JPH063368A - Zero-point correcting device for car body acceleration/ deceleration detecting means - Google Patents

Abstract

PURPOSE:To obtain a zero-point correcting device for car body acceleration/ deceleration detecting means which can detect the acceleration/deceleration of the car body of a vehicle with high accuracy irrespective of the state, etc., of the vehicle. CONSTITUTION:Wheel acceleration/deceleration computing circuits 32a and 32b find wheel acceleration/deceleration from the outputs of a trailing-wheel rotating speed sensor 18 and driving-wheel rotating speed sensor 20. When a discrimination circuit 34 discriminates that the wheel acceleration/deceleration is within a prescribed range and maintained for a prescribed period of time, the average value of the outputs of a car-body acceleration/deceleration detecting sensor 22 within a prescribed period of time is found. Then a new zero point is found by averaging the average value and the last seven and current zero points.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a zero point correction device for vehicle body acceleration / deceleration detecting means which is mounted on a vehicle body of a two-wheeled vehicle, a four-wheeled vehicle or the like and detects the acceleration / deceleration of the vehicle body.

[0002]

2. Description of the Related Art In automobiles and motorcycles, a so-called brake control device is used which controls the wheel speed of a vehicle being braked by comparing it with the vehicle speed. In this brake control device, the slip ratio is calculated from the wheel speed and the vehicle body speed, and when the slip ratio exceeds the target slip ratio, the brake fluid pressure is reduced to control the wheel speed, and the optimum braking force is obtained. Trying to get.

Further, there is a driving force control device for controlling the driving force by adjusting the ignition timing of the engine in response to a sudden start or a change in the road surface friction coefficient. Also in this driving force control device, the wheel speed and the vehicle body speed are used as data.

By the way, the wheel speed can be directly detected by the sensor from the rotational speed of the wheel, but it is difficult to directly detect the vehicle speed by the sensor, or
This is practically impossible for a vehicle such as a motorcycle whose weight and size are significantly limited. Therefore, the vehicle body speed is estimated from the wheel speed and the vehicle body acceleration / deceleration, for example. In this case, the vehicle body acceleration / deceleration is
It is detected as an output voltage of a vehicle body acceleration / deceleration detection sensor attached to the vehicle body.

[0005]

However, the vehicle body acceleration / deceleration detection sensor brakes the gravity of the inclination applied to the vehicle body when the vehicle body is on an inclined road, changes in the number of passengers, or when the vehicle is tilted. Alternatively, there is a problem that the acceleration / deceleration due to the increase / decrease of the driving force is added to the vehicle body acceleration / deceleration for detection. Thus, if the vehicle body acceleration / deceleration is inaccurately detected, the brake control device and the driving force control device may not be controlled with high accuracy.

Further, the acceleration / deceleration obtained from the change in the rotational speed of the wheel is compared with the acceleration / deceleration obtained by the vehicle body acceleration / deceleration detection sensor. When the difference is equal to or more than a predetermined value, the output of the vehicle body acceleration / deceleration detection sensor is compared. Japanese Patent Laid-Open No. 63-24166 discloses a method for shifting and correcting the acceleration / deceleration change table. In this method, the slip ratio greatly changes depending on the condition of the road surface or the behavior of the vehicle body, and the wheel speed is accurately changed to the vehicle body. It is difficult to obtain the acceleration / deceleration, and the control becomes complicated if it is attempted to obtain it with some accuracy.

The present invention has been made in order to solve this kind of problem, and is a zero point of a vehicle body acceleration / deceleration detecting means capable of highly accurately detecting the vehicle body acceleration / deceleration regardless of the state of the vehicle. An object is to provide a correction device.

[0008]

In order to achieve the above object, the present invention provides a wheel acceleration / deceleration detecting means for detecting wheel acceleration / deceleration, a vehicle body acceleration / deceleration detecting means for detecting vehicle body acceleration / deceleration, and the wheel. A determining means for determining whether or not the acceleration / deceleration is maintained within a predetermined range for a predetermined time, and, if a condition is maintained in the determining means, based on an average value of the vehicle body acceleration / deceleration within the predetermined time, Zero point correction means for setting a new zero point of the vehicle body acceleration / deceleration detection means.

[0009]

In the zero point correction device for vehicle body acceleration / deceleration detecting means according to the present invention, if the wheel acceleration / deceleration detected by the wheel acceleration / deceleration detecting means is within a predetermined range for a predetermined time, the zero point can be corrected by the determining means. If it is determined that the vehicle body acceleration / deceleration is detected, the zero point correction means sets a new zero point for the vehicle body acceleration / deceleration detection means based on the average value of the vehicle body acceleration / deceleration within the predetermined time.
Therefore, the vehicle body acceleration / deceleration detecting means reduces the output due to the inclination of the road surface, etc., and accurately outputs only the vehicle body acceleration / deceleration due to the increase / decrease of the driving force and the braking.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A zero point correction device for vehicle body acceleration / deceleration detecting means according to the present invention will be described in detail below with reference to the accompanying drawings.

