JPS5849547A - Antiskid device of vehicle - Google Patents

Antiskid device of vehicle

Info

Publication number
JPS5849547A
JPS5849547A JP14063381A JP14063381A JPS5849547A JP S5849547 A JPS5849547 A JP S5849547A JP 14063381 A JP14063381 A JP 14063381A JP 14063381 A JP14063381 A JP 14063381A JP S5849547 A JPS5849547 A JP S5849547A
Authority
JP
Japan
Prior art keywords
output
circuit
wheel speed
wheel
wheels
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.)
Granted
Application number
JP14063381A
Other languages
Japanese (ja)
Other versions
JPH032699B2 (en
Inventor
Takahiro Nogami
野上　高弘
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to JP14063381A priority Critical patent/JPS5849547A/en
Publication of JPS5849547A publication Critical patent/JPS5849547A/en
Publication of JPH032699B2 publication Critical patent/JPH032699B2/ja
Granted legal-status Critical Current

Links

Classifications

    • 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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/416—Wheel speed sensor failure

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

PURPOSE:To cope with a variety of troubles by exclusively invalidating the antiskid functions of damaged wheels if they correspond to the front wheels while invalidating the antiskid functions of all the wheels when the rear wheels are damaged. CONSTITUTION:If a primary digital arithmetic circuit 66 fails or either one of the control outputs for the right front wheel and left front wheel is unusual, an antiskid function only for the corresponding controlled wheels is invalidated. If the control outputs for the rear wheels are unusual, the antiskid functions for all the wheels are invalidated. Further, if a trouble of disconnection at one of wheel speed sensors 12, 16 and 24 occurs, the antiskid functions for the corresponding controlled wheels or the all are invalidated similarly as aforementioned. More further, if a fuse 118 is disconnected, the antiskid functions for all the wheels are invalidated.

Description

【発明の詳細な説明】 本発明は、車両用アンチスキッド装置に係シ、特に、自
動車に用いるに好適な、車両の減速時に、減速状態に応
じ゛て制御車輪のブレーキ装置を制御して、制御車輪の
ロックを防止するようにされた車両用アンチスキッド装
置の改良に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an anti-skid device for a vehicle, and is particularly suitable for use in an automobile. The present invention relates to an improvement in a vehicle anti-skid device designed to prevent locking of controlled wheels.

自動車等の車両の急ブレーキ時に、制御車輪の車輪速度
が車体速度に対して所定値以上小さくならないように制
御車輪のブレーキ装置を制御して、該制御車輪のロック
を防止するようにした車両用のアンチスキッド装置が実
用化されている。このアンチスキッド装置によれば、制
御車輪のロックが防止され、車体姿勢の安、定性と車両
の操舵性が確保されると共に、制動停止距離が短縮され
るという特徴を有する。For vehicles, when a vehicle such as an automobile brakes suddenly, the brake device of the controlled wheel is controlled so that the wheel speed of the controlled wheel does not become smaller than a predetermined value relative to the vehicle body speed, thereby preventing the controlled wheel from locking. Anti-skid devices have been put into practical use. This anti-skid device is characterized in that the control wheels are prevented from locking, the stability and stability of the vehicle body posture and the steering performance of the vehicle are ensured, and the braking stopping distance is shortened.

しかしながら、このようなアンチスキッド装置において
、何らかの故障が発生して、アンチスキッド装置が誤動
作をすると、ブレーキが必要でない時に急ブレーキがか
かったシ、或いは、ブレーキが必要である時にブレーキ
がかからなかったシして、非常に危険である。従って従
来は、例えばアンチスキッド装置がオフ状態にある時に
、アクチュエータを構成するソレノイドの断線或いは短
絡故障を検出して、ソレノイドが故障している場合には
、アンチスキッド装置全体の動作を停止して、通常のブ
レーキ装置に戻すようにされている。However, if some kind of failure occurs in such anti-skid devices and the anti-skid device malfunctions, the brakes may be applied suddenly when the brakes are not needed, or the brakes may not be applied when the brakes are needed. However, it is extremely dangerous. Therefore, conventionally, for example, when the anti-skid device is in the OFF state, a disconnection or short-circuit failure of the solenoid that makes up the actuator is detected, and if the solenoid is malfunctioning, the operation of the entire anti-skid device is stopped. , the brake system has been restored to normal.

