JPH0976895A - Traction controlling method and controller thereof - Google Patents

Traction controlling method and controller thereof

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Publication number
JPH0976895A
JPH0976895A JP25929395A JP25929395A JPH0976895A JP H0976895 A JPH0976895 A JP H0976895A JP 25929395 A JP25929395 A JP 25929395A JP 25929395 A JP25929395 A JP 25929395A JP H0976895 A JPH0976895 A JP H0976895A
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JP
Japan
Prior art keywords
wheel
speed
fluid pressure
brake fluid
traction control
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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.)
Pending
Application number
JP25929395A
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Japanese (ja)
Inventor
Nobuaki Okumoto
Kazuma Uchida
内田一馬
奥本信明
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Nisshinbo Ind Inc
日清紡績株式会社
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Application filed by Nisshinbo Ind Inc, 日清紡績株式会社 filed Critical Nisshinbo Ind Inc
Priority to JP25929395A priority Critical patent/JPH0976895A/en
Publication of JPH0976895A publication Critical patent/JPH0976895A/en
Application status is Pending legal-status Critical

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Abstract

PROBLEM TO BE SOLVED: To bring an estimated vehicle body speed close to an actual vehicle body speed by performing traction control while setting the estimated vehicle body speed to a wheel speed when fluctuation in the wheel speed due to application of a brake fluid pressure is the predetermined value or less. SOLUTION: A testing brake fluid pressure is impressed to a wheel cylinder 12 for wheels by an action of an open/close valve in a fluid pressure unit 20 for the predetermined time during traction control, and this impression is carried out to one wheel, and then, its wheel speed is found. It is determined whether the wheel grips or not by finding fluctuation in wheel speeds after/before application of a brake and a wheel acceleration. When the wheel grips, the fluctuation in the wheel speed and the wheel acceleration range within the predetermined values, and traction control is carried out while an estimated vehicle body speed is set to the wheel speed. In this way, the estimated vehicle body speed is brought close to an actual vehicle body speed, so that a speed reduction feeling or a lack of acceleration can be improved.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】本発明は、全輪駆動車両のトラクション制御システム(TCS)に関するものである。 The present invention relates to relates to a traction control system for all-wheel drive vehicle (TCS).

【0002】 [0002]

【従来の技術】従来、全輪駆動車両のトラクション制御において推定車体速を求める場合、全輪が全てオーバースピンする可能性があるため、全ての車輪速が実際の車体速と一致しない可能性がある。 Conventionally, when obtaining the estimated vehicle speed in the traction control of the all-wheel drive vehicle, there is a possibility that all the wheels are all over spin, it may not coincide with any of the wheel speed actual vehicle speed is there. そこで、例えば、車体に加速度計(以下、Gセンサという)を設置し、Gセンサの信号から車体の加速度を求めて推定車体速を推定していた。 Therefore, for example, a vehicle body accelerometer (hereinafter, referred to as G sensor) is installed, has been estimated estimated vehicle speed seek acceleration of the vehicle body from the signal of the G sensor.

【0003】 [0003]

【発明が解決しようとする問題点】従来、次のような問題点がある。 [Invention is a problem to be solved] Conventionally, there is a problem such as the following. <イ>Gセンサを用いた従来の方法では、例えば車体の傾斜やセンサの誤差などにより、正確な車体速を求めることはできない。 In the conventional method using the <b> G sensor, for example, by the vehicle body inclination and error of the sensor, it is impossible to obtain an accurate vehicle speed. そのため、トラクション制御において、減速感や加速不足があった。 Therefore, in the traction control, there is a deceleration feeling and insufficient acceleration. 例えば、Gセンサを用いて算出された推定車体速が実車体速より下に引かれた場合、スリップが発生していなくても見掛上スリップが発生していることになり、トラクション制御によって必要以上に加速を妨げられる。 For example, if the estimated vehicle speed calculated using the G sensor is pulled below the actual vehicle speed, it will be multiplied upper slip observed even if no slipping occurs is generated, required by the traction control It is prevented from accelerating above.

【0004】 [0004]

【本発明の目的】 An object of the present invention]

<イ>本発明は、全輪駆動車両のトラクション制御において、推定車体速を実車体速に近づけることにある。 <B> The present invention provides a traction control of the all-wheel drive vehicle is to approach the estimated vehicle speed to the actual vehicle speed. <ロ>本発明は、全輪駆動車両のトラクション制御において、減速感や加速不足を解決することにある。 <B> The present invention provides a traction control of the all-wheel drive vehicle, it is to solve the deceleration feeling and insufficient acceleration.

