JP4073862B2 - ブレーキ制御用車輪速度演算方法 - Google Patents
ブレーキ制御用車輪速度演算方法 Download PDFInfo
- Publication number
- JP4073862B2 JP4073862B2 JP2003389730A JP2003389730A JP4073862B2 JP 4073862 B2 JP4073862 B2 JP 4073862B2 JP 2003389730 A JP2003389730 A JP 2003389730A JP 2003389730 A JP2003389730 A JP 2003389730A JP 4073862 B2 JP4073862 B2 JP 4073862B2
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- JP
- Japan
- Prior art keywords
- wheel speed
- calculation
- pulse edge
- rising
- falling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
- G01P3/489—Digital circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
- G01P3/488—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by variable reluctance detectors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Description
2,9・・・回転部材としてのロータ
2a・・・被検出部としての突部
9a・・・被検出部
Claims (1)
- 複数の被検出部(2a,9a)が設けられるとともに制御対象の車輪とともに回転する回転部材(2,9)を有する車輪速度センサ(1,8)の検出信号を波形成形して得られるパルス信号に基づいて、ブレーキ制御に用いる車輪速度を一定周期の演算タイミングで演算するにあたり、前記パルス信号の立ち上がりパルスエッジが前回の演算周期で最後に出現してから今回の演算周期で最後に出現するまでの立ち上がり側速度演算基準時間をΔTu(n)、前記パルス信号の立ち下がりパルスエッジが前回の演算周期で最後に出現してから今回の演算周期で最後に出現するまでの立ち下がり側速度演算基準時間をΔTd(n)、前記立ち上がり側速度演算基準時間ΔTu(n)内での前記立ち上がりパルスエッジの出現個数をNu(n)、前記立ち下がり側速度演算基準時間ΔTd(n)内での前記立ち下がりパルスエッジの出現個数をNd(n)、前記立ち上がりパルスエッジが今回の演算周期で出現しなかったときに立ち上がりパルスエッジが最後に出現してから今回の演算タイミングまでの立ち上がり側速度演算暫定基準時間をΔTut、前記立ち下がりパルスエッジが今回の演算周期で出現しなかったときに立ち下がりパルスエッジが最後に出現してから今回の演算タイミングまでの立ち下がり側速度演算暫定基準時間をΔTdt、車輪速度の演算対象であるタイヤと車輪速度センサ(1,8)の回転部材(2,9)の被検出部(2a,9a)の数に応じて定まる定数をK、前記立ち上がり側速度演算基準時間ΔTu(n)、前記立ち下がり側速度演算基準時間ΔTd(n)および前記出現個数Nu(n),Nd(n)の前回の演算周期での値をそれぞれΔTu(n-1),ΔTd(n-1),Nu(n-1),Nd(n-1)としたときに、
今回の演算周期で前記立ち上がりパルスエッジおよび前記立ち下がりパルスエッジがともに出現したときには、車輪速度VWを、
VW=「K×{Nu(n)+Nd(n)}」/{ΔTu(n)+ΔTd(n)}
として演算し、
今回の演算周期で前記立ち下がりパルスエッジが出現したものの前記立ち上がりパルスエッジが出現しなかったときには、
VW1=「K×{Nu(n-1)+Nd(n)}」/{ΔTu(n-1)+ΔTd(n)}
VW2=「K×{1+Nd(n)}」/{ΔTut+ΔTd(n)}
でそれぞれ演算されるVW1,VW2のうち低い方の値を車輪速度VWとして選択し、
今回の演算周期で前記立ち上がりパルスエッジが出現したものの前記立ち下がりパルスエッジが出現しなかったときには、
VW3=「K×{Nu(n)+Nd(n-1)}」/{ΔTu(n)+ΔTd(n-1)}
VW4=「K×{Nu(n)+1}」/{ΔTu(n)+ΔTdt}
でそれぞれ演算されるVW3,VW4のうち低い方の値を車輪速度VWとして選択し、
今回の演算周期で前記立ち上がりパルスエッジおよび前記立ち下がりパルスエッジがともに出現しなかったときには、
VW5=「K×{1+Nd(n-1)}」/{ΔTut+ΔTd(n-1)}
VW6=「K×{Nu(n-1)+1}」/{ΔTu(n-1)+ΔTdt}
VW7=(K×2)/(ΔTut+ΔTdt)
でそれぞれ演算されるVW5〜VW7のうちの最小値および前回の車輪速度VWを比較して低い方を今回の車輪速度VWとして選択することを特徴とする車輪速度演算方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003389730A JP4073862B2 (ja) | 2002-12-09 | 2003-11-19 | ブレーキ制御用車輪速度演算方法 |
US10/728,786 US7069133B2 (en) | 2002-12-09 | 2003-12-08 | Wheel speed calculation method |
EP03028206A EP1428737B1 (en) | 2002-12-09 | 2003-12-09 | Wheel speed calculation method and apparatus |
DE60319938T DE60319938T2 (de) | 2002-12-09 | 2003-12-09 | Verfahren und Vorrichtung zur Berechnung der Radgeschwindigkeit |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002356284 | 2002-12-09 | ||