しかしながら、この方法では、アンチスキッド装置が動
作している時に故障を検出できず、制御回路の故障を検
出することはできなかった。However, with this method, failures could not be detected while the anti-skid device was operating, and failures in the control circuit could not be detected.

一方、特開昭５２−１１５９８７号に示される如く、制
御回路を構成するデジタル演算回路を二重化して、各デ
ジタル演算回路の出力を組合せたものの一致状態を監視
することによシ、各デジタル演算回路の出力を組合せた
ものが一致しない場合は、同じくアンチスキッド装置全
体の電源を遮断して、通常のブレーキ装置に戻すように
することも提案されている。この方法によればデジタル
演算回路の故障は検出できるものの、組合せ出力を得る
ための回路が非常に複雑となるだけでなく、車輪速度セ
ンサの断線故障は検出することができなかった。更に、
従来は、アンチスキッド装置のいずれかの部位に故障が
発生すると、すべてのアンチスキッド制御を完全に禁止
するようにしていた。On the other hand, as shown in Japanese Patent Application Laid-Open No. 52-115987, by duplicating the digital arithmetic circuits constituting the control circuit and monitoring the matching state of the combined outputs of each digital arithmetic circuit, each digital arithmetic operation It has also been proposed that if the combined outputs of the circuits do not match, the power to the entire anti-skid device is cut off and the normal braking system is restored. Although this method can detect a failure in the digital arithmetic circuit, not only does the circuit for obtaining the combined output become extremely complicated, but it also cannot detect a disconnection failure in the wheel speed sensor. Furthermore,
Conventionally, when a failure occurs in any part of the anti-skid device, all anti-skid controls are completely prohibited.

しかしながら、故障部位に拘らずアンチスキッド制御を
完全に禁止してしまうと、アンチスキッド装置を全く備
えていない車両と同じ状態になってしまい、特に、複数
のアンチスキッド制御系統を備えた車両においては、正
常なアンチスキッド制御系統の機能を有効に働かせるこ
とができなくなるという問題点を有した。なお、アンチ
スキッド装置の故障部位に応じて、故障が発生したアン
チスキッド制御系統のみを禁止することも考えられるが
、故障部位に拘らず、正常なアンチスキッド制御系統を
すべて生かしておくと、故障部位によっては、急制動時
に車両のスピン等を招く可能性があシ、非常に危険であ
る。However, if anti-skid control is completely prohibited regardless of the faulty part, the situation will be the same as a vehicle with no anti-skid device at all, especially in a vehicle equipped with multiple anti-skid control systems. However, there is a problem in that the normal anti-skid control system cannot function effectively. Note that depending on the failure part of the anti-skid device, it may be possible to prohibit only the anti-skid control system in which the failure has occurred, but regardless of the failure part, if all normal anti-skid control systems are kept alive, it is possible to prevent the failure from occurring. Depending on the part, sudden braking may cause the vehicle to spin, which is extremely dangerous.

本発明は、前記従来の欠点を解消するべくなされたもの
で、デジタル演算回路、アクチュエータ等の故障だけで
なく、車輪速度センサの断線故障を含む広範々故障に対
して対処することができる車両用アンチスキッド装置を
提供することを目的とする。The present invention has been made to eliminate the above-mentioned conventional drawbacks, and is capable of dealing with a wide range of failures, including not only failures of digital arithmetic circuits, actuators, etc., but also disconnection failures of wheel speed sensors. The purpose is to provide an anti-skid device.

