KR100254224B1 - Anti-lock brake system of a car - Google Patents

Anti-lock brake system of a car Download PDF

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Publication number
KR100254224B1
KR100254224B1 KR1019960055158A KR19960055158A KR100254224B1 KR 100254224 B1 KR100254224 B1 KR 100254224B1 KR 1019960055158 A KR1019960055158 A KR 1019960055158A KR 19960055158 A KR19960055158 A KR 19960055158A KR 100254224 B1 KR100254224 B1 KR 100254224B1
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South Korea
Prior art keywords
detected
tire
wheel
deflection amount
braking force
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KR1019960055158A
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Korean (ko)
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KR19980036588A (en
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전재환
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정몽규
현대자동차주식회사
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Priority to KR1019960055158A priority Critical patent/KR100254224B1/en
Publication of KR19980036588A publication Critical patent/KR19980036588A/en
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    • 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
    • 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
    • B60T8/18—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 vehicle weight or load, e.g. load distribution
    • B60T8/1837—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 vehicle weight or load, e.g. load distribution characterised by the load-detecting arrangements
    • 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
    • B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
    • B60T8/30—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels responsive to load
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
    • 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
    • B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
    • B60T2240/04—Tire deformation

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

Abstract

PURPOSE: A wheel speed detecting method detects deflection amount of a wheel due to the shifting of a car centroid and compensating radius of a tire according to the deflection amount on generation of braking force to detect the wheel speed accurately to provide stability to the braking control. CONSTITUTION: A wheel speed detecting method comprises a step to generate initial braking force by the detected driving information if braking force for braking a driving car is detected, a step to detect loads on front wheels and rear wheels due to the shifting of the centroid of a car by the generation of the initial braking force, a step to detect the deflection amount of tires by the detected loads on the front wheels and the rear wheels(S103), a step to detect actual radiuses of the tires by the detected deflection amount of the tires and compensate the radiuses of tires set as standard value(S104) and a step to detect actual wheel speed by the compensated radiuses of tires and driving information and execute braking force control(S105).

Description

자동차의 정지 제어시 휠 속 검출방법Wheel speed detection method for vehicle stop control

본 발명은 자동차의 제동장치에 관한 것으로, 보다 더 상세하게는 ABS(AntiLock Brake System) 시스템을 구비하는 자동차에서 브레이크 페달을 통한 운전자의 제동 요구에 따라 정지 제어를 위한 휠속의 검출을 차량의 무게중심이 이동에 따라 변화되는 전륜 휠의 회전속도와 후륜 휠의 회전속도를 정확하게 검출하여 정지 제어에 안정성 및 신뢰성을 제공하도록 한 자동차의 정지 제어시 휠속 검출방법에 관한 것이다.The present invention relates to a braking device for an automobile, and more particularly, to a braking device for an automobile having an anti-lock braking system (ABS) And more particularly, to a method of detecting a wheel during stoppage control of an automobile which accurately detects the rotational speed of the front wheel and the rotational speed of the rear wheel, which change in accordance with the movement, to provide stability and reliability in stop control.

일반적으로 자동차가 운행되기 시작하면 휠의 회전과 동시에 첨부된 제1도에서 알 수 있는 바와 같이 소정 개수, 예를 들어 47개의 산으로 구성되는 톤 휠(10)이 회전하게 된다.Generally, when the automobile is started to be driven, the tone wheel 10 composed of a predetermined number, for example, 47 mountains, is rotated as shown in FIG.

이때, 톤 휠(10)의 회전에 따라 휠속 검출부(20)는 소정의 펄스신호를 출력하여 제어부(30)측에 인가하면 제어부(30)는 검출되는 단위 시간당 펄스 신호를 분석하여 운행되는 자동차의 휠속도를 검출하여 운행 제어에 필요한 각각의 동작을 제어시킨다.At this time, according to the rotation of the tone wheel 10, the wheel speed detection unit 20 outputs a predetermined pulse signal to the control unit 30, and the control unit 30 analyzes the detected pulse signal per unit time, And detects the wheel speed to control the respective operations required for the travel control.