【0005】 [0005]

【問題点を解決するための手段】本発明は、全輪駆動車両の車輪速と推定車体速とを比較してトラクション制御を行うトラクション制御方法において、少なくとも1車輪の車輪速を求め、該車輪に所定時間ブレーキ液圧を印加し、ブレーキ液圧の印加後、該車輪の車輪速を求め、 The present invention, in order to solve the problems] In the traction control method for comparing to the traction control wheel speeds of all-wheel drive vehicle and the estimated vehicle speed, obtains the wheel speed of at least 1 wheel, wheel applying a predetermined time brake fluid pressure, after application of the brake fluid pressure, determine the wheel speed of the wheel,
ブレーキ液圧の印加による該車輪の車輪速の変動を求め、該車輪速の変動が所定値以内の場合、推定車体速を該車輪速にしてトラクション制御を行うことを特徴とする、トラクション制御方法、又は、少なくとも1車輪に所定時間ブレーキ液圧を印加し、ブレーキ液圧の印加後、該車輪の車輪加速度を求め、ブレーキ液圧の印加による該車輪の車輪加速度が所定値以内の場合、推定車体速を車輪速にしてトラクション制御を行うことを特徴とする、トラクション制御方法、又は、全輪駆動車両の車輪速と推定車体速とを比較してトラクション制御を行うトラクション制御装置において、ブレーキ液圧が印加され各車輪にブレーキをかけるホイールシリンダと、ホイールシリンダに印加されるブレーキ液圧を制御する開閉制御弁と、各車輪の車 Obtains the variation of the wheel speed of the wheel due to the application of the brake fluid pressure, if the variation of the wheel speed is within a predetermined value, and performs traction control estimated vehicle speed and the wheel speed, traction control method or, by applying a predetermined time brake fluid pressure to at least the wheels, after application of the brake fluid pressure, determine the wheel acceleration of the wheel, when the wheel acceleration of the wheel due to the application of the brake fluid pressure is within the predetermined value, the estimated and the vehicle speed to wheel speed and performs traction control, the traction control process, or, in the traction controller for comparing to the traction control wheel speeds of all-wheel drive vehicle and the estimated vehicle speed, brake fluid and wheel pressure is applied to brake the respective wheel cylinders, opening and closing control valve for controlling the brake fluid pressure applied to the wheel cylinder, the car wheels 速を測定する車輪速センサと、 And a wheel speed sensor for measuring the speed,
開閉制御弁を開閉制御する電子制御装置とを備え、電子制御装置は、少なくとも1車輪の車輪速を求め、該車輪に所定時間ブレーキ液圧を印加し、ブレーキ液圧の印加後に該車輪の車輪速を求め、ブレーキ液圧による該車輪の車輪速の変動を求め、該車輪速の変動が所定値以内の場合、推定車体速を車輪速にしてトラクション制御を行うことを特徴とする、トラクション制御装置、又は、ブレーキ液圧が印加され各車輪にブレーキをかけるホイールシリンダと、ホイールシリンダに印加されるブレーキ液圧を制御する開閉制御弁と、各車輪の車輪速を測定する車輪速センサと、開閉制御弁を開閉制御する電子制御装置とを備え、電子制御装置は、少なくとも1車輪に所定時間ブレーキ液圧を印加し、ブレーキ液圧の印加後、 And an electronic control device for controlling opening and closing the opening and closing control valve, the electronic control device obtains the wheel speed of at least 1 wheel, by applying a predetermined time brake fluid pressure to the wheel, the wheel of the wheel after the application of the brake fluid pressure seeking fast, it obtains the variation of the wheel speed of the wheel by the brake fluid pressure, if the variation of the wheel speed is within a predetermined value, and performs traction control by the estimated vehicle speed to wheel speed, traction control device, or, and the wheel cylinder braking the respective wheel brake fluid pressure is applied, opening and closing control valve for controlling the brake fluid pressure applied to the wheel cylinder, a wheel speed sensor for measuring the wheel speed of each wheel, and an electronic control device for controlling opening and closing the opening and closing control valve, the electronic control unit applies a predetermined time brake fluid pressure to at least the wheels, after application of the brake fluid pressure,
該車輪の車輪加速度を求め、ブレーキ液圧の印加による該車輪の車輪加速度が所定値以内の場合、推定車体速を車輪速にしてトラクション制御を行うことを特徴とする、トラクション制御装置にある。 Calculated wheel acceleration of the wheel, when the wheel acceleration of the wheel due to the application of the brake fluid pressure is within the predetermined value, and performs traction control by the estimated vehicle speed to the wheel speed, in the traction control system.

