KR0121812B1 - A.b.s. control method - Google Patents

A.b.s. control method

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Publication number
KR0121812B1
KR0121812B1 KR1019950022744A KR19950022744A KR0121812B1 KR 0121812 B1 KR0121812 B1 KR 0121812B1 KR 1019950022744 A KR1019950022744 A KR 1019950022744A KR 19950022744 A KR19950022744 A KR 19950022744A KR 0121812 B1 KR0121812 B1 KR 0121812B1
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KR
South Korea
Prior art keywords
abs
slip
wheel
reference value
control unit
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KR1019950022744A
Other languages
Korean (ko)
Other versions
KR970006017A (en
Inventor
유석종
Original Assignee
배순훈
대우전자주식회사
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Priority to KR1019950022744A priority Critical patent/KR0121812B1/en
Publication of KR970006017A publication Critical patent/KR970006017A/en
Application granted granted Critical
Publication of KR0121812B1 publication Critical patent/KR0121812B1/en

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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
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • 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
    • B60T2270/10—ABS control systems
    • 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
    • B60T8/321—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 deceleration
    • B60T8/329—Systems characterised by their speed sensor arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B60Y2400/3032—Wheel speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/81—Braking systems

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

A wheel speed sensor(1) installed to each wheel operates and checks wheel speed. The detected speed data of a car is inputted to an ABS electronic control unit(3), which calculates the running speed of the wheel and deceleration of the wheel. At the time of ABS breakage, it judges that the acceleration standard to be used for the establishment of the slip standard value is established. In case ABS is in the initial period, it judges that it is in movement. In case in movement, the slip standard value is initialized. And the slip rate at the time of abrupt change of the acceleration is set to a standard slip rate.

Description

안티록 브레이크 시스템의 동작제어방법Operation control method of anti-lock brake system

제1도는 일반적인 ABS의 블록도.1 is a block diagram of a general ABS.

제2도는 본 발명에 따른 안티록 브레이크 시스템의 동작 흐름도.2 is a flow chart of the operation of the antilock brake system according to the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 차륜속도감지센서 2 : 브레이크신호입력부1: Wheel speed sensor 2: Brake signal input unit

3 : ABS 전자제어유니트 4 : 모듈레이터3: ABS electronic control unit 4: Modulator

5 : 브레이크조작부5: brake control unit

본 발명은 안티록 브레이크 시스템(Anti-Lock Brake System, 이하 ABS)에 관한 것으로, 특히 차륜속도감지센서에 의하여 감지된 가속도가 급격히 증가하는 순간의 슬립률을 ABS의 동작시에 슬립기준치로 적용시켜 줌으로써, 차량의 제동성을 향상시키며, 시스템의 정밀성을 증가시키는 안티록 브레이크 시스템의 동작제어방법에 관한 것이다.The present invention relates to an anti-lock brake system (ABS). In particular, the slip rate at the moment when the acceleration detected by the wheel speed sensor rapidly increases is applied as a slip reference value during the operation of the ABS. The present invention relates to an operation control method of an antilock brake system that improves the braking performance of a vehicle and increases the precision of the system.

일반적으로 차량에는 주행중에 운전자의 브레이크 페달 조작 시점부터 완전히 정지하는 지점까지를 제동거리로 나타내는데, 이 제동거리는 차량의 주행속도 및 제동슬립률에 따라 달라지게 된다. 따라서, 이러한 제동거리를 최대한 단축시키기 위해 최근에 차량에 안티록 브레이크 시스템(이하, ABS시스템이라 함)이 장착되어 사용되고 있다.In general, a vehicle represents a braking distance from a driver's brake pedal operation point to a point of completely stopping while driving, and this braking distance varies depending on the vehicle's traveling speed and braking slip rate. Therefore, in order to shorten this braking distance as much as possible, an anti-lock brake system (hereinafter referred to as ABS system) has recently been used in vehicles.

이와 같은 일반적인 ABS 시스템은 제1도에서 보는 바와 같이, 차량바퀴의 속도를 검출하는 차륜속도감지센서(1)와, 차량의 운전자에 의하여 제동동작이 수행됨을 입력받는 브레이크신호입력부(2)와, 상기 장치(1, 2)들에 의해 검출된 검출데이터 기준값을 근거로 판단하여 자동차의 최적 제동제어신호를 출력하는 ABS 전자제어유니트(3)와, 이 ABS 전자제어유니트(3)의 ABS 제동제어신호에 따라 브레이크조작부(5)의 동작을 제어하는 모듈레이터(4)로 이루어졌다.As shown in FIG. 1, the general ABS system includes a wheel speed sensor 1 for detecting a speed of a vehicle wheel, a brake signal input unit 2 for receiving a braking operation by a driver of a vehicle, ABS electronic control unit 3 which outputs the optimum braking control signal of the vehicle by judging based on the detection data reference value detected by the devices 1 and 2, and ABS braking control of the ABS electronic control unit 3 It consists of a modulator 4 for controlling the operation of the brake operating section 5 in accordance with the signal.