ABS 시스템이 구비되는 자동차에서 운전자의 정지 요구에 따라 모듈레이터를 통한 정지 제어를 실행하기 위해서는 운행되는 자동차의 감가속도의 정보와 슬립율, 가상 차속, 저크, 휠속 등의 검출에 따라 각 휠의 구속력 발생을 순차적으로 제어하여 운행되는 자동차의 안정된 제동력 및 주행 및 조향성을 확보하여 주는데, 종래의 자동차에서 감 가속되는 휠속의 검출은 다음과 같은 연산을 통해 이루어진다.In order to execute the stop control through the modulator in response to a driver's stop request in an automobile provided with an ABS system, information on the depreciation rate of the vehicle being operated and the determination of the slip rate, virtual vehicle speed, jerk, The braking force of the vehicle and the driving and steering characteristics of the running vehicle are ensured. The detection of the wheel acceleration which is accelerated in the conventional automobile is performed by the following calculation.

이때, R : 타이어의 반경이고, NTWn: 톤 휠의 전체 치륜 개수이고, COUNT VALUE : 단위 제어시간당 검출된 톤 휠의 치륜 개수이다.Here, R is the radius of the tire, N TWn is the total number of wheels of the tone wheel, and COUNT VALUE is the number of wheels of the tone wheel detected per unit control time.

전술한 바와 같은 연산을 통해 검출되는 휠속의 변화는 제동력의 발생에 따라 정지 제어되는 과정에서 자동차의 무게 중심이 전륜측으로 이동하게 되어 타이어의 공기압 변화에 의한 전륜 휠의 회전 속도와 후륜 휠의 회전 속도에 대한 변화를 검출 할 수 없어 정확한 휠속의 검출이 실행되지 않으므로 제동력 제어 및 조향력 제어를 안정되게 유지하지 못하는 문제점이 있었다.The center of gravity of the automobile moves to the front wheel side in the course of stop control in accordance with the generation of the braking force and the change of the wheel speed detected through the calculation as described above causes the rotational speed of the front wheel and the rotational speed of the rear wheel The detection of the accurate wheel speed is not performed, so that the braking force control and the steering force control can not be stably maintained.

본 발명은 전술한 문제점을 감안하여 안출한 것으로, 그 목적은 ABS가 구비되는 자동차에서 운전자의 제동 요구로 정지 제어되는 과정에서 자동차의 무게 중심의 이동에 따라 변화되는 전륜 휠과 후륜 휠 각각의 회전 속도를 정확하게 연산하여 보다 신뢰성 있는 정지 제어를 제공하도록 한 것이다.SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a vehicle having an ABS equipped with a front wheel and a rear wheel, The speed is accurately calculated to provide more reliable stop control.

이와 같은 목적을 달성하기 위한 본 발명은 제동시 휠속 검출방법에 있어서, 운행되는 자동차의 제동을 위한 제동력이 검출되면 검출되는 운행정보에 따라 초기 제동력을 발생시키는 과정과; 상기 초기 제동력의 발생에 따라 자동차의 무게중심의 이동으로 인하여 전륜 휠 및 후륜 휠에 미치는 하중을 검출하는 과정과; 상기 과정에서 검출된 전륜 휠 및 후륜 휠의 하중 값을 통해 타이어의 처짐량을 검출하는 과정과; 상기 검출된 타이어의 처짐량을 통해 실제 타이어의 반경을 검출한 후 기준값으로 설정되어 있는 타이어의 반경을 보정하는 과정 및; 상기 보정된 타이어의 반경과 검출되는 운행정보를 통해 실제의 횔속을 검출하여 제동력 제어를 실행하는 과정을 포함하는 것을 특징으로 한다.According to another aspect of the present invention, there is provided a method of detecting a wheel during braking, the method comprising: generating an initial braking force according to driving information detected when braking force for braking an automobile is detected; Detecting a load on the front wheel and the rear wheel due to the movement of the center of gravity of the automobile according to the generation of the initial braking force; Detecting a deflection amount of the tire based on the load values of the front wheel and the rear wheel detected in the process; Detecting a radius of an actual tire through a deflection amount of the detected tire, and correcting a radius of the tire that is set as a reference value; And detecting the actual bogie through the radius of the corrected tire and the detected driving information to thereby perform braking force control.