【0006】 [0006]

【実施例】以下、図面を用いて本発明の実施例を説明する。 EXAMPLES Hereinafter, the embodiments of the present invention will be described with reference to the drawings. <イ>トラクション制御装置(図1) トラクション制御は、燃料制御や点火時期制御など種々の方法があるが、一実施例としてブレーキトラクション制御装置で説明する。 <B> traction control device (FIG. 1) traction control, there are various ways such as fuel control and ignition timing control will be described by the brake traction control system as an example. ブレーキトラクション制御は、例えばアクセルペダルが踏み込まれて車輪の回転が上がり、その結果、車輪がオーバースピンして車輪と地面との摩擦抵抗係数が減少した場合、例えば車輪にブレーキをかけて回転速度を落とし、摩擦抵抗係数を増加させるものである。 Brake traction control, raise the rotation of the wheels, for example, the accelerator pedal is depressed, as a result, if the frictional resistance coefficient between the wheel and the ground wheels overspins is reduced, the rotational speed braked, for example a wheel It dropped, and increases the friction resistance coefficient. そのために、電子制御装置は、車輪速センサ13から信号を受けて、車輪の回転速度を検出し、推定車体速と車輪速を求めてオーバースピンの程度を算出する。 Therefore, the electronic control unit receives a signal from the wheel speed sensor 13 detects the rotational speed of the wheels, and calculates the degree of over spin seeking estimated vehicle speed and wheel speed. オーバースピンが所定しきい値を越えると、液圧ユニット20の開閉弁を作用して、ブレーキ液圧を車輪のホイールシリンダ12に印加して、オーバースピンを減少させる。 When over-spin exceeds a predetermined threshold value, acting on-off valve of the hydraulic unit 20 applies a brake fluid pressure to the wheel cylinders 12 of the wheels, to reduce the over-spin. なお、電子制御装置は、専用ハード装置、 In addition, the electronic control unit, dedicated hardware devices,
また入力装置、出力装置、記憶装置、演算装置など一般のコンピュータのハード構成を有している。 The input device, output device, storage device, and has a hardware configuration of a general computer, such as computing device.

【0007】<ロ>液圧ユニット(図2) 液圧ユニット20は、ブレーキ液の回路であり、例えばマスタシリンダ11と各車輪のホイールシリンダ12の間が独立した主液圧流路21を介して接続されている。 [0007] <b> hydraulic unit (Fig. 2) hydraulic unit 20 is a circuit of the brake fluid, for example, via the master cylinder 11 and the main hydraulic fluid passage 21 between the independent wheel cylinder 12 of each wheel It is connected.
主液圧流路21の途上に常開式の電磁弁である入口弁3 Inlet valve 3 is a normally open solenoid valve of the developing of the main brake passage 21
1が組み込まれている。 1 is incorporated.

【0008】入口弁31の前後の主液圧流路21に戻り流路22を連結する。 [0008] connecting the return channel 22 in the main hydraulic fluid passage 21 before and after the inlet valve 31. 戻り流路22の途上に常閉式の出口弁32、補助リザーバ33、補助圧力源とダンピングチャンバー36を介装する。 Outlet valve 32 developing in the normally closed the return channel 22, auxiliary reservoir 33 is interposed an auxiliary pressure source and the damping chamber 36. 補助圧力源は、液圧ポンプ34とモータ35を備えている。 Auxiliary pressure source includes a hydraulic pump 34 and motor 35.

【0009】主液圧流路21の主リザーバ33と戻り流路22の合流点より上流に、トラクションバルブ37を介装する。 [0009] upstream of the confluence of the main reservoir 33 and the return passage 22 of the main brake passage 21, interposed traction valve 37. トラクションバルブ37とマスタシリンダ1 Traction valve 37 and the master cylinder 1
1の間の主液圧流路21と、補助圧力源と出口弁32の間の戻り流路22に補助流路23を連結する。 A main fluid pressure passage 21 between 1 and connecting the auxiliary flow path 23 to the return flow path 22 between the auxiliary pressure source and an outlet valve 32. 補助流路23の途上に補助弁38を介装する。 Interposed an auxiliary valve 38 on the way of the auxiliary flow path 23.

