), and it is determined whether to reject the rotational angular velocity based on the determined lateral acceleration of the vehicle. . This makes it possible to reliably determine whether to reject the rotational angular velocity.

The reason why it is not determined whether or not the rotational angular velocity should be rejected based on the turning radius of the second vehicle is more proportional to the turning speed of the second vehicle than to the turning radius of the second vehicle. This is because the lateral acceleration of the vehicle, which is inversely proportional to the turning radius of the second vehicle, is a larger factor when the rotational angular velocity includes an error. According to a third aspect of the present invention, in the seventh step, a determination value is obtained based on the rotational angular velocity detected in the first step, and in the sixth step, it is estimated that the air pressure of the driven tire has decreased. In this case, the obtained judgment value is divided by a predetermined correction coefficient (however, an integer) to obtain a new judgment value, and the tire air pressure is reduced based on the obtained judgment value. a claim 1 or claim 2 tire pressure drop detecting method according to, characterized in that comprising the step determines dolphin not.

The method for detecting a decrease in tire air pressure according to the third aspect can be implemented, for example, by the apparatus for detecting a decrease in tire air pressure according to the sixth aspect . When the air pressure of the driven tire is decreasing, the determined determination value is usually larger than when the air pressure of the driving tire is decreasing. Therefore, even if the degree of decrease in air pressure is such that it is not necessary to determine that there is a tire having reduced air pressure, it may be determined that there is a tire having reduced air pressure.

Therefore, in the present invention, when it is estimated that the air pressure of the driven tire has decreased, the determined determination value is divided by a predetermined constant to correct the determination value to a small value. Therefore, such determination can be made only when it is necessary to determine that there is a tire with a decreased air pressure.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following, embodiments of the present invention will be described.
Will be described in detail with reference to the accompanying drawings. Fig. 1
Apparatus for detecting decrease in tire air pressure to which one embodiment of the present invention is applied
FIG. 2 is a schematic block diagram showing the configuration of FIG. This tire pressure
The lowering detection device includes four tires W mounted on a four-wheel vehicle.
₁, W_Two, W_Three, W_FourWhether the air pressure of
To detect. Tire W₁, W_TwoTo the front left and right tires respectively
Corresponding. Also, tire W _Three, W_FourAre left and right
Corresponds to ear.

A wheel speed sensor 1 is provided for each of the tires W ₁ , W ₂ , W ₃ , W ₄ . The output of the wheel speed sensor 1 is given to the control unit 2. The display 3 is connected to the control unit 2. Display 3
Is the tire W _i (i = 1, 2, 3,
4), for example, a liquid crystal display element,
It is composed of a plasma display element or a CRT.

An initialization switch 4 is also connected to the control unit 2. The initialization switch 4 sets the tire W _i
Correction factor M _j (j
= 1, 2, 3) for the user to operate. The initial difference is that the effective rolling radius of the variation in the specifications arising among the tires W _i. FIG.
FIG. 2 is a block diagram illustrating an electrical configuration of a tire pressure drop detection device. The control unit 2 includes an I / O interface 2
a, CPU 2b, ROM 2c, RAM 2d and EEP
It is constituted by a microcomputer including a ROM (E ² PROM) 2e.

The I / O interface 2a is required to exchange signals with external devices such as the wheel speed sensor 1 and the initialization switch 4. The CPU 2b executes various arithmetic processes according to a control operation program stored in the ROM 2c. The RAM 2d is for temporarily writing data or the like when the CPU 2b performs a control operation, or for reading the written data or the like. The EEPROM 2e stores an initial correction coefficient M _j used for performing an initial correction on the rotational angular velocity F _i, and a correction coefficient K (for example, K = 1.3) for correcting the determination value D.

The wheel speed sensor 1, the pulse signal corresponding to the number of revolutions of the tire W _i (hereinafter referred to as "wheel speed pulse".)
Is output. The CPU 2b determines a predetermined determination cycle ΔT based on the wheel speed pulse output from the wheel speed sensor 1.
(E.g. ΔT = 1 (sec)) for each, the rotational angular velocity F _i of each tire W _i is calculated. FIG. 3 is a flowchart for describing a tire pressure drop detection process in the tire pressure drop detection device. This processing is performed by the control unit 2 when the CPU 2b operates according to a predetermined program stored in the ROM 2c.
Executed every T. In the following description, it is assumed that the target vehicle is an FF (front engine / front drive) vehicle.