한편, 상기와 같은 구성으로 된 일반적인 ABS 시스템의 동작을 살펴보면, 먼저, 차량을 운행하게 될 경우 자동차 각각의 바퀴에 장착되어 있는 차륜속도감지센서(1)가 동작을 하게 되어 차량의 바퀴속도를 체킹하여 차량속도를 계산하게 된다. 상기 차륜속도감지센서(1)에 의해 검출된 차량의 바퀴속도에 대한 데이터는 ABS 전자제어유니트(3)에 입력되어 바퀴의 주행 속도 및 바퀴의 감속도를 계산하게 된다. 또한, 도면에 미도시된 각종 감지센서에 의하여 자동차가 주행중인 노면의 상태를 감지하게 된다. ABS 전자제어유니트(3)는 차륜속도감지센서(1)에서 입력된 바퀴의 속도 및 노면의 상태를 기준으로 하여 현재 상황에 맞는 적정한 슬립기준값(Silp threshold)을 설정하고, 상기 차륜속도감지센서(1)와 각 감지수단에서 입력된 값을 연산하여 ABS 전자제어유니트(3)는 다음 식 1에 의하여 슬립률을 결정하게 된다.On the other hand, when looking at the operation of the general ABS system having the configuration as described above, first, when driving the vehicle, the wheel speed sensor (1) mounted on each wheel of the vehicle is operated to check the wheel speed of the vehicle To calculate the vehicle speed. Data on the wheel speed of the vehicle detected by the wheel speed sensor 1 is input to the ABS electronic control unit 3 to calculate the running speed of the wheel and the deceleration of the wheel. In addition, the vehicle detects the state of the road on which the vehicle is driven by various sensors not shown in the drawing. The ABS electronic control unit 3 sets an appropriate slip threshold for the current situation based on the speed of the wheel and the road surface input from the wheel speed sensor 1, and the wheel speed sensor ( By calculating the value input from 1) and each sensing means, the ABS electronic control unit 3 determines the slip ratio by the following equation (1).

슬립률(％)＝((차량속도-바퀴속도)/차량속도)×100 ……………… 식 1Slip ratio (%) = ((vehicle speed-wheel speed) / vehicle speed) × 100... … … … … … Equation 1

그리고, ABS 전자제어유니트(3)는 상기 식 1에 의하여 슬립률이 결정되면 기 설정되어 있는 슬립기준값(Slip threshold)에 따라 비교판단하게 되는데, 이때, 만약 바퀴의 슬립률과 차량속도가 기준값 보다 클 경우는 차량이 위험한 상태이므로 ABS 전자제어유니트(3)가 ABS 제동제어신호를 출력하게 된다. 따라서, 모듈레이터(4)가 이 ABS 제동제어신호에 따라 브레이크조작부(5)를 구동시켜 안전한 제동동작을 실행하게 된다.When the slip ratio is determined according to Equation 1, the ABS electronic control unit 3 determines the comparison according to a preset slip threshold value. If the vehicle is in a dangerous state, the ABS electronic control unit 3 outputs an ABS braking control signal. Accordingly, the modulator 4 drives the brake operation section 5 in accordance with this ABS braking control signal to execute a safe braking operation.

그러나, 이와 같은 종래 ABS 시스템은 제동동작 수행시에 최대의 마찰력을 얻기 위하여 노면의 상태를 검출하게 되어 그 제어방법이 복잡하며 자동차가 주행중인 노면의 상태에 따라 적용되는 최대 슬립률을 차등 적용해야 함에도 불구하고 차륜속도와 연산된 슬립률을 기준으로 동일한 ABS 제동제어를 수행하게 되어 ABS 시스템의 정밀성이 저하됨은 물론 효과적인 ABS 제동동작이 수행되지 않게 되는 문제점이 있다.However, such a conventional ABS system detects the state of the road surface in order to obtain the maximum frictional force when performing the braking operation. Therefore, the control method is complicated, and the maximum slip rate applied according to the state of the road surface on which the vehicle is driving must be differentially applied. Nevertheless, the same ABS braking control is performed on the basis of the wheel speed and the calculated slip ratio, thereby degrading the accuracy of the ABS system as well as preventing the effective ABS braking operation from being performed.