【0010】<ハ>通常ブレーキ時の液圧ユニットの動作 ブレーキ操作によりマスタシリンダ11に発生した液圧は、主液圧流路21のトラクションバルブ37、入口弁31を介して車輪のホイールシリンダ12へ供給される。 [0010] <C> hydraulic pressure generated in the normal master cylinder 11 by the operation braking operation of the hydraulic unit when the brake traction valve 37 of main brake passage 21, through the inlet valve 31 to the wheel of the wheel cylinder 12 It is supplied. ブレーキ開放時には、ブレーキ液は主液圧流路21 At the time of brake release, the brake fluid is main brake line 21
を逆に遡ってマスタシリンダ11へ還流される。 The back reversed is returned to the master cylinder 11.

【0011】<ニ>トラクション作動時の液圧ユニットの動作 例えば摩擦係数の低い路面(以下、低μ路という)で全輪駆動車両を発進又は加速させると、車輪がオーバースピン傾向になる。 [0011] <D> Operation example a low coefficient of friction road surface of the hydraulic unit during traction operation (hereinafter, referred to as low-μ road) when to start or accelerate the all-wheel drive vehicle, the wheel is over-spin tendency. それを検知すると、トラクションバルブ37が閉じ、補助圧力装置が稼働して液圧ポンプ34 When detecting it, the traction valve 37 is closed, the hydraulic pump 34 auxiliary pressure device running
からブレーキ液圧を入口弁31とトラクションバルブ3 Inlet valve 31 and the traction valve 3 brake fluid pressure from
7間の主液圧流路21に発生する。 Generated in the main hydraulic fluid passage 21 between 7. 発生したブレーキ液圧は、入口弁31と出口弁32の開閉動作により駆動輪のホイールシリンダ12に供給されて、トラクション制御が行われる。 Generating brake fluid pressure by opening and closing operation of the inlet valve 31 and outlet valve 32 is supplied to the wheel cylinder 12 of the driving wheels, the traction control is performed.

【0012】以下に、トラクション制御を説明する。 [0012] The following is a description of the traction control. <イ>トラクション制御の開始 ブレーキトラクション制御を開始すると、電子制御装置は、例えばGセンサ14の信号から車輪の加速度を求め、積分して推定車体速を算出する。 When starting the start brake traction control <b> traction control, electronic control unit, for example, determine the acceleration of the wheels from the signals of the G sensor 14, and calculates the estimated vehicle speed by integrating. それと共に、各車輪の車輪速センサ13から信号を受けて各車輪の車輪速を算出する。 At the same time, it calculates the wheel speed of each wheel in response to a signal from the wheel speed sensor 13 of each wheel. 次に、各車輪のスリップの状態を求めて、 Then, seeking state of each wheel slip,
スリップ率がしきい値を越えると、車輪と路面の摩擦抵抗係数が高くなるように車輪を減速してブレーキトラクション制御を行う。 When the slip ratio exceeds the threshold value, it performs brake traction control to decelerate the wheel as friction coefficient of the wheel and the road surface is high.

【0013】<ロ>トラクション制御中のテスト用ブレーキ液圧の印加(図3) トラクション制御中に所定時間、車輪のホイールシリンダ12にテスト用のブレーキ液圧を印加する。 [0013] <b> application of the test brake fluid pressure in the traction control (Fig. 3) predetermined during traction control time, it applies a brake fluid pressure for testing the wheel of the wheel cylinder 12. テスト用ブレーキ液圧と印加時間は、実質的に車体の速度に影響を与えない程度が好ましい。 Test brake fluid pressure and application time, as not substantially affect the speed of the vehicle is preferred. 印加される車輪は少なくとも1つの車輪に対して行い、例えば、車輪速が最も小さいものが選択される。 Wheels applied is performed for at least one wheel, for example, those wheel speed smallest is selected. ブレーキ液圧は例えば、パルス状にして、液圧は10barとし、時間は100msとする。 Brake fluid pressure, for example, in the pulsed fluid pressure and 10 bar, time to 100 ms.