[0031] In this process, first, on the basis of the wheel speed pulses outputted from the wheel speed sensors 1, the rotational angular velocity F _i of each tire W _i is calculated (step S1). The tire W _i is manufactured including the initial difference. Therefore,
The effective rolling radius of each tire W _i is
Even if _i is a normal internal pressure, it is not always the same. Therefore, the calculated rotational angular velocities F _i of the respective tires W _i vary. On the other hand, the determination of whether the pneumatic pressure of the tire W _i is reduced, rotational angular velocity F _i of each tire W _i if all of the tires W _i is normal internal pressure is performed on the assumption that approximately equal. Therefore, it is necessary to exclude the influence of the initial difference from the calculated rotational angular velocity F _i .

Therefore, the calculated rotational angular velocity F_iFirst
The rotational angular velocity F_iFirst against
Period correction is performed (step S2). Specifically,
Correction according to equations (3) to (6) is performed. F1₁= F₁ ‥‥ (3) F1_Two= M₁× F_Two ‥‥ (4) F1_Three= M_Three× F_Three ‥‥ (5) F1_Four= M_Two× M_Three× F_Four ‥‥ (6) Initial correction coefficient M₁Is the front left and right tire W₁, W_TwoEarly between
Coefficient for correcting the difference in effective rolling radius due to the difference
It is. Initial correction coefficient M_TwoIs the rear left and right tire W _Three, W_Four
To correct the difference in effective rolling radius due to the initial difference between
It is a coefficient for Initial correction coefficient M_ThreeIs the front tire W₁When
Rear tire W_Three, W_FourEffective roller due to the initial difference between
This is a coefficient for correcting the difference between the radii.

Initial correction coefficient M_jFor example, starting with a vehicle
Tires W_iThe air pressure was refilled
Or tire W_iAcquired when replacing the control
It is stored in the ROM 2c of the unit 2. By the way, Thailand
Ya w_iRotational angular velocity F_iIs caused by the initial difference
Not only. For example, if a vehicle is driving around a corner,
Left and right driving tires W ₁, W_TwoEach slip rate
Rs is also one cause.

Therefore, the slip rate R
In order to eliminate the influence of s, as shown in the following equation (7),
The slip ratio Rs is calculated (Step S3).

[0035]

(Equation 2)

The calculated slip ratio Rs is stored in the RAM 2d
Is stored once. The slip ratio Rs is used when correcting the determination value D required for detecting a decrease in air pressure.
Further, the rotation angular velocity F _i is determined by the turning radius R of the first vehicle.
_r , the speed V of the vehicle, and the magnitude of the longitudinal acceleration FRA _i of each tire W _i may include an error.

[0037] That is, when the speed V of the vehicle is extremely low speed, since the detection accuracy of the wheel speed sensor 1 is significantly deteriorated, it is likely that contain an error in the rotational angular velocities F _i calculated. Further, when the turning radius R _r of the first vehicle is relatively small, there is a risk that the tires W _i is lateral slip is likely to contain an error in the rotational angular velocities F _i calculated. In addition, longitudinal acceleration FR of each of the tires W _i
If A _i is relatively large, the calculated rotational angular velocity F _i may include an error, for example, because the effect of slip or foot brake of the tire W _i due to rapid acceleration / deceleration of the vehicle may be considered. High in nature.

As described above, when there is a high possibility that the rotation angular velocity F _i contains an error, it is preferable to reject (eliminate) the rotation angular velocity F _i without using it for detecting a decrease in air pressure. Accordingly, next, the speed of the vehicle V, longitudinal acceleration FRA of the turning radius R _r and each tire W _i of the vehicle
_i is calculated (step S4).

The speed V of the vehicle, the speed of each tire W _i V1
It is calculated based on _i . Speed of each tire W _i V1
_i is calculated according to the following equation (8). However,
In the equation (8), r is a constant corresponding to the effective rolling radius during straight running. V1 _i = r × F1 _i ‥‥ (8) Based on the calculated speed V1 _i of each tire W _i , the vehicle speed V is calculated by the following equation (9).

V = (V1 ₁ + V1 ₂ + V1 ₃ + V1 ₄ ) / 4 9 (9) The turning radius R _r of the first vehicle is based on the speeds V 1 ₃ and V 1 ₄ of the driven tires W ₃ and W _4. It is calculated by performing a cornering correction on the calculated turning radius R _r 'of the vehicle. The cornering correction is performed for the following reason. When the vehicle runs on a corner, a lateral acceleration acts on the vehicle toward the outside of the corner, and the load of the vehicle moves to the outside of the corner. As a result, a difference occurs between the variation in the effective rolling radius of the tire inside the corner and the variation in the effective rolling radius of the tire outside the corner, and the rotational angular velocities F _i of the left and right tires W _i vary.

The turning radius R _r 'of the vehicle is calculated according to the following equation (10). However, in the following equation (10), Tw ₁
Is the length of the tread width between the following tires W _3, W _4.

[0042]

(Equation 3)

Then, the turning radius R _r 'of the vehicle calculated by the above equation (10) is subjected to a cornering correction as shown in the following equation (11). However, in the following equation (11),
p ₁ is a constant which is previously stored in the ROM 2c.