本発明は、車両の減速時に、減速状態に応じて制御車輪
のブレーキ装置を制御して、制御車輪のロックを防止す
るようにされた車両用アンチスキッド装置において、制
御車輪の回転に応じて車輪速度パルスを発生する車輪速
度センサと、該車輪速度センサの出力に応じて車輪速度
を算出する車輪速度演算回路と、該車輪速度演算回路出
力の車輪速度と車体速度との偏差状態に応じて、制御車
輪のロックを防止するべく、制御出力を演算して出力す
る第１のデジタル演算回路と、該第１のデジタル演算回
路の制御出力に応じて、制御車輪のブレーキ装置を制御
するアクチュエータと、前記車輪速度演算回路の出力に
応じて、前記第１のデジタル演算回路と同一の演算処理
を行なう第２のデジタル演算回路と、該第２のデジタル
演算回路出力と前記第１のデジタル演算回路の制御出力
との不一致を検出して出力を発生する一致回路と、前記
車輪速度センサの出力に応じて、車輪速度センサの断線
故障時に出力を発生する断線検出回路と、該断線検出回
路の出力と前記−数回路の出力の論理和を出力するＯＲ
回路と、前記アクチュエータの電源回路に挿入された接
点を有する電源リレーと、前記ＯＲ回路の出力に応じて
前記電源リレーの接点をオフとすると共に、以後はＯＲ
回路の出力状態に拘らずこのオフ状態を保持する自己保
持回路とを備えることによシ、前記目的を達成したもの
である。The present invention provides an anti-skid device for a vehicle that prevents the controlled wheels from locking by controlling the brake device of the controlled wheels according to the deceleration state when the vehicle is decelerated. A wheel speed sensor that generates a speed pulse; a wheel speed calculation circuit that calculates a wheel speed according to the output of the wheel speed sensor; a first digital calculation circuit that calculates and outputs a control output in order to prevent the control wheel from locking; an actuator that controls a brake device of the control wheel in accordance with the control output of the first digital calculation circuit; a second digital arithmetic circuit that performs the same arithmetic processing as the first digital arithmetic circuit according to the output of the wheel speed arithmetic circuit; a matching circuit that detects a mismatch with the control output and generates an output; a disconnection detection circuit that generates an output when a disconnection failure occurs in the wheel speed sensor according to the output of the wheel speed sensor; and an output of the disconnection detection circuit. OR that outputs the logical sum of the outputs of the minus number circuits
a circuit, a power relay having a contact inserted into the power circuit of the actuator, the contact of the power relay is turned off in accordance with the output of the OR circuit, and from then on, the contact of the power relay is
The above object is achieved by providing a self-holding circuit that maintains this off state regardless of the output state of the circuit.

又、前記制御車輪を複数とし、これに応じて、前記車輪
速度センサ、車輪速度演算回路、アクチュエータ、一致
回路、ＯＲ回路、電源リレー及び自己保持回路も複数と
し、故障部位に応じて、各制御車輪の電源リレーの接点
を選択的にオフとするようにして、安全性を高めたもの
である。Further, the number of control wheels is plural, and accordingly, the number of wheel speed sensors, wheel speed calculation circuits, actuators, matching circuits, OR circuits, power relays, and self-holding circuits are also plural, and each control is performed according to a failure part. Safety is improved by selectively turning off the contacts of the power relays in the wheels.

以下図面を参照して、本発明の実施例を詳細に説明する
。Embodiments of the present invention will be described in detail below with reference to the drawings.