In FIG. 2, reference numeral 10 indicates a motorcycle, and the motorcycle 10 includes a main body portion 12, a front wheel portion 14 and a rear wheel portion 16. The front wheel portion 14 and the rear wheel portion 16 are provided with a driven wheel rotation speed sensor 18 and a drive wheel rotation speed sensor 20 each of which includes a rotary encoder and the like.
Two are provided. The sensors 18, 20, 22 are
The zero point correction device 3 of the vehicle body acceleration / deceleration detection means shown in FIG. 1 is connected to the control unit 24.
0 is configured.

The control unit 24 calculates the wheel acceleration / deceleration of the front wheel portion 14 and the rear wheel portion 16 from the output signals of the driven wheel rotation speed sensor 18 and the drive wheel rotation speed sensor 20, respectively. When,
A discriminating circuit 34 for discriminating whether or not zero point correction is possible based on the wheel acceleration / deceleration, and a vehicle body acceleration / deceleration detection sensor 2
Analog filter 3 that removes noise from the output signal of 2
6, an A / D converter 38 for converting the noise-free output signal into a digital signal, and a zero point correction circuit 40 for performing zero point correction using the vehicle body acceleration / deceleration based on the output signal of the discrimination circuit 34. With.

The motorcycle 10 provided with the zero point correction device 30 of the vehicle body acceleration / deceleration detecting means configured as described above,
The zero point adjustment of the vehicle body acceleration / deceleration detecting means is performed as follows.

First, while the motorcycle 10 is running,
The driven wheel rotation speed sensor 18 and the drive wheel rotation speed sensor 20 are provided in the front wheel portion 14 (driven wheel) and the rear wheel portion 16 (drive wheel).
Is detected as a pulse signal and output to the wheel acceleration / deceleration calculation circuits 32a and 32b. The wheel acceleration / deceleration calculation circuits 32a and 32b obtain wheel acceleration / deceleration α _F and α _R based on the pulse signal and output them to the determination circuit 34.

The discriminating circuit 34 uses the wheel acceleration / deceleration α _F ,
α _R is set within a predetermined range ± α for a predetermined time T _s
Determine if it is in _S or not. In this case, if the above condition is satisfied, it can be regarded that the vehicle is traveling on a downhill with a constant road surface condition, for example, with a constant slope, without braking and increasing or decreasing the driving force. Therefore, from that point in time, the output of the vehicle body acceleration / deceleration detection sensor 22 is stored in the zero correction circuit 40 for each calculation cycle for a certain time T _s . Next, for a fixed time T
The average value V _GA of the voltage output values of the vehicle body acceleration / deceleration detection sensor 22 in _S is calculated.

Further, the zero-point correction circuit 40 obtains an average value of the previously calculated zero-point correction value 0 _{Vn-7 of} seven times before and the latest zero-point correction value 0 _Vn-0 and the average value V _GA. .

0 _VE = (0 _Vn-7 +0 _Vn-6 + ... +0 _Vn-0 + V
_GA ) × (1/9) The 0 _VE is set as a new zero correction value.

In this embodiment, the moving average is performed from the zero-point correction value 0 _Vn-7 seven times before, but the number of moving averages is a value determined by the characteristics of the vehicle body and the vehicle body acceleration / deceleration detection sensor 22. Of course, it can be changed.

Thus, the vehicle body acceleration / deceleration according to this embodiment
In the zero-point adjusting device 30 of the detecting means, the vehicle is
Zero value correction of the value output from the body acceleration / deceleration detection sensor 22
Value 0 _VEBy adjusting the
Only acceleration / deceleration due to increase / decrease in power can be detected,
A high degree of control is possible in the brake control device.

[0020]

According to the zero point correcting device for the vehicle body acceleration / deceleration detecting means of the present invention, the following effects can be obtained.

That is, when the wheel acceleration / deceleration is maintained within a predetermined range for a predetermined time, a new zero point of the vehicle body acceleration / deceleration detecting means is set based on the average value of the vehicle body acceleration / deceleration. In such a case, the acceleration / deceleration related to the vehicle body can be removed from the output of the vehicle body acceleration / deceleration detection means by the slope. Therefore, only the acceleration / deceleration of the vehicle body can be detected, and the brake control device can perform highly accurate control.

[Brief description of drawings]

FIG. 1 is a configuration explanatory view of a zero point correction device of a vehicle body acceleration / deceleration detection means according to the present invention.

FIG. 2 is an explanatory diagram of a motorcycle equipped with a zero point correction device for vehicle body acceleration / deceleration detection means according to the present invention.

FIG. 3 is a diagram showing a correction method of the zero point correction device of the vehicle body acceleration / deceleration detection means according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Motorcycle 18 ... Driven wheel rotation speed sensor 20 ... Drive wheel rotation speed sensor 22 ... Vehicle body acceleration / deceleration detection sensor 34 ... Discrimination circuit 40 ... Zero correction circuit

Claims (1)

[Claims] 1. Wheel acceleration / deceleration detection means for detecting wheel acceleration / deceleration, vehicle body acceleration / deceleration detection means for detecting vehicle body acceleration / deceleration, and whether or not the wheel acceleration / deceleration is maintained within a predetermined range for a predetermined time. And a zero point correction means for setting a new zero point of the vehicle body acceleration / deceleration detection means based on the average value of the vehicle body acceleration / deceleration within the predetermined time when the condition is maintained in the determination means, A zero-point correction device for vehicle body acceleration / deceleration detection means.