[0044]

(Equation 4)

The longitudinal acceleration FRA of each tire W _i
i, when the speed of each tire W _i calculated in the sampling time of one period ΔT before the BV1 _i, the following (12)
It is calculated by the formula. FRA _i = (V1 _i −BV1 _i ) / (ΔT × 9.8) ‥‥ (12) In the equation (12), 9.8 is inserted in the denominator because of the longitudinal acceleration FRA _i To G (gravitational acceleration)
This is for conversion.

The vehicle speed V and each tire W
longitudinal acceleration FRA _i of _i may be determined by directly detecting them using the sensor. Then, the speed V of such a vehicle which is calculated in on the basis of the longitudinal acceleration FRA _i of the turning radius R _r and each tire W _i of the first vehicle, rotational angular velocities F _i calculated in the current determination cycle ΔT Is determined (step S5). Specifically, when any one of the following three conditions is satisfied, the rotational angular velocity F _i is rejected.

V <V _TH (eg, V _TH = 10 (km / h)) | R _r | <R _TH (eg, R _TH = 30 (m)) MAX | FR A _i | _i > A _TH (eg, A _TH = 0.1
g: g = 9.8 (m / sec 2)) Note that even when the foot brake is stepped on, because there is a possibility that an error is included in the rotational angular velocities F _i, in step S5, further the foot brake Stepping also it determines whether or not rare, if stepped on the foot brake, may be rejected rotational angular velocity F _i.

By the way, the parameters in this reject
Turning radius R of the first vehicle which is one of the data_rMentioned earlier
As described above, the driven tire W_Three, W_FourRotation angular velocity F1_Three,
F1 _FourIs calculated based on But driven tires
W_Three, W_FourIf the air pressure of any of the
The calculated turning radius R of the first vehicle_rContains errors
In rare cases, the values may be incorrect. Therefore, the book
If you come, you should reject it and overlook it
May be affected.

[0049] Therefore, in this embodiment, in order to turning radius R _r of the first vehicle and checks for accuracy, perform the estimation process (step S6), and the tire W _i whose air pressure has dropped is It is determined whether there is, and if so, which of the driving tires W ₁ , W ₂ or the driven tires W ₃ , W ₄ has decreased in air pressure.

In the estimation process, the ratio between the speeds V ₁ and V ₂ of the driving tires W ₁ and W ₂ (hereinafter referred to as “driving speed ratio V _fr ”).
And the ratio of the speeds V ₃ and V ₄ of the driven W ₃ and W ₄ (hereinafter referred to as “driven speed ratio V _rr ”), and the driving speed ratio V
_This is performed based on the difference between _fr and the driven speed ratio V _rr (hereinafter, referred to as “estimation difference value V _d ”). The result of the estimation process is recorded in a tire identification flag provided in the RAM 2d. That is, when it is estimated that the air pressures of the driven tires W ₃ and W ₄ are decreasing, the tire identification flag is set to “1”. The driving tires W ₁ and W ₂
If it is estimated that the air pressure of the tire has decreased, the tire identification flag is set to “2”. Furthermore, tire W
_If all _i are estimated to be normal internal pressures, the tire identification flag is set to “0”. Details will be described later.

Next, referring to the tire identification flag,
In the process, the driven tire W_Three, W _FourAir pressure drops
It is determined whether or not it is estimated that the
7). As a result, the tire identification flag is set to “1”.
, Driven tire W_Three, W_FourIt is assumed that the air pressure of
If it is determined that the vehicle has been
Turning radius R_rIs determined to include an error. That
Therefore, the driving tire W₁, W_TwoEach speed V1₁, V1_TwoTo
Based on the turning radius R of the second vehicle_fIs required
Step S8). As a result, it is not affected by reduced air pressure.
A precise turning radius of the vehicle can be obtained.

The turning radius R _f of the second vehicle is calculated as follows with respect to the turning radius R _f ′ of the vehicle obtained according to the following equation (13).
It is calculated by performing the cornering correction according to the equation (14). However, in the following equation (14), Tw ₂ is a tread width corresponding to the length between the driving tires W ₁ and W ₂ . Further, p ₂ is a constant which is previously stored in the ROM 2c.