本実施例は、第１図に示すような、制御車輪である右前
輪１０の回転に応じて車輪速度パルスを発生する車輪速
度センサ１２と、同じく制御車輪である左前輪１４の回
転に応じて車輪速度パルスを発生する車輪速度センサ１
６と、プロペラシャフト１８の回転に応じて、一括して
制御される後輪２０．２２の回転に応じた車輪速度パル
スを発生する車輪速度センサ２４と、運転者がプレーキ
ベタル２６を踏むことによってブレーキ油圧全発生する
油圧シリンダ２８と、エンジン回転に応じて油圧を発生
する、例えばパワーステアリングポンプと兼用された油
圧ポンプ３０と、右前輪１０、左前輪１４、後輪２０．
２２にそれぞれ配設された油圧ブレーキ装置３２．３４
．３６．３８と、前記車輪速度センサ１２．１６．２４
の出力に応じて算出される車輪速度と該車輪速度から算
出される車体速度との偏差状態に応じて、制御車輪のロ
ックを防止するべく、制御出力を演算して出力する制御
回路４０と、該制御回路４０の制御出力に応じて、各油
圧ブレーキ装置３２．３４．３６及び３８にそれぞれ供
給されるブレーキ油圧を制御する、前記油圧ポンプ３０
に接続されると共に１前記油圧シリンダ２８と各油圧ブ
レーキ装置３２．３４．３６及び３８をそれぞれ結ぶ油
圧管路４１．４２．４４の途中にそれぞれ配設されたア
クチュ（７） エータ４６．４８．５０とを有する車両用アンチスキッ
ド装置において、前記制御回路４０を、第２図に示す如
く、各車輪速度センサ１２．１６．２４の出力に応じて
車輪速度を算出する車輪速度演算回路６０．６２．６４
と、該車輪速度演算回路６０．６２．６４出力の車輪速
度と、該車輪速度から推定される車体速度との偏差状態
に応じて、各制御車輪のロックを防止するべく、制御出
力を演算して出力する第１のデジタル演算回路６６と、
と、前記各車輪速度演算回路６０．６２．６４の出力に
応じて、前記第１のデジタル演算回路６６と同一の演算
処理を行なう第２のデジタル演算口エイスフ２と、前記
第１の入出力インター７エイス６８の出力に応じて、各
アクチュエータ４６．４８．５０を構成するソレノイド
４６　ａ　−、４８８％５０ａを駆動するための出力ト
ランジスタ７４、（８） を介して入力される前記第２のデジタル演算回路７０の
出力と、インバータ８６．８８．９０を介して反転後入
力される前記出力トランジスタ７４．７６．７８出力と
の一致を各制御車輪毎に検出して出力を発生する一致回
路８０．８２．８４と、前記各車輪速度センサ１２．１
６．２４の出力に応じて、各車輪速度センサの断線故障
時に出力を発生する断線検出回路９２．９４．９６と、
該断線検出回路９２．９４．９６の出力と前記一致回路
８０．８２．８４の出力の論理利金出力するＯＲ回路９
８．１００．１０２と、前記アクチュエータの電源回路
にそれぞれ挿入された常開接点１０４ａ　％　１０６　
ａ　％　１０８　ａを有する電源リレー１０４．１０６
．１０８と、前記ＯＲ回路９８．１００．１０２の出力
に応じて前記電源リレーの常開接点１０４　ａ　％　１
０６　ａ　ｓ　１０８　ａをオフとすると共に、以後は
ＯＲ回路の出力状態に拘らずこのオフ状態を保持する自
己保持回路１１０．１１２．１１４とを用いて構成する
ようにしたものである。図において、１１８は、ヒユー
ズである。In this embodiment, as shown in FIG. 1, a wheel speed sensor 12 that generates a wheel speed pulse according to the rotation of a front right wheel 10 that is a controlled wheel, and a wheel speed sensor 12 that generates a wheel speed pulse according to the rotation of a front left wheel 14 that is also a controlled wheel. Wheel speed sensor 1 that generates wheel speed pulses
6, a wheel speed sensor 24 that generates a wheel speed pulse according to the rotation of the rear wheels 20 and 22 that are collectively controlled according to the rotation of the propeller shaft 18, and a brake pedal 26 that is braked when the driver steps on the brake pedal 26. A hydraulic cylinder 28 that generates hydraulic pressure in full, a hydraulic pump 30 that generates hydraulic pressure in accordance with engine rotation and also serves as a power steering pump, for example, a right front wheel 10, a left front wheel 14, a rear wheel 20, and so on.
Hydraulic brake devices 32 and 34 respectively arranged in 22
．． 36.38 and said wheel speed sensor 12.16.24
a control circuit 40 that calculates and outputs a control output in order to prevent the control wheels from locking, according to the deviation state between the wheel speed calculated according to the output of the wheel speed and the vehicle body speed calculated from the wheel speed; The hydraulic pump 30 controls the brake hydraulic pressure supplied to each hydraulic brake device 32, 34, 36 and 38 according to the control output of the control circuit 40.
actuators 46, 48, and 46, 48, respectively, which are connected to the hydraulic pipes 41, 42, and 44 that connect the hydraulic cylinder 28 and the hydraulic brake devices 32, 34, 36, and 38, respectively. 50, the control circuit 40 is, as shown in FIG. .64
According to the deviation state between the wheel speed output from the wheel speed calculation circuit 60, 62, and 64 and the vehicle speed estimated from the wheel speed, a control output is calculated to prevent each control wheel from locking. a first digital arithmetic circuit 66 that outputs
and a second digital calculation port 2 which performs the same calculation process as the first digital calculation circuit 66 according to the output of each of the wheel speed calculation circuits 60, 62, 64, and the first input/output circuit. According to the output of the inter 7/8 68, the second input signal is input via the output transistor 74, (8) for driving the solenoid 46a-, 488% 50a constituting each actuator 46, 48, 50. A coincidence circuit 80 that detects for each controlled wheel the coincidence between the output of the digital arithmetic circuit 70 and the output of the output transistor 74, 76, 78 which is inverted and inputted via the inverter 86, 88, 90, and generates an output. .82.84 and each wheel speed sensor 12.1.
A disconnection detection circuit 92.94.96 that generates an output in response to the output of 6.24 when a disconnection failure occurs in each wheel speed sensor;
an OR circuit 9 that outputs the logical interest of the output of the disconnection detection circuit 92, 94, 96 and the output of the matching circuit 80, 82, 84;
8.100.102 and a normally open contact 104a inserted into the power supply circuit of the actuator, respectively % 106
Power relay 104.106 with a% 108 a
．． 108, and a normally open contact 104 of the power relay according to the output of the OR circuit 98.100.102.
06 a s 108 a is turned off, and self-holding circuits 110, 112, and 114 that thereafter maintain this off state regardless of the output state of the OR circuit are used. In the figure, 118 is a fuse.

