JP3490308B2 - Anti-skid control method for motorcycle - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an antiskid control method for a motorcycle.

[0002]

2. Description of the Related Art Generally, an estimated value is used as a vehicle body speed used for antilock control of a motorcycle, and the estimated vehicle body speed or the approximate vehicle body speed is a wheel for detecting a rotational speed of a wheel attached to each wheel. It is calculated based on the output of the speed sensor, that is, the front wheel speed and the rear wheel speed.

By the way, when the tire diameter becomes different from the design value, for example, when a tire having a different diameter is attached to one of the two wheels of the two-wheeled vehicle or when the air pressure fluctuates, the wheel normally runs. However, there is a speed difference between the front wheel speed and the rear wheel speed.

In the control system, the difference between the estimated vehicle body speed and the wheel speed is recognized as a wheel slip. Therefore, in the above case, the wheel diameter difference is obtained even though no slip actually occurs. As a result, an apparent slip occurs, the antilock control is activated to release the apparent slip, and the brake operation is loosened even in normal times.

In Japanese Patent Laid-Open No. 4-123960, it is an object of the present invention to provide a wheel slip ratio correction device for a two-wheeled vehicle which can eliminate the apparent slip value even if such an apparent slip occurs. As the front wheel of the motorcycle
The slip ratio slip ratio = (estimated vehicle speed-wheel speed) / estimated vehicle speed is calculated for each wheel in the state where no brake is applied to any of the rear wheels, and the difference between the front wheel slip ratio and the rear wheel slip ratio is calculated. A slip ratio difference detection means, and a slip ratio difference monitoring means for detecting that the change of the slip ratio difference is stable within a predetermined fluctuation range for a predetermined time in order to monitor the time variation of the slip ratio difference, If it is detected by the correction unit that sets a correction value that depends on the slip ratio difference and the slip ratio difference monitoring unit that the fluctuation of the slip ratio difference is stable within a predetermined fluctuation range for a predetermined time, the front wheel / rear Disclosed is a slip ratio correction device for a two-wheeled vehicle, which comprises a slip ratio correction means configured to eliminate a wheel slip ratio difference.

However, as described in the specification, such a device corrects only the slip ratio, and a deviation remains in the wheel speeds. Therefore, processing such as comparing the wheel speeds is performed. Have difficulty.

According to Japanese Unexamined Patent Publication No. 56-142735, the deceleration of one of the front and rear wheels, which has been greatly braked, is equal to or greater than a predetermined value in order to approach the true value of the estimated vehicle speed. Then, the set slip value for the other wheel is switched from the larger value to the smaller value to ensure the anti-skid control for the front and rear wheels.
In this case, instead of using a deformed tire, for example, when the front wheels are braked but the rear wheels are not applied or are less, the error between the approximate vehicle speed, that is, the estimated vehicle speed and the true vehicle speed is reduced. Therefore, it cannot be applied to modified tires.

[0008]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an anti-skid control method for a motorcycle, which can easily eliminate apparent slip due to the above-mentioned reasons. It is an issue.

[0009]

Means for Solving the Problems The above problems are each
A wheel speed sensor that detects the wheel speed is attached to each of the front and rear wheels having different tire diameters, and an approximate vehicle speed that approximates the vehicle speed based on the wheel speed detected by each of these wheel speed sensors is formed. Comparing the approximate vehicle speed and each of the wheel speeds, the wheel speed is a predetermined slip amount or more than the approximate vehicle speed, in an anti-skid control method of a motorcycle for reducing the brake pressure of the reduced wheel, during non-braking, always a wheel speed difference between the front and rear wheels, detecting,該車if it continues for a predetermined time or more wheel speed difference is equal to or greater than a predetermined value, gradually one predetermined range wheel speed to the other wheel speed The front wheels and the front wheels within the specified range.
Of the rear wheels and the rear wheel
Then, the slip amount is calculated based on the estimated vehicle speed.
Is solved by anti-skid control method of an automatic two-wheeled vehicle, characterized in that there was Unishi.

Alternatively, a wheel speed sensor for detecting a wheel speed is attached to each of front wheels and rear wheels having different tire diameters, and an approximate vehicle body speed is approximated to the vehicle speed based on the wheel speed detected by each of the wheel speed sensors. A speed is formed, the approximate vehicle body speed is compared with each of the wheel speeds, and the wheel speed of the motorcycle is reduced by a predetermined slip amount or more than the approximate vehicle body speed to reduce the brake pressure of the wheel. In the anti-skid control method, at the time of non-braking, the wheel speed difference between the front and rear wheels is constantly
When it is detected that the wheel speed difference is equal to or greater than a predetermined value for a predetermined time or more, the wheel speed is increased or decreased to approach one wheel speed at a predetermined rate, and thereafter, at a predetermined rate for each predetermined time. It is increased or decreased to gradually bring the one wheel speed closer to the other wheel speed so as to be within a predetermined range, and the front wheel and the front wheel within the predetermined range.
Of the rear wheels, the higher wheel speed is used as the estimated vehicle speed,
Calculate the slip amount based on the estimated vehicle speed
Is solved by anti-skid control method of an automatic two-wheeled vehicle, characterized in that the.