[0053]

(Equation 5)

[0054]

(Equation 6)

On the other hand, as a result of the determination in step S7,
When the tire identification flag is set to “2” or cleared to “0” and the air pressure of the driving tires W ₁ and W ₂ is reduced, or when it is estimated that all the tires _Wi have normal internal pressures Then, the process proceeds to the next process without performing the process of obtaining the turning radius _{Rf of the} vehicle. Here, it may be directly determined whether or not the rotation angular velocity F _i should be rejected based on the accurate turning radius R _f of the second vehicle obtained by the equation (14). _{The reason} why _i includes an error is that the lateral acceleration LA of the vehicle, which is proportional to the speed V of the vehicle and inversely proportional to the turning radius _Rf of the second vehicle, is more than the turning radius _Rf of the second vehicle itself. The more important factor. That is, even if large turning radius R _f of the second vehicle, if the speed V of the vehicle is fast, lateral acceleration LA acting on the vehicle is increased, as a result the tires W _i is the sideslip. As a result, the rotational angular velocity F1 _i includes an error.

Therefore, the lateral acceleration LA of the vehicle is calculated according to the following equation (15) based on the turning radius _Rf of the second vehicle (step S9). LA = V ² / (R _f × 9.8) ‥‥ (15) The reason why 9.8 is inserted in the denominator is to convert the lateral acceleration LA into G.

Thereafter, the calculated lateral acceleration L of the vehicle is calculated.
It is determined whether A satisfies the condition of the following equation (16) (step S10). | LA |> G _TH (for example, G _TH = 0.4 g) ‥‥ (16) As a result, when the above-mentioned expression (16) is satisfied, the turning radius R _f of the second vehicle is accurate, so that the second vehicle turns. It is determined that the angular velocity F1 _i contains an error, and the rotational angular velocity F1 _i is rejected. on the other hand,
If the above equation (16) is not satisfied, the rotational angular velocity F1 _i
Is determined not to include an error, and the process proceeds to the next step S11.

[0058] In step S11, based on the rotational angular velocities F1 _i acquired in step S1, the determination value D is calculated according to the following equation (17).

[0059]

(Equation 7)

Incidentally, the speed V of the vehicle calculated in step S4 is equal to the rotational angular speed F1 after the initial correction.
_i is used. On the other hand, the rotational angular velocity F of the tire W _i
i is not only the initial difference, but also the lateral acceleration L applied to the vehicle.
It also fluctuates with A and the slip ratio Rs. Accordingly, the determination value D is influenced by fluctuation factors including the lateral acceleration LA applied to the vehicle and the slip ratio Rs.

Therefore, the judgment value D is corrected to eliminate the influence of the fluctuation factor (step S1).
2). Specifically, the correction value C obtained by the following equation (18) is subtracted from the determination value D. As a result, the determination value D1 from which the fluctuation factors have been eliminated is obtained. C = A1 × LA + A2 × LA × Rs (18) D1 = D−C (19) In the above equation (18), A1 and A2 are coefficients stored in the ROM 2c in advance. Coefficients A1 and A2
Is obtained by performing a test run when it is known that each tire _Wi has a normal internal pressure.

[0062] Thereafter, based on the obtained determination value D1 is to determine whether the air pressure of the tires W _i has dropped, when lowering the air pressure is insignificant, especially the running of the vehicle There is no problem, you can ignore it. However, the magnitude of the absolute value of the determination value D1 is usually compared to the case where the air pressure of the driving tires W _1, W ₂ is reduced, better air pressure following tires W _3, W ₄ are reduced large.
Thus, even within which it may range pressure of the following tires W _3, W ₄ ignores slightly decreased, there is a possibility that air pressure is determined to be decreased.

Accordingly, it is determined whether or not it is estimated that the air pressure of the driven tires W ₃ and W ₄ has decreased as a result of the estimation processing in step S6 (step S13). As a result, when it is determined that the air pressures of the driven tires W ₃ and W ₄ have decreased, the determination value D1 is subjected to a correction process so as to reduce the value, and a new determination value D2 is obtained. (Step S14). Specifically, EEPROM2
Using the correction coefficient K stored in e, correction is performed as in the following equation (20).

D2 = D1 / K ‥‥ (20) On the other hand, the air pressure of the driving tires W ₁ and W ₂ is decreasing.
Alternatively, when it is estimated that all the tires _Wi have the normal internal pressure, the process directly proceeds to the next step S15 without performing the correction processing in step S14. Step S15
Then, based on the determination value D1 or D2, it is determined whether or not there is a tire W _i having a decreased air pressure. Specifically, it is determined whether the determination value D1 or D2 satisfies the following equation (21). However, in the following equation (21), D _TH1 =
D _TH2 = 0.1.

D1 or D2 <−D _TH1 or D1 or D2> D _TH2 ‥‥ (21) As a result, if it is determined that the determination value D1 or D2 satisfies the expression (21), one of the tires W It is determined that the air pressure of _i has dropped. On the other hand, the judgment value D1 or D2
Is determined not to satisfy the above equation (21), it is determined that there is no tire W _i having decreased air pressure.

In this manner, the tire W
_It is detected whether the air pressure of _i has dropped. on the other hand,
Simply respect to notify that the air pressure is a tire W _i with a reduced driver, air pressure of any tire W _i is further understandable for the driver who notifying be that reduced. Therefore, next, the tire W _i whose air pressure is decreasing is specified.