前記各車輪速度演算回路６０．６２．６４の入力側には
、それぞれ、抵抗６０　ａ、　６０　ｂ、　６２ａｓ　
６２　ｂｓ　６４　ａ１６４　ｂｓ及び、コンデンサ６
０　Ｃ％　６２　ｃ　ｓ　６４　ｃが配設されている。On the input side of each of the wheel speed calculation circuits 60, 62, and 64, there are resistors 60a, 60b, and 62as, respectively.
62 bs 64 a164 bs and capacitor 6
0 C% 62 c s 64 c is arranged.

前記各断線検出回路９２．９４．９６は、それぞれ抵抗
９２　ａ　％　９２　ｃ　％　９４　ａ　％　９４　Ｃ
％　９６ａ、９６ｃと、コンデンサ９２ｂ、９４ｂ、９
６ｂと、比較器９２ｄ、９４ｄ、９６ｄとから構成され
ておシ、各車輪速度センサ１２．１６．２４の断線時に
、Ｈレベルの出力を発生するようにされている。Each of the disconnection detection circuits 92, 94, and 96 has a resistor of 92a%, 92c%, 94a%, 94c, respectively.
% 96a, 96c and capacitors 92b, 94b, 9
6b, and comparators 92d, 94d, and 96d, which generate an H level output when each wheel speed sensor 12, 16, or 24 is disconnected.

前記各自己保持回路１１０．１１２．１１４は、例えば
、フリツプフロツプ回路と電源リレー（１０４，１０６
，１０８）のドライブ回路とで構成されている〇 又、前記各電源リレー１０４．１０６．１０８の常開接
点１０４　ａ　ｓ　１０６　ａ　ｚ　１０８　ａは、そ
れぞれ、右前輪のソレノイド４６ａの電源回路、左前輪
のソレノイド４８ａの電源回路、及び、全車輪のソレノ
イドの電源回路に挿入されている。Each of the self-holding circuits 110, 112, and 114 includes, for example, a flip-flop circuit and a power relay (104, 106).
, 108) The normally open contacts 104 a s 106 a z 108 a of the respective power relays 104, 106, 108 are connected to the power circuit of the right front wheel solenoid 46a, and the drive circuit of the left front wheel solenoid 46a, respectively. It is inserted into the power circuit of the front wheel solenoid 48a and the power circuit of all the wheel solenoids.

以下作用を説明する。まず、装置に故障がなく、各回路
が正常に動いている場合には、第１のデジタル演算回路
６６の出力と第２のデジタル演算回路７０の出力が一致
しているため、インバータ８６．８８．９０の出力は第
２の入出力インターフェイス７２の出力と一致すること
がなく、一致回路８０．８２．８４はいずれもオフ状態
とされている。又、各車輪速度センサ１２，１６．２４
がいずれも正常である場合には、ＯＲ回路９８．１００
．１０２の他方の入力もオフ状態に保たれている。従っ
て、前記自己保持回路１１０．１１２．１１４により、
電源リレー１０４．１０６．１０８の励磁コイルト奉４
は、いずれも通電状態が維持され、各ツレノーｆド４６
　ａ　％　４８　ａ　ｓ　５０　ａはいずれも電源と接
続されている。従って、通常のアンチスキッド制御が行
なわれる。The action will be explained below. First, if there is no failure in the device and each circuit is operating normally, the output of the first digital arithmetic circuit 66 and the output of the second digital arithmetic circuit 70 match, so the inverter 86.88 The output of .90 does not match the output of the second input/output interface 72, and the matching circuits 80, 82, and 84 are all turned off. Also, each wheel speed sensor 12, 16.24
If both are normal, OR circuit 98.100
．． The other input of 102 is also kept off. Therefore, by the self-holding circuit 110.112.114,
Excitation coil for power relay 104.106.108 4
are maintained in the energized state, and each node f 46
a % 48 a s 50 a are all connected to a power source. Therefore, normal anti-skid control is performed.