[0011]

1 shows a control circuit of a motorcycle in a computer Q according to an embodiment of the present invention. In the figure, 1a and 1b are wheel speed sensors attached to front wheels and rear wheels, respectively. And these signals are supplied to the wheel speed calculation circuits 2a and 2b. The sensors 1a and 1b provide a train of pulses, but the circuit 2a and
In 2b, the pulse train per unit time is counted and the wheel speed is calculated. This is supplied to the anti-skid control circuit 3, and the wheel speed is corrected by the means shown in FIG. Further, a brake signal from a front wheel hand brake and a rear wheel brake pedal is supplied to the same via lines a and b. A generally known anti-skid control circuit 3 calculates the slip of each wheel from the wheel speed calculated and corrected by the present invention, and when this exceeds a predetermined value, a slip signal is generated to release the brake. Based on this signal, the solenoid 4a,
4b and 5a, 5b, that is, the supply valve and the discharge valve are driven to increase or decrease the brake fluid pressure of the front and rear wheels.

In FIG. 2, a predetermined threshold value is set on the basis of the wheel speed V of the front wheels, and when the wheel speed V of the rear wheels is higher than this, if this continues for a predetermined time or longer, the wheel speed of the rear wheels is set to a predetermined ratio, In the embodiment of the present invention, 0.1%
Lower. This results in a wheel speed of Vx (99.9%), but if this continues after the filter time has elapsed, it is further reduced by the same percentage, that is, 0.1%. Thereafter, similarly, after the filter time has elapsed, the value is gradually decreased by 0.1%, and if it falls within the threshold value range of the wheel speed of the front wheels, that is, within the threshold value 1% according to the present embodiment, this The soft reduction of the wheel speed V is stopped, and the wheel speeds of the front and rear wheels are thereby kept within a predetermined difference. Therefore, even if the higher wheel speed is set as the estimated vehicle body speed, a predetermined slip ratio is not obtained. It does not loosen too much, the wheels are not unstable, and pseudo slip does not occur. Therefore, reliable anti-skid control can be performed.

As described above, even if different diameter tires are used, the apparent speed difference between the front and rear wheels can be eliminated. However, by operating the front wheel hand brake or the rear wheel brake pedal, the brake is applied. The anti-skid control is started at this time depending on the road condition or how the brake is applied. At this time, it is detected how much the wheel speed calculated as described above for the front wheels or the rear wheels has decreased, but the rear wheels showed a large speed because the wheel diameter was small. Since the correction is made as shown in the figure, the slip may be calculated at a speed which is lowered by applying the brake.

Although the embodiment of the present invention has been described above, the present invention is not limited to this, and various modifications can be made based on the technical idea of the present invention.

For example, in the above embodiment, the wheel speed of the rear wheels is set to be higher than the wheel speed of the front wheels and is stepwise decreased by 0.1%. Instead of this, the wheel speed of the rear wheels is continuously and gradually reduced. The wheel speed may be close to the wheel speed of the front wheels.

[0016]

As described above, according to the embodiment of the present invention, even if there is a difference in tire diameter between the front and rear wheels,
By correcting the wheel speed, it is possible to perform stable anti-skid control without causing pseudo slip.

Although not described in the above embodiment, the processing speed is made variable in accordance with the ABS (anti-skid) control signal so that the actual slip calculation is not hindered when the ABS control is performed. May be.

[Brief description of drawings]

FIG. 1 is a block diagram of an anti-skid control circuit according to an embodiment of the present invention.

FIG. 2 is a chart showing speed control of front and rear wheels according to the embodiment of the present invention.

[Explanation of symbols]

3 Anti-skid control circuit

─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP-A-4-123960 (JP, A) JP-A-56-142735 (JP, A) JP-A-8-99626 (JP, A) JP-A-63- 125461 (JP, A) JP 63-130460 (JP, A) JP 7-232633 (JP, A) JP 8-26090 (JP, A) JP 7-315196 (JP, A) JP-A-8-156767 (JP, A) Special Table H5-500488 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60T 8/66

Claims (2)

(57) [Claims] 1. An approximate vehicle body in which a wheel speed sensor for detecting a wheel speed is attached to each of front wheels and rear wheels having different tire diameters, and the vehicle speed is approximated based on the wheel speed detected by each of the wheel speed sensors. The speed is formed, and the approximate vehicle speed and each wheel speed are compared,
The wheel speed is the approximate vehicle speed than the predetermined slip amount <br/> above, in the anti-skid control method of a motorcycle so as to lower the brake pressure of the wheel becomes smaller, during non-braking, the wheels of the front and rear wheels The speed difference is constantly detected, and when the wheel speed difference continues to be a predetermined value or more for a predetermined time or more, one wheel speed is gradually brought closer to the other wheel speed within a predetermined range , The prescribed
The higher of the front and rear wheels within the range of
The wheel speed is used as the estimated vehicle speed, and based on the estimated vehicle speed
An anti-skid control method for a motorcycle, characterized in that a slip amount is calculated . 2. An approximate vehicle body in which a wheel speed sensor for detecting a wheel speed is attached to each of front wheels and rear wheels having different tire diameters, and the vehicle speed is approximated based on the wheel speed detected by each of the wheel speed sensors. The speed is formed, and the approximate vehicle speed and each wheel speed are compared,
In the anti-skid control method for a motorcycle, wherein the wheel speed is a predetermined slip amount or more than the approximate vehicle body speed, and the brake pressure of the wheel is reduced, the wheel speed difference between the front and rear wheels is constantly maintained when not braking. , And if the wheel speed difference continues to be equal to or greater than a predetermined value for a predetermined time or more, the wheel speed difference is increased or decreased to approach one of the wheel speeds at a predetermined rate. The speed of one wheel is gradually increased to decrease the speed of the other wheel so as to approach the speed of the other wheel so as to be within a predetermined range.
The higher wheel speed of the rear wheels is used as the estimated vehicle speed and
An anti-skid control method for a motorcycle, wherein a slip amount is calculated based on a constant vehicle speed .