[0067] That is, based on the determination value D1 or D2, if D1 or D2> 0, if the tire is a W ₁ or W ₄ D1 or D2 <0 whose air pressure has dropped, the air pressure is decreased tires can be specified as W ₂ or W _3. Further, in this case, if the vehicle is running straight, F1 _1> if F1 _2, if the tire air pressure is decreased W ₁ F1 ₁ <F1 _2, the tire whose air pressure has dropped W ₂ If F1 _3> F1 _4, tire air pressure is decreased if W ₃ F1 ₃ <F1 _4, tire whose air pressure has dropped it can be specified as W _4.

When the tire W _i having a decreased air pressure is specified, the result is output to the display 3 and displayed.
Display 3, for example, as shown in FIG. 2, it has four tires W _1, W _2, W _3, a display lamp corresponding to W _4. When it is detected that the air pressure of any of the tires has decreased, an indicator lamp corresponding to the tire is turned on.

FIG. 4 is a flowchart for explaining the estimation processing. Estimation process, as described above, the driving tires W _1, W each speed V ₁ of the _2, the drive speed ratio which is a ratio of V ₂ V _fr and the following tires W _3, W each speed V ₃ of the _4, V ₄ This is performed based on the driven speed ratio V _rr which is the ratio and the difference value for estimation V _d which is the difference between these. For example, if the tires W _i are all normal internal pressure, the velocity V _i of the tires W _i are almost the same all the points alpha ₁ in FIG. 5 (a), α ₂
, The driving speed ratio V _fr and the driven speed ratio V _fr
rr is almost 1 in each case. As a result, the estimated difference value V _d
, As shown in a point beta ₁ FIG. 5 (b), the is substantially zero.

[0070] On the other hand, the driving tires W _1, W ₂ or the driven tires W _3, if the air pressure W ₄ is lowered, the drive tires W _1, the speed V ₁ of the W _2, V ₂ or the following tires W
_3, since W ₄ speed V _3, V ₄ increases, the drive speed ratio V _fr or the driven speed ratio V _rr is the as shown as point alpha ₃ or alpha ₄ FIG. 5 (a), the distance from the 1. As a result, estimation difference value V _d, as shown in the point beta ₂ FIG. 5 (b), the distance from zero.

As described above, the estimation difference value V_dBased on
If the tire W has a reduced air pressure_iWhether or not there is
Can be determined. Therefore, in the estimation processing, the driving speed ratio V_frAnd
And driven speed ratio V_rrIs calculated, and then the estimation difference value V_d
Is required. Drive speed ratio V_frAnd driven speed ratio V
_rrIs 60 calculated in the determination cycle ΔT for 60 times.
It is obtained by smoothing the pieces of speed data.
More specifically, the drive speed ratio V_frAnd driven speed ratio V_rr
Is calculated according to the following equations (22) and (23) (step
T1). However, in formulas (22) and (23) below,
And V _fr'And V_rr′ Indicates the previous judgment cycle
Speed ratio and driven speed ratio calculated in period ΔT
It is.

V_fr= (59/60) × V_fr'+ (1/60) × (V_Two/ V₁) ‥‥ (22) V_rr= (59/60) × V_rr'+ (1/60) × (V_Four/ V_Three‥‥ (23) Thus, the driving speed is calculated based on the data for one cycle.
Ratio V_frAnd driven speed ratio V_rrInstead of seeking
Drive speed ratio V_frAnd driven speed ratio V
_rrSeeking. Therefore, the rotational angular velocity F_iSudden
Even if the noise is included, the influence can be eliminated. That
The drive speed ratio V_frAnd driven speed ratio V _rrMore accurately
You can ask.

Thereafter, the estimation difference value _Vd is obtained according to the following equation (24) (step T2). _{V d = | V fr -V rr} | ‥‥ (24) Also in this step T2, may be obtained estimation difference value V _d by the smoothing process. More specifically, as shown in the following equation (25), the estimation difference value V
You may ask for _d . However, in the following equation (25), V _d ′ is an estimation difference value one cycle before.

V_d= (59/60) × V_d'+ (1/60) × (V_fr-V_rr‥‥ (25) In this way, the estimation difference value V_dSuddenly
Estimation processing with even higher accuracy because the effects of noise can be eliminated
Can be performed. Thereafter, the estimation difference value V_dIs the prescribed difference normal
In order to determine whether or not the range is exceeded, use the formula (26) below.
Thus, the estimation difference value V_dThreshold value that the absolute value of
V _TH0(For example, V_TH0= 0.015)
Is determined (step T3).

| V_d|> V_TH0 ‥‥ (26) As a result, when it is determined that the expression (26) is not satisfied,
Drive speed ratio V_frAnd driven speed ratio V_rrAre almost 1
(For example, the point α in FIG. 5A)₁,
α_Two), Tire W_iAre all assumed to be normal internal pressure
You. On the other hand, if it is determined that the expression (26) is satisfied, the drive is performed.
Dynamic tire W₁, W_TwoOr driven tire W_Three, W _FourOut of
Any air pressure is judged to be low and
Processing continues.