【0014】<ハ>推定車体速の変更(図3) 車輪にテスト用ブレーキ液圧を印加すると、もし、車輪が路面をグリップしている(スリップしていない)場合、車輪速の変動や車輪加速度が所定の範囲内に入る。 [0014] <C> is applied to changes of the estimated vehicle speed (FIG. 3) the test brake fluid pressure to the wheel, if the wheel is (not slipping) are gripping the road surface when the variation or the wheel of the wheel speed acceleration falls within a predetermined range.
そこで、ブレーキの印加前後の車輪速の変動や車輪加速度を求めることにより、車輪がグリップしているか否かを判定することができる。 Therefore, by obtaining the variation and wheel acceleration of the wheel speeds of before and after the application of the brake, it is possible wheel to determine whether or not the grip.

【0015】例えば、最低車輪速の車輪加速度が通常の加速度範囲(0G〜0.6G)に所定時間(0.2s〜 [0015] For example, the wheel accelerations of the lowest wheel speed is normal acceleration range (0G~0.6G) a predetermined time (0.2S~
0.6s)あるとき、パルス状にブレーキ圧を印加すると、グリップしていれば、ブレーキ圧を印加した車両の加速度は殆ど変化しないが、オーバースピンしていれば車輪速及び車輪加速度は通常の加速度範囲を越えて変動する。 0.6 s) one time, the application of a brake pressure in a pulsed manner, if the grip of the vehicle by applying a braking pressure but acceleration is hardly changed, the wheel speed and wheel acceleration if overspins normal fluctuate beyond the acceleration range.

【0016】そこで、車輪がグリップしていれば、その車輪速が実車体速になるので、その車輪速を推定車体速に置き換えて、トラクション制御を継続する。 [0016] Therefore, if the wheel has grip, because the wheel speed is the actual vehicle speed, replace the wheel speed to the estimated vehicle speed, to continue the traction control. スリップしていると、車輪速の変化や加速度は変動する。 As you slip, change and the acceleration of the wheel speed varies. その場合は推定車体速の見直しはせずに、引き続きGセンサ1 Without case it is reviewing the estimated vehicle speed, subsequently G sensor 1
4を積算して推定車体速を計算する。 4 integrated to the to calculate the estimated vehicle speed.

【0017】 [0017]

【発明の効果】本発明は、次のような効果を得ることができる。 The present invention according to the present invention can be obtained the following effects. <イ>トラクション制御中で実車体速に対して推定車体速を低く推定している場合、推定車体速を実車体速に修正できるので、減速感や加速不足を改善することができる。 If estimating the estimated vehicle speed lower than the actual vehicle speed in <b> traction control, since the estimated vehicle speed can be corrected to the actual vehicle speed, it is possible to improve the feeling of deceleration and acceleration insufficient.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】ブレーキトラクション制御装置の概略図 1 is a schematic view of a brake traction control system

【図2】トラクション制御のブレーキ液圧回路図 [Figure 2] brake fluid pressure circuit diagram of a traction control

【図3】推定車体速が実車体速より小さい場合の車輪速の変動グラフ [Figure 3] variation graph of wheel speed when the estimated vehicle speed is smaller than the actual vehicle speed