본 발명은 상기와 같은 문제점을 해결하기 위해 발명된 것으로, ABS 시스템에 장착된 차륜속도감지센서에 의하여 제동동작 수행시에 바퀴의 가속도 즉, 바퀴의 속도변화치가 급격히 증가하는 순간에 입력되는 바퀴의 슬립률을 제동동작 수행시에 인가되는 마찰력의 기준이 되는 슬립기준값(Slip threshold)으로 설정하여 안티록 브레이크 시스템의 동작을 제어함으로써, 자동차의 주행시에 노면의 상태를 검출하지 않고도 차량의 제동시에 정확한 제동동작을 수행하게 되어 차량의 제동성을 향상시키게 됨은 물론 ABS의 정밀성도 증가시키는 안티록 브레이크 시스템의 동작제어방법을 제공하는데 그 목적이 있다.The present invention has been invented to solve the above problems, the wheel speed sensor when the braking operation is performed by the wheel speed sensor mounted on the ABS system, that is, the speed of the wheel input changes at the moment when the speed change value of the wheel rapidly increases By controlling the operation of the antilock brake system by setting the slip ratio to a slip threshold, which is a reference of the friction force applied when the braking operation is performed, it is possible to correct the vehicle during braking without detecting the road surface condition. It is an object of the present invention to provide an operation control method of an anti-lock brake system that performs braking operation to improve the braking performance of a vehicle and also increases the precision of ABS.

이와 같은 목적을 달성하기 위한 본 발명은 차량바퀴에 설치되어 차륜속도를 검출하는 차륜속도감지센서와, 운전자의 제동동작을 감지하는 브레이크신호입력부와, 상기 장치의 출력단에 접속되어 ABS 제동제어신호를 출력하는 ABS 전자제어유니트와, 상기 ABS 전자제어유니트의 ABS 제동제어신호에 따라 브레이크조작부의 동작을 제어하는 모듈레이터를 구비하는 안티록 브레이크 시스템의 동작제어방법에 있어서, ABS에서 슬립기준치를 설정하는데 필요한 가속도 기준치가 저장되었는지를 판단하는 ABS 모드판단과정과, 상기 과정에서 ABS가 초기상태라면 ABS가 동작중인지를 판단하여 ABS가 동작중이면 슬립기준치를 초기화시키는 초기화과정과, 상기 과정(L1)후에 ABS가 동작상태라면 제동동작시에 가속도를 입력받아 설정된 가속도기준치를 비교하여, 가속도가 급격히 변화한 시점에서의 슬립률을 슬립기준값(Slip threshold)으로 설정하는 슬립기준치 설정과정으로 이루어진 것을 특징으로 한다.In order to achieve the above object, the present invention provides a wheel speed sensor mounted on a vehicle wheel for detecting wheel speed, a brake signal input unit for detecting a braking operation of a driver, and an ABS brake control signal connected to an output terminal of the device. An operation control method of an anti-lock brake system having an ABS electronic control unit for outputting and a modulator for controlling the operation of the brake control unit according to the ABS braking control signal of the ABS electronic control unit, wherein the ABS is required to set a slip reference value. ABS mode judging process for determining whether the acceleration reference value is stored; initializing process for initializing the slip reference value if ABS is in operation by determining whether ABS is in operation if ABS is in the initial state; and ABS after the process (L1) If is operating status, the acceleration is input during braking operation and the set acceleration reference value is compared. Characterized in that degrees consisting of slip reference value setting procedure for setting the slip rate at the time when a sharp change in the slip reference value (Slip threshold).