JP2003389730A JP4073862B2 (ja) | 2002-12-09 | 2003-11-19 | ブレーキ制御用車輪速度演算方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2004203374A JP2004203374A (ja) | 2004-07-22 |
JP4073862B2 true JP4073862B2 (ja) | 2008-04-09 |
Family
ID=32328367
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003389730A Expired - Fee Related JP4073862B2 (ja) | 2002-12-09 | 2003-11-19 | ブレーキ制御用車輪速度演算方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7069133B2 (ja) |
EP (1) | EP1428737B1 (ja) |
JP (1) | JP4073862B2 (ja) |
DE (1) | DE60319938T2 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4462153B2 (ja) * | 2005-09-14 | 2010-05-12 | 株式会社アドヴィックス | 制動力配分制御装置 |
DE102008061433A1 (de) * | 2008-12-10 | 2010-03-11 | Siemens Aktiengesellschaft | Verfahren zum Bestimmen der Drehgeschwindigkeit einer Achse eines Fahrzeuges |
JP5404363B2 (ja) * | 2009-12-15 | 2014-01-29 | 本田技研工業株式会社 | 能動型騒音制御装置 |
CN112269030B (zh) * | 2020-10-30 | 2023-02-28 | 上海易咖智车科技有限公司 | 一种轮速信号处理方法、装置、设备及存储介质 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4609869A (en) * | 1983-04-13 | 1986-09-02 | Electro Corporation | Magnetic sensor and circuit for detecting the edge of a target as it passes the centerline of the sensor |
US4799178A (en) * | 1987-05-26 | 1989-01-17 | Delco Electronics Corporation | Method and apparatus for detecting rotational speed |
JPS63305065A (ja) * | 1987-06-04 | 1988-12-13 | Sumitomo Electric Ind Ltd | 車輪速度制御装置 |
US4885710A (en) * | 1987-06-25 | 1989-12-05 | Delco Electronics Corporation | Method and apparatus for low speed estimation |
JP2647119B2 (ja) * | 1988-03-04 | 1997-08-27 | 株式会社デンソー | 車両用走行制御装置 |
JPH0244258A (ja) | 1988-08-05 | 1990-02-14 | Akebono Brake Ind Co Ltd | 回転体の回転速度演算装置 |
US4977525A (en) | 1989-05-30 | 1990-12-11 | Delco Electronics Corporation | Highly efficient method and apparatus for calculating rotational speed |
JP2699842B2 (ja) * | 1993-12-16 | 1998-01-19 | 日本電気株式会社 | 速度検出回路 |
JPH1183882A (ja) * | 1997-09-05 | 1999-03-26 | Nisshinbo Ind Inc | 車輪速の計測方法及び測定装置 |
US6219624B1 (en) * | 1998-08-03 | 2001-04-17 | Visteon Global Technologies, Inc. | Synchronous timer vehicle speed measurement |
-
2003
- 2003-11-19 JP JP2003389730A patent/JP4073862B2/ja not_active Expired - Fee Related
- 2003-12-08 US US10/728,786 patent/US7069133B2/en not_active Expired - Lifetime
- 2003-12-09 EP EP03028206A patent/EP1428737B1/en not_active Expired - Lifetime
- 2003-12-09 DE DE60319938T patent/DE60319938T2/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP1428737B1 (en) | 2008-03-26 |
EP1428737A1 (en) | 2004-06-16 |
US7069133B2 (en) | 2006-06-27 |
JP2004203374A (ja) | 2004-07-22 |
US20040113624A1 (en) | 2004-06-17 |
DE60319938D1 (de) | 2008-05-08 |
DE60319938T2 (de) | 2009-04-16 |
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