Claims (4)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】全輪駆動車両の車輪速と推定車体速とを比較してトラクション制御を行うトラクション制御方法において、 少なくとも1車輪の車輪速を求め、 該車輪に所定時間ブレーキ液圧を印加し、 ブレーキ液圧の印加後、該車輪の車輪速を求め、 ブレーキ液圧の印加による該車輪の車輪速の変動を求め、 該車輪速の変動が所定値以内の場合、推定車体速を該車輪速にしてトラクション制御を行うことを特徴とする、 トラクション制御方法。 1. A traction control method for comparing to the traction control and wheel speed of the all-wheel drive vehicle and the estimated vehicle speed, obtains the wheel speed of at least 1 wheel, by applying a predetermined time brake fluid pressure to the wheel after application of the brake fluid pressure, determine the wheel speed of the wheel, determine the variation of the wheel speed of the wheel due to the application of the brake fluid pressure, if the variation of the wheel speed is within a predetermined value, said wheel and the estimated vehicle speed and performing traction control and the speed, traction control method.
  2. 【請求項2】全輪駆動車両の車輪速と推定車体速とを比較してトラクション制御を行うトラクション制御方法において、 少なくとも1車輪に所定時間ブレーキ液圧を印加し、 ブレーキ液圧の印加後、該車輪の車輪加速度を求め、 ブレーキ液圧の印加による該車輪の車輪加速度が所定値以内の場合、推定車体速を車輪速にしてトラクション制御を行うことを特徴とする、 トラクション制御方法。 2. A traction control method for comparing to the traction control and wheel speed of the all-wheel drive vehicle and the estimated vehicle speed, by applying a predetermined time brake fluid pressure to at least the wheels, after application of the brake fluid pressure, calculated wheel acceleration of the wheel, when the wheel acceleration of the wheel due to the application of the brake fluid pressure is within the predetermined value, and performs traction control by the estimated vehicle speed to wheel speed, traction control method.
  3. 【請求項3】全輪駆動車両の車輪速と推定車体速とを比較してトラクション制御を行うトラクション制御装置において、 ブレーキ液圧が印加され各車輪にブレーキをかけるホイールシリンダと、 ホイールシリンダに印加されるブレーキ液圧を制御する開閉制御弁と、 各車輪の車輪速を測定する車輪速センサと、 開閉制御弁を開閉制御する電子制御装置とを備え、 電子制御装置は、少なくとも1車輪の車輪速を求め、該車輪に所定時間ブレーキ液圧を印加し、ブレーキ液圧の印加後に該車輪の車輪速を求め、ブレーキ液圧による該車輪の車輪速の変動を求め、該車輪速の変動が所定値以内の場合、推定車体速を車輪速にしてトラクション制御を行うことを特徴とする、 トラクション制御装置。 3. A traction control device for comparing to the traction control and wheel speed of the all-wheel drive vehicle and the estimated vehicle speed, and the wheel cylinder braking the respective wheel brake fluid pressure is applied, applied to the wheel cylinders comprising opening and closing control valve for controlling the brake fluid pressure to be a wheel speed sensor for measuring the wheel speed of each wheel, and an electronic control device for controlling opening and closing the opening and closing control valve, the electronic control unit, at least one wheel wheel seeking fast, by applying a predetermined time brake fluid pressure to the wheel, determine the wheel speed of the wheel after the application of the brake fluid pressure, determine the variation of the wheel speed of the wheel by the brake fluid pressure, variation of the wheel speed is If within the predetermined value, and performs traction control by the estimated vehicle speed to the wheel speed, the traction control device.
  4. 【請求項4】全輪駆動車両の車輪速と推定車体速とを比較してトラクション制御を行うトラクション制御装置において、 ブレーキ液圧が印加され各車輪にブレーキをかけるホイールシリンダと、 ホイールシリンダに印加されるブレーキ液圧を制御する開閉制御弁と、 各車輪の車輪速を測定する車輪速センサと、 開閉制御弁を開閉制御する電子制御装置とを備え、 電子制御装置は、少なくとも1車輪に所定時間ブレーキ液圧を印加し、ブレーキ液圧の印加後、該車輪の車輪加速度を求め、ブレーキ液圧の印加による該車輪の車輪加速度が所定値以内の場合、推定車体速を車輪速にしてトラクション制御を行うことを特徴とする、 トラクション制御装置。 4. A traction control device for comparing to the traction control and wheel speed and estimated vehicle speed of the all-wheel drive vehicle, and the wheel cylinder braking the respective wheel brake fluid pressure is applied, applied to the wheel cylinders comprising opening and closing control valve for controlling the brake fluid pressure to be a wheel speed sensor for measuring the wheel speed of each wheel, and an electronic control device for controlling opening and closing the opening and closing control valve, the electronic control device is predetermined to at least the wheels applying a time brake fluid pressure, after application of the brake fluid pressure, determine the wheel acceleration of the wheel, when the wheel acceleration of the wheel due to the application of the brake fluid pressure is within the predetermined value, and the estimated vehicle speed to wheel speed traction and performing control, traction control device.
JP25929395A 1995-09-12 1995-09-12 Traction controlling method and controller thereof Pending JPH0976895A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP25929395A JPH0976895A (en) 1995-09-12 1995-09-12 Traction controlling method and controller thereof

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Application Number Priority Date Filing Date Title
JP25929395A JPH0976895A (en) 1995-09-12 1995-09-12 Traction controlling method and controller thereof

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JPH0976895A true JPH0976895A (en) 1997-03-25

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001519285A (en) * 1997-10-10 2001-10-23 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト How to determine the automobile of the state variable
US6580994B2 (en) 2001-06-26 2003-06-17 Nissan Motor Co., Ltd. Driving force controlling apparatus and method for four-wheel drive vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001519285A (en) * 1997-10-10 2001-10-23 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト How to determine the automobile of the state variable
US6580994B2 (en) 2001-06-26 2003-06-17 Nissan Motor Co., Ltd. Driving force controlling apparatus and method for four-wheel drive vehicle

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