一方、第１のデジタル演算回路６６が故障して、第１の
入出力インターフェイス６８の出力に異常が発生したυ
、或いはソレノイドが断線或いは短絡すると、該異常が
発生した制御車輪に対応するインバータの出力が、第２
のデジタル演算回路７０から入出力インター７エイス７
２を紅て出力される信号と一致することとなるため、該
当制御車輪に対応する一致回路に出力が発生し、これが
ＯＲ回路を経て対応する自己保持回路に入力される。On the other hand, the first digital arithmetic circuit 66 has failed and an abnormality has occurred in the output of the first input/output interface 68.
, or if the solenoid is disconnected or short-circuited, the output of the inverter corresponding to the control wheel where the abnormality has occurred will be
from the digital arithmetic circuit 70 to the input/output interface 7Ace 7
2, and therefore an output is generated in the coincidence circuit corresponding to the corresponding controlled wheel, which is input to the corresponding self-holding circuit via the OR circuit.

すると該対応する自己保持回路によシ対応する電源リレ
ーの励磁コイルが非通電状態となり、常開接点が開かれ
て、該当する制御車輪のアンチスキッド機能或いは全車
輪のアンチスキッド機能が解除される。ここにおいて、
右前輪或いは左前輪の制御出力が異常である場合には、
該当する制御車輪のアンチスキッド機能のみを解除して
いるのに対し、後輪の制御出力に異常が発生した場合に
は、全車輪のアンチスキッド機能を解除するようにして
いるのは、後輪が故障した場合に前輪のみにアンチスキ
ッド機能が残ることによって発生する、車両スピン等の
危険状態を回避するためである。Then, the excitation coil of the corresponding power relay is de-energized by the corresponding self-holding circuit, the normally open contact is opened, and the anti-skid function of the corresponding control wheel or the anti-skid function of all wheels is canceled. . put it here,
If the control output of the right front wheel or left front wheel is abnormal,
Whereas only the anti-skid function of the relevant controlled wheel is canceled, if an abnormality occurs in the control output of the rear wheel, the anti-skid function of all wheels is canceled. This is to avoid dangerous situations such as vehicle spin, which would occur if the anti-skid function remained only in the front wheels if the front wheels failed.

又、各車輪速度センサ１２．１６．２４のいずれかに断
線故障が発生した場合には、対応する故障検出回路の出
力がＨレベルとなシ、ＯＲ回路の他方の入力がオンとな
るため、前記と同様に、対応する制御車輪或いは全車輪
のアンプスキッド機能が解除される。In addition, if a disconnection failure occurs in any of the wheel speed sensors 12, 16, 24, the output of the corresponding failure detection circuit will not go to H level, and the other input of the OR circuit will turn on. As before, the amplifier skid function of the corresponding control wheel or all wheels is canceled.

更に、フェーズ１１８が断線した場合にも、全車輪のア
ンチスキッド機能が解除される。Furthermore, even if the phase 118 is disconnected, the anti-skid function for all wheels is canceled.

本実施例においては、異常出力が発生した制御車輪に応
じて、前輪が故障した場合には対応する車輪のアンチス
キッド機能のみを解除し、一方、後輪が故障した場合に
は全車輪のアンチスキッド機能を解除するよう圧してい
るため１一部の車輪のアンチスキッド機能異常時に、他
の車輪のアンチスキッド機能を生かすことができるだけ
でなく、車体スピン等の危険性がなく、安全性が極めて
高い０ 又、本実施例においては、アクチュエータの電源回路に
挿入される電源リレーの接点を常開接点としているため
、自己保持回路等の異常時には、アンチスキッド機能が
解除されることとなシ、安全性が高い。In this embodiment, depending on the control wheel where an abnormal output has occurred, if the front wheel fails, only the anti-skid function of the corresponding wheel is canceled, whereas if the rear wheel fails, the anti-skid function of all wheels is canceled. Because pressure is applied to release the skid function, 1. When the anti-skid function of some wheels is abnormal, not only can the anti-skid functions of other wheels be utilized, but there is no danger of the vehicle body spinning, etc., making it extremely safe. In addition, in this embodiment, since the contact of the power relay inserted into the power supply circuit of the actuator is a normally open contact, the anti-skid function will not be canceled in the event of an abnormality in the self-holding circuit, etc. Highly safe.