이하 첨부된 도면에 의하여 본 발명의 바람직한 실시예를 설명하면 다음과 같다.Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

본 발명의 구성은 제1도에서 보는 바와 같이 일반적인 ABS의 구성과 동일하다. 즉, 차량의 각 바퀴에 장착되어 차량의 바퀴속도를 검출하는 차륜속도감지센서(1)와, 차량의 운전자에 의해 제동동작이 수행됨을 입력받는 브레이크신호입력부(2)와, 상기 장치(1, 2)들에 의해 검출된 검출데이터 기준값을 근거로 판단하여 자동차의 최적 제동제어신호를 출력하는 ABS 전자제어유니트(3)와, 이 ABS 전자제어유니트(3)의 ABS 제동제어신호에 따라 브레이크조작부(5)의 동작을 제어하는 모듈레이터(4)로 이루어졌다.The configuration of the present invention is the same as the configuration of a general ABS as shown in FIG. That is, the wheel speed sensor (1) mounted on each wheel of the vehicle to detect the wheel speed of the vehicle, the brake signal input unit (2) receiving the braking operation is performed by the driver of the vehicle, and the device (1, The brake control unit according to the ABS braking control signal of the ABS electronic control unit 3 and the ABS braking control signal of the ABS electronic control unit 3 which output the optimum braking control signal of the vehicle based on the detection data reference value detected by 2). It consisted of the modulator 4 which controls the operation | movement of (5).

이와 같은 구성을 지닌 본 발명의 상세한 작용 효과를 제2도에 의거하여 설명하면 다음과 같다.Referring to the detailed operation and effect of the present invention having such a configuration based on Figure 2 as follows.

본 발명에서는 먼저, 차량을 운행하게 될 경우 자동차 각각의 바퀴에 장착되어 있는 차륜속도감지센서(1)가 동작을 하게되어 차량의 바퀴속도를 체킹하게 된다. 상기 차륜속도감지센서(1)에 의해 검출된 차량의 바퀴속도에 대한 데이터는 ABS 전자제어유니트(3)에 입력되어 바퀴의 주행 속도 및 바퀴의 감속도를 계산하게 된다. 이때, 본 발명의 ABS 전자제어유니트(3)는 차륜속도감지센서(1)의 감지에 의하여 ABS 제동시 가속도가 급격히 증가한 시점 즉, 제동동작 수행시에 최대의 마찰력이 가해지는 시점에서 바퀴에서 차륜속도의 변화를 입력받아 다음 식 1에 의하여 슬립률을 계산하고 이 값을 마찰력이 최대로 작용하는 슬립기준값(Slip threshold)으로 설정하게 된다.In the present invention, first, when the vehicle is driven, the wheel speed sensor 1 mounted on each wheel of the vehicle is operated to check the wheel speed of the vehicle. Data on the wheel speed of the vehicle detected by the wheel speed sensor 1 is input to the ABS electronic control unit 3 to calculate the running speed of the wheel and the deceleration of the wheel. At this time, the ABS electronic control unit 3 of the present invention is a wheel on the wheel at the time when the acceleration is suddenly increased by the detection of the wheel speed sensor 1, that is, when the maximum frictional force is applied when the braking operation is performed. The slip rate is calculated according to the following equation and the value is set to the slip threshold at which the frictional force acts as the maximum.

슬립률(％)＝((차량속도-바퀴속도)/차량속도)×100 ……………… 식Slip ratio (%) = ((vehicle speed-wheel speed) / vehicle speed) × 100... … … … … … expression

즉, ABS 전자제어유니트(3)는 ABS의 모드 즉, ABS에서 제동동작 수행시에 마찰력을 발생하는 슬립기준치를 설정하는데 필요한 가속도 기준치가 저장되었는지를 판단하는(단계 101-102) ABS 모드판단과정(L1)를 수행하게 된다.That is, the ABS electronic control unit 3 determines whether the acceleration reference value necessary for setting the ABS reference mode, that is, the acceleration reference value required to set the slip reference value that generates the frictional force when the braking operation is performed in the ABS (steps 101-102) is determined. (L1) will be performed.

상기 과정에서 ABS가 초기상태라면 ABS의 수행모드 즉, 자동차의 차륜속도의 일정속도 이상인 상태등 ABS가 동작중인지를 판단하여(단계 103) ABS의 수행모드라면 슬립기준치를 초기화시키는 초기화과정(L2)를 수행한다.In the above process, if the ABS is in an initial state, it is determined whether the ABS is in operation mode, that is, a predetermined speed of the wheel speed of the vehicle or the like (step 103). Perform