That is, first, the decreasing tire W _i
In order to determine whether or not the driven tires are driven tires W ₃ and W _4, it is determined whether or not the driven speed ratio V _rr exceeds a predetermined ratio allowable range centered on 1. Specifically, thresholds V _TH1 and V _TH2 (where V _TH1 >
V _TH2 . For example, V _TH1 = 1.0015 and V _TH2 = 0.0085) are set, and it is determined whether or not the condition shown in the following equation (27) is satisfied (step T4).

V _TH1 <V _rr and V _rr <V _TH2 ‥‥ (27) As a result of this determination, if it is determined that the condition of the above equation (27) is satisfied, the driven speed ratio V _rr becomes relative from 1 (For example, the point α ₃ ,
α ₄ ), it is determined that there is a high possibility that the air pressures of the driven tires W ₃ and W ₄ have decreased. Then, it is further determined whether the driving speed ratio V _fr is within the ratio allowable range. Specifically, it is determined whether or not the condition shown in the following equation (28) is satisfied (step T5).

V _TH1 <V _fr <V _TH2 ‥‥ (28) As a result of this determination, if it is determined that the expression (28) is satisfied, the drive speed ratio V _fr is a value relatively close to 1. (For example, points α ₁ and α _{2 in} FIG. 5 (a)) with respect to the driven speed ratio V
_rr will be relatively far from 1
Air pressure of the following tires W _3, W ₄ is estimated to be reduced, the tire specified flag provided in the RAM2d is set to "1" (step T6). On the other hand, (2)
If it is determined that the expression 8) is not satisfied, it is determined that the estimation is impossible because all the speed ratios are far from 1, and it is considered that all the tires _Wi have the normal internal pressure. That is, the tire identification flag is cleared to "0" (step T9).

As a result of the determination at the step T4, the (2)
If it is determined that the condition of the expression (7) is not satisfied, the driven speed ratio _Vrr is within the ratio allowable range (for example, the points α ₁ and α _{2 in} FIG. 5A) and the driven tire W ₃ , W
It is determined that the air pressure of ₄ has not decreased. Thereafter, in order to determine whether or not the air pressures of the driving tires W ₁ and W ₂ have decreased, it is further determined whether or not the driving speed ratio V _fr exceeds the ratio allowable range. Specifically, the following (2
It is determined whether or not the condition shown in equation 9) is satisfied (step T7).

V _TH1 <V _fr and V _fr <V _TH2 ‥‥ (29) As a result of this determination, if it is determined that the expression (29) is satisfied, the drive speed ratio V _fr exceeds the ratio allowable range. (For example, points α ₃ and α _{4 in} FIG. 5 (a))
_1, the air pressure of the W ₂ is estimated to be reduced, the tire identified flag is set to "2" (step T8). On the other hand, if it is determined that Expression (29) is not satisfied, it is determined that estimation is impossible, and the tire identification flag is cleared to "0" (step T9).

[0081] According to the tire pressure drop detecting device according to the present embodiment as described above, based on the difference in a judgment difference value V _d of the drive speed ratio V _fr and the driven speed ratio V _rr, air pressure is decreased Estimating whether there is a tire W _i
Because so as to determine whether the air pressure of the tires W _i has dropped on the basis of the estimation result, for example, even when the vehicle is traveling on a long corner, the tire whose air pressure has dropped whether there is W _i can be reliably determined. Therefore, a highly accurate tire pressure drop detecting device can be provided. Therefore, accurate information can be provided to the driver.

When the air pressure of the driven tires W ₃ and W ₄ is low, in addition to the first reject determination, the lateral direction of the vehicle obtained from the re-determined turning radius _Rf of the second vehicle The rotational angular velocity F _i based on the acceleration LA
Is determined whether or not to reject the rotational angular velocity F _i including the error. Therefore, it is possible to reliably determine whether the air pressure of the tires W _i has dropped. Therefore, a highly accurate tire pressure drop detecting device can be provided.

Further, when the air pressures of the driven tires W ₃ and W ₄ are decreasing, the judgment value D 1 is divided by the correction coefficient K, and a judgment value D 2 smaller than the judgment value D 1 is calculated. since the pneumatic pressure of the tire W _i on the basis of the value D2 is possible to determine whether the reduced, only when there is pressure drop enough to generate an alarm,
An alarm can be generated. Therefore, a highly accurate tire pressure drop detecting device can be provided.

Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, in the estimation processing, it is estimated whether or not the air pressure of the driven tires W ₃ and W ₄ has decreased, and whether or not the air pressure of the driving tires W ₁ and W ₂ has decreased. In this case, the same threshold values V _TH1 and V _TH2 are used.

However, as described in the correction of the determination value D1, when the air pressures of the driven tires W ₃ and W ₄ are lower than when the air pressures of the driving tires W ₁ and W ₂ are lower. Therefore, even if the air pressure is almost negligible, the air pressure may be estimated to be low. Therefore, for example, the threshold values V _TH1 ′ and V _TH2 ′ used for estimating whether or not the air pressure of the driven tires W ₃ and W ₄ have decreased are changed to those of the driving tires W ₁ and W _2. The threshold may be set to a value that is 1 / k times (for example, k = 1.3) the thresholds V _TH1 and V _TH2 used for estimating whether or not the threshold value is present. More specifically, in FIG.
_TH1 'and _VTH2 ', and the threshold values in steps T5 and T7 are set to _VTH1 and _{VTH2 as} they are.

According to this configuration, if the air pressure drop is almost negligible, it is not estimated that the air pressure has dropped, so that a more accurate tire pressure drop detecting device can be provided. it can. In addition, various design changes can be made within the scope described in the claims.

[0087]

As described above, according to the present invention, it is estimated whether or not there is a tire whose air pressure is decreasing based on the difference between the speed ratio of the front left and right tires and the speed ratio of the rear left and right tires. Accordingly, even when the vehicle is traveling on a long corner, it is possible to reliably estimate whether or not there is a tire with a reduced air pressure. Therefore, erroneous determination can be reliably avoided.

Further, since the speed ratio of the left and right tires is used as the reference data, it is not necessary to consider the slip of the driving tire, and an accurate value can be obtained as the estimated data. Further , it is possible to reliably estimate which of the front left and right tires and the rear left and right tires has a reduced air pressure.

According to the second or fifth aspect of the present invention, when it is estimated that the air pressure of the driven tire has decreased, the turning radius is recalculated based on each speed of the driving tire. Since it is determined again whether or not to prohibit the determination of the air pressure drop based on the lateral acceleration of the vehicle obtained from the recalculated turning radius, it is necessary to prohibit the determination of the tire air pressure drop. Can be reliably determined. Therefore, it can be reliably determined whether or not the air pressure has decreased.

According to the third or sixth aspect of the present invention, when it is estimated that the air pressure of the driven tire has decreased, the judgment value is corrected to a small value.
Such determination can be made only when it is necessary to determine that there is a tire with a reduced air pressure. Therefore, for example, when an alarm is issued when it is determined that the air pressure is decreasing, an alarm can be issued only when necessary. Therefore, there is no needless worry about the driver.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram showing a configuration of a tire pressure drop detecting device to which an embodiment of the present invention is applied.

FIG. 2 is a block diagram showing an electrical configuration of the tire pressure drop detecting device.

FIG. 3 is a flowchart illustrating the entirety of a tire pressure drop detection process.

FIG. 4 is a flowchart illustrating an estimation process.

FIG. 5 is a diagram for explaining possible values of a determination value.

[Explanation of symbols]

 1 wheel speed sensor 2 control unit 2b CPU

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B60C 23/00-23/06

Claims (6)