以上説明した通電、本発明によれば、アクチュエータ或
いはデジタル演算回路の故障だけでなく、車輪速度セン
サの断線故障を含む広範な故障に対しても確実に対処で
き、安全性が高められるという優れた効果を有する。According to the energization described above, the present invention has the advantage of being able to reliably deal with a wide range of failures, including not only failures in the actuator or digital arithmetic circuit, but also disconnection failures in wheel speed sensors, thereby increasing safety. have an effect.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は、本発明に係る車両用アンチスキッド装置の実
施例が配設された車両のブレーキ系統を示す管路図、第
２図は、本発明に係る車両用アンチスキッド装置の実施
例の構成を示すブロック線図である。 １０・・・右前輪、 １２．１６．２４・・・車輪速度センサ、１４・・・左
前輪、２０．２２・・・後輪、３２．３４．３６．３８
・・・ブレーキ装置、４０・・・制御回路、４１．４２
．４４・・・油圧管路、４６．４８．５０・・・アクチ
ュエータ、６０．６２．６４・・・車輪速度演算回路、
６６．７０・・・デジタル演算回路、 ６８．７２・・・入出力インターフェイス、７４．７６
．７８・・・出カド２ンジスタ、８０．８２．８４・・
・一致回路、 ８６．８８．９０・・・インバータ、 ９２．９４．９６・・・故障検出回路、９８．１００．
１０２・・・ＯＲ回路、１０４．１０６．１０８・・・
電源リレー、１０４ａｓ　１０６ａｓ　１０８ａ・−・
常開接点、１１０．１１２．１１４・・・自己保持回路
。 代理人　　高　矢　　　論 （ほか１名）FIG. 1 is a pipeline diagram showing a brake system of a vehicle in which an embodiment of the anti-skid device for a vehicle according to the present invention is installed, and FIG. 2 shows an embodiment of the anti-skid device for a vehicle according to the present invention. FIG. 2 is a block diagram showing the configuration. 10... Right front wheel, 12.16.24... Wheel speed sensor, 14... Left front wheel, 20.22... Rear wheel, 32.34.36.38
...Brake device, 40...Control circuit, 41.42
．． 44... Hydraulic pipe line, 46.48.50... Actuator, 60.62.64... Wheel speed calculation circuit,
66.70... Digital arithmetic circuit, 68.72... Input/output interface, 74.76
．． 78...output 2 indister, 80.82.84...
- Matching circuit, 86.88.90... Inverter, 92.94.96... Failure detection circuit, 98.100.
102...OR circuit, 104.106.108...
Power relay, 104as 106as 108a...
Normally open contact, 110.112.114...Self-holding circuit. Agent Takaya Ron (and 1 other person)

Claims (2)