만약, 상기 ABS 모드판단과정(L1)에서 ABS가 초기상태가 아닌 동작중의 상태라면 ABS 전자제어유니트(3)는 ABS가 설정모드인가를 판단하여(단계 105) ABS가 설정모드가 아닌 동작상태에 있다면 자동차의 주행중에 제동동작을 수행하면 차륜속도감지센서(1)에 의하여 바퀴의 가속도를 입력받아 설정되어 있는 가속도 기준치와 비교하여(단계 106) 제동동작 수행시에 입력된 가속도가 설정된 가속도 기준치보다 크다면, ABS 전자제어유니트(3)는 이 시점에서 차륜속도감지센서(1)에 의하여 슬립률을 계산하여 이 값을 마찰력이 최대로 작용하는 슬립기준값(Slip threshold)으로 설정하는 슬립기준치 설정과정(L3)를 수행하게 된다.If, in the ABS mode determination process L1, the ABS is in a state other than the initial state, the ABS electronic control unit 3 determines whether the ABS is in the setting mode (step 105), and the ABS is in the non-setting mode. If the braking operation is performed while the vehicle is in operation, the wheel acceleration sensor 1 receives the acceleration of the wheel and compares it with the set acceleration reference value (step 106). If greater, the ABS electronic control unit 3 sets the slip threshold value at this point by calculating the slip ratio by the wheel speed sensor 1 and setting this value to the slip threshold at which the frictional force acts at the maximum. Process L3 is performed.

따라서, 자동차가 주행중인 노면의 상태를 검출하지 않고도 차륜속도감지센서(1)에 의하여 입력된 바퀴의 가속도가 급격히 증가한 시점 즉, 제동동작 수행시에 최대의 마찰력이 가해지는 시점에서 바퀴에서 입력된 차륜속도에 의하여 슬립률을 계산하고 이 값을 슬립기준치로 자동 설정함으로써 차량의 제동시에 따라 정확한 제동동작을 수행하게 되어 차량의 제동성을 향상시키게 됨은 물론 ABS의 정밀성도 증가시키는 효과가 있다.Accordingly, the wheel inputted by the wheel at the time when the acceleration of the wheel inputted by the wheel speed sensor 1 is rapidly increased without the detection of the state of the road surface on which the vehicle is running, that is, when the maximum frictional force is applied when the braking operation is performed. By calculating the slip ratio based on the wheel speed and automatically setting this value to the slip reference value, accurate braking operation is performed according to the braking time of the vehicle, thereby improving the braking performance of the vehicle and increasing the accuracy of the ABS.

Claims (1)

차량바퀴에 설치되어 차륜속도를 검출하는 차륜속도감지센서(1)와, 운전자의 제동동작을 감지하는 브레이크신호입력부(2)와, 상기 장치(1, 2)의 출력단에 접속되어 ABS 제동제어신호를 출력하는 ABS 전자제어유니트(3)와, 상기 ABS 전자제어유니트(3)의 ABS 제동제어신호에 따라 브레이크조작부(5)의 동작을 제어하는 모듈레이터(6)를 구비하는 안티록 브레이크 시스템의 동작제어방법에 있어서, ABS에서 슬립기준치를 설정하는데 필요한 가속도 기준치가 저장되었는지를 판단하는 ABS 모드판단과정(L1)와, 상기 과정에서 ABS가 초기상태라면 ABS가 동작중인지를 판단하여 ABS가 동작중이면 슬립기준치를 초기화시키는 초기화과정(L2)과, 상기 과정(L1) 후에 ABS가 동작상태라면 제동동작시에 가속도를 입력받아 설정된 가속도 기준치와 비교하여, 가속도가 급격히 변화한 시점에서의 슬립률을 슬립기준값(Slip threshold)으로 설정하는 슬립기준치 설정과정(L3)으로 이루어진 것을 특징으로 하는 안티록 브레이크 시스템의 동작제어방법.The ABS brake control signal is connected to the wheel speed sensor 1 installed on the vehicle wheel to detect the wheel speed, the brake signal input unit 2 to detect the braking operation of the driver, and the output terminal of the device 1 or 2. Operation of the anti-lock brake system having an ABS electronic control unit (3) for outputting the control unit and a modulator (6) for controlling the operation of the brake control unit (5) in accordance with the ABS braking control signal of the ABS electronic control unit (3). In the control method, the ABS mode determination process (L1) for determining whether the acceleration reference value required for setting the slip reference value is stored in the ABS, and if the ABS is in the initial state, if the ABS is in operation, Initialization process (L2) for initializing the slip reference value, and if the ABS is in operation after the process (L1), the acceleration is rapidly changed in comparison with the acceleration reference value set by receiving the acceleration during braking operation. A slip rate of the reference value at the point in time at which the slip control operation method of the anti-lock brake system that is characterized by being a slip reference value setting process (L3) set to (Slip threshold).
KR1019950022744A 1995-07-28 1995-07-28 A.b.s. control method KR0121812B1 (en)

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