(57) [Claims] A first step of detecting rotational angular velocities of a front left tire, a front right tire, a rear left tire, and a rear right tire mounted on a vehicle; determining a rotational velocity of each tire based on the detected rotational angular velocity; A second step of calculating; a third step of obtaining a speed ratio of the front left and right tires and a speed ratio of the rear left and right tires based on the calculated tire speed; a fourth step of obtaining a difference between the obtained speed ratios; A fifth step of determining whether or not the obtained difference in the speed ratio is within a predetermined normal range of the difference; as a result, if it is determined that the difference in the speed ratio is within the normal range of the difference, Presumed to be normal internal pressure,
If it is determined that the difference between the speed ratios exceeds the normal range of the difference, it is estimated that there is a tire whose air pressure is decreasing ,
If it is estimated that there are tires with reduced atmospheric pressure,
Based on each speed ratio obtained in the third step,
Exceeds the normal range of the predetermined ratio, and the other
It is determined whether or not the condition of being within the normal range is satisfied. As a result, when it is determined that the condition is satisfied,
Is the speed ratio determined to be outside of the ratio normal range
A sixth step of estimating that the air pressures of the left and right tires corresponding to are reduced , based on the estimation result in the sixth step, and the rotational angular velocity calculated in the first step, the air pressure of the tires decreases. 7. A method for detecting a decrease in tire air pressure, comprising: a seventh step of determining whether or not there is a tire pressure drop. 2. In a case where one of the front left and right tires and the rear left and right tires is a driven tire to which no driving force is transmitted, prior to the third step, among the tire velocities calculated in the second step, A step of obtaining a turning radius of the first vehicle based on each speed of the driven tire; a step of determining whether or not the obtained turning radius of the first vehicle is equal to or smaller than a predetermined threshold; Rejecting the rotational angular velocity detected in the first step when it is determined that the turning radius of the first vehicle is equal to or smaller than the threshold value, wherein the seventh step includes: When it is estimated in step 6 that the air pressure of the driven tire has decreased, a step of obtaining a turning radius of the second vehicle based on each speed of the driving tire; Determining the lateral acceleration of the vehicle based on the determined turning radius of the second vehicle, and rejecting the rotational angular velocity detected in the first step based on the determined lateral acceleration of the vehicle. step of determining whether, and as a result, if it is judged not to reject the rotational angular velocity, according to claim 1 in which the air pressure of the tire, characterized in that comprising the step determines whether decreased A method for detecting a decrease in tire air pressure according to the above description. 3. The seventh step is a step of obtaining a determination value based on the rotational angular velocity detected in the first step. The sixth step is a case where it is estimated that the air pressure of the driven tire is decreasing. Divides the determined determination value by a predetermined correction coefficient (however, an integer) to obtain a new determination value, and based on the determined determination value,
The method for detecting a decrease in tire air pressure according to claim 1 or 2 , further comprising: determining whether or not the air pressure of the tire has decreased. 4. A rotational angular velocity detecting means for detecting rotational angular velocities of a front left tire, a front right tire, a rear left tire and a rear right tire mounted on a vehicle; Speed calculating means for calculating the speed of each tire based on the angular speed; and determining the speed ratio of the front left and right tires and the speed ratio of the rear left and right tires based on the tire speed calculated by the speed calculating means. Ratio calculating means for calculating the difference between the speed ratios determined by the speed ratio calculating means, and the difference between the speed ratios determined by the difference calculating means falls within a predetermined normal range of the difference. A difference discriminating means for discriminating whether or not it is, when the difference of the speed ratio is determined to be within the difference normal range, it is estimated that all tires are at normal internal pressure, When the difference in degrees ratio is determined to exceed the difference normal range, estimates that there is a tire whose air pressure has dropped, the air pressure is tire has dropped estimated
When the speed ratio is determined, each speed obtained by the speed ratio calculating means is
Based on the power ratio, one exceeds the predetermined normal range.
The condition that the other is within the normal range of the ratio is satisfied.
Is determined, and as a result of the determination, the condition is satisfied.
If it is determined that the ratio is outside the normal range,
The air pressure of the left and right tires corresponding to the determined speed ratio
And estimating means for estimating to be reduced estimation result in the estimation means, and on the basis of the rotational angular velocity detected by the rotational angular velocity detecting means determines whether the tire pressure has dropped And a determination means for determining a decrease in tire air pressure. 5. When any one of the front left and right tires and the rear left and right tires is a driven tire to which no driving force is transmitted, based on each of the driven tire speeds among the tire speeds calculated by the speed calculation means. A first turning radius calculating means for calculating a turning radius of the first vehicle; and whether a turning radius of the first vehicle obtained by the first turning radius calculating means is equal to or smaller than a predetermined threshold value. A radius discriminating means for discriminating whether or not the turning radius of the first vehicle is equal to or smaller than the threshold value; Rejecting means for rejecting the angular velocity, wherein the determining means, when the air pressure of the driven tire is estimated to be reduced by the estimating means, A second turning radius calculating means for obtaining a turning radius of the second vehicle based on the degree, and a lateral direction of the vehicle based on the turning radius of the second vehicle obtained by the second turning radius calculating means. Lateral acceleration calculating means for determining acceleration; and determining whether to reject the rotational angular velocity detected by the rotational angular velocity detecting means based on the lateral acceleration of the vehicle determined by the lateral acceleration calculating means. Reject discriminating means for determining whether or not the tire air pressure is reduced when it is determined that the rotational angular velocity is not rejected by the reject discriminating means. The tire pressure drop detecting device according to claim 4, wherein 6. The first determining value calculating means for obtaining a determining value based on the rotational angular velocity detected by the rotational angular velocity detecting means, wherein the air pressure of the driven tire is reduced. When it is estimated that the second determination value is calculated, the determination value obtained by the first determination value calculation means is divided by a predetermined correction coefficient (however, an integer) to calculate a second determination value for obtaining a new determination value. Means, and means for determining whether or not the tire air pressure has decreased based on the determination value obtained by the first or second determination value calculation means. The tire pressure drop detecting device according to claim 4 or 5 .