【特許請求の範囲】[Claims] （１）車両の減速時へ減速状態に応じて制御車輪のブレ
ーキ装置を制御して、制御車輪のロックを防止するよう
にされた車両用アンチスキッド装置において、制御車輪
の回転に応じて車輪速度パルスを発生する車輪速度セン
サと、該車輪速度センサの出力に応じて車輪速度を算出
する車輪速度演算回路と、該車輪速度演算回路出力の車
輪速度と車体速度との偏差状態に応じて、制御車−％ツ
クを防止するべく、制御出力を演算して出力する第１の
デジタル演算回路と、該第１のデジタル演算回路の制御
出力に応じて、制御車輪のブレーキ装置を制御するアク
チュエータと、前記車輪速度演算回路の出力に応じて、
前記第１のデジタル演算回路と同一の演算処理を行なう
第２のデジタル演算回路と、該第２のデジタル演算回路
出力と前記第１のデジタル演算回路の制御出力との不一
致を検出して出力を発生する一致回路と、前記車輪速度
センサの出力に応じて、車輪速度センサの断線故障時に
出力を発生する断線検出回路と、該断線検出回路の出力
と前記一致回路の出力の論理和を出力するＯＲ回路と、
前記アクチュエータの電源回路に挿入された接点を有す
る電源リレーと、前記ＯＲ回路の出力に応じて前記電源
リレーの接点をオフとすると共に、以後はＯＲ回路の出
力状態に拘らずこのオフ状態を保持する自己保持回路と
を備えたことを特徴とする車両用アンチスキッド装置。(1) In a vehicle anti-skid device that prevents the controlled wheels from locking by controlling the brake device of the controlled wheels according to the deceleration state when the vehicle is decelerating, the wheel speed is controlled according to the rotation of the controlled wheels. A wheel speed sensor that generates pulses, a wheel speed calculation circuit that calculates the wheel speed according to the output of the wheel speed sensor, and control according to the deviation state between the wheel speed output from the wheel speed calculation circuit and the vehicle body speed. A first digital arithmetic circuit that calculates and outputs a control output in order to prevent the vehicle from overshooting; an actuator that controls a brake device of a controlled wheel according to the control output of the first digital arithmetic circuit; According to the output of the wheel speed calculation circuit,
A second digital arithmetic circuit that performs the same arithmetic processing as the first digital arithmetic circuit, detects a mismatch between the output of the second digital arithmetic circuit and the control output of the first digital arithmetic circuit, and outputs an output. a disconnection detection circuit that generates an output in accordance with the output of the wheel speed sensor, a disconnection detection circuit that generates an output when a disconnection failure occurs in the wheel speed sensor, and a logical sum of the output of the disconnection detection circuit and the output of the coincidence circuit. OR circuit and
A power relay having a contact inserted into the power supply circuit of the actuator, and a contact of the power relay being turned off in accordance with the output of the OR circuit, and thereafter maintained in this off state regardless of the output state of the OR circuit. An anti-skid device for a vehicle, comprising a self-holding circuit. （２）前記制御車輪が複数とされ、これに応じて、前記
車輪速度センサ、車輪速度演算回路、アクチュエータ、
一致回路、ＯＲ回路、電源リレー及び自己保持回路も複
数とされ、故障部位に応じて、各制御車輪の電源リレー
の接点を選択的にオフとするようにされている特許請求
の範囲第１項に記載の車両用アンチスキッド装置。(2) The number of the controlled wheels is plural, and accordingly, the wheel speed sensor, the wheel speed calculation circuit, the actuator,
Claim 1: There are also a plurality of matching circuits, OR circuits, power relays, and self-holding circuits, and the contacts of the power relays of each control wheel are selectively turned off depending on the location of the failure. The anti-skid device for a vehicle described in .
JP14063381A 1981-09-07 1981-09-07 Antiskid device of vehicle Granted JPS5849547A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP14063381A JPS5849547A (en) 1981-09-07 1981-09-07 Antiskid device of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP14063381A JPS5849547A (en) 1981-09-07 1981-09-07 Antiskid device of vehicle

Publications (2)

Publication Number Publication Date
JPS5849547A true JPS5849547A (en) 1983-03-23
JPH032699B2 JPH032699B2 (en) 1991-01-16

Family

ID=15273222

Family Applications (1)

Application Number Title Priority Date Filing Date
JP14063381A Granted JPS5849547A (en) 1981-09-07 1981-09-07 Antiskid device of vehicle

Country Status (1)

Country Link
JP (1) JPS5849547A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2533183A1 (en) * 1982-09-18 1984-03-23 Teves Gmbh Alfred METHOD AND ARRANGEMENT OF CIRCUITS FOR CONTROLLING BRAKE SLIDER CONTROL APPARATUS
JP2020192883A (en) * 2019-05-28 2020-12-03 日立オートモティブシステムズ株式会社 Electronic control system of brake mechanism

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50116892A (en) * 1974-01-30 1975-09-12
JPS52115987A (en) * 1976-03-24 1977-09-28 Teves Gmbh Alfred Electronic control system for preventing skid
JPS53152093U (en) * 1978-04-13 1978-11-30
JPS5627160U (en) * 1979-08-10 1981-03-13
JPS5657546A (en) * 1979-10-02 1981-05-20 Valeo Brake gear for automobile

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51120197A (en) * 1975-04-15 1976-10-21 Agency Of Ind Science & Technol Method of examining vehicle detector

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50116892A (en) * 1974-01-30 1975-09-12
JPS52115987A (en) * 1976-03-24 1977-09-28 Teves Gmbh Alfred Electronic control system for preventing skid
JPS53152093U (en) * 1978-04-13 1978-11-30
JPS5627160U (en) * 1979-08-10 1981-03-13
JPS5657546A (en) * 1979-10-02 1981-05-20 Valeo Brake gear for automobile

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2533183A1 (en) * 1982-09-18 1984-03-23 Teves Gmbh Alfred METHOD AND ARRANGEMENT OF CIRCUITS FOR CONTROLLING BRAKE SLIDER CONTROL APPARATUS
JP2020192883A (en) * 2019-05-28 2020-12-03 日立オートモティブシステムズ株式会社 Electronic control system of brake mechanism

Also Published As

Publication number Publication date
JPH032699B2 (en) 1991-01-16

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