제1도는 일반적인 자동차에서 휠속 검출장치의 구성을 보인 블록도.FIG. 1 is a block diagram showing the configuration of a wheel-speed detecting device in a general automobile. FIG.

제2도는 운행되는 자동차의 정지 제어시 차량의 무게중심 이동을 보인 동작 상태도.FIG. 2 is an operational state diagram showing the movement of the center of gravity of the vehicle during stop control of the operated vehicle. FIG.

제3도는 본 발명의 일 실시예에 따른 자동차의 정지 제어시 휠속 검출 방법을 실행하기 위한 흐름도.FIG. 3 is a flow chart for executing a method of detecting a wheel during stop control of an automobile according to an embodiment of the present invention; FIG.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 일 실시예를 상세히 설명하면 다음과 같다.Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

제3도에서 알 수 있는 바와 같이 소정의 속도로 운행되는 자동차에서 제어수단이 운전자가 정지 제어를 실행하고자 하는 제동력을 검출하면(스텝101) 제어수단은 휠속 검출수단에서 인가되는 단위 시간당 톤 휠의 개수를 변화를 분석하여 ABS 모듈레이터 제어를 위한 차량의 감가속도의 정보와 슬립율, 가상 차속, 저크, 휠속등의 검출하여 최초 제동력을 발생하여 자동차의 운행을 구속시킨다(스텝102).As can be seen from FIG. 3, when the control means detects the braking force for the driver to perform the stop control (Step 101) in the vehicle traveling at a predetermined speed, (Step 102) by detecting the slip rate, the virtual vehicle speed, the jerk, the wheel speed, and the like by generating the initial braking force by analyzing the change in the number of the ABS modulator.

이후, 제어수단은 첨부된 제2도에서 알 수 있는 바와 같이 제동력의 발생에 따라 발생되는 무게중심의 이동에 따른 타이어의 처짐량을 검출하기 위하여 전륜 휠과 후륜 휠에 걸리는 하중을 검출된 가속도의 정보와 함께 다음과 같은 연산식을 통해 검출한다.The control means then calculates the load applied to the front wheel and the rear wheel based on the detected acceleration information to detect the amount of deflection of the tire due to the movement of the center of gravity caused by the generation of the braking force, With the following equation.

먼저, 검출되는 자동차의 가속도를 “d”,First, let the acceleration of the detected vehicle be "d"

정지 제어시 자동차의 전륜 휠에 걸리는 하중을 “Wf”,When the stop control is performed, the load applied to the front wheel of the vehicle is denoted by "Wf"

정지 제어시 자동차의 후륜 휠에 걸리는 하중을 “Wr”,When the stop control is performed, the load applied to the rear wheel of the vehicle is denoted by "Wr"

자동차의 무게를 “W”,The weight of the car is "W"

자동차의 중력가속도를 “g”,Let the acceleration of gravity of the car be "g"

자동차의 무게중심과 전륜 휠과의 거리를 “a”,The distance between the center of gravity of the car and the front wheel is " a &

자동차의 무게중심과 후륜 휠과의 거리를 “b”,Quot; b ", the distance between the center of gravity of the car and the rear wheel,

자동차의 무게중심과 지면과의 거리를 “h” 라고 정의하는 경우,When the distance between the center of gravity of the vehicle and the ground is defined as " h &

전륜 휠에 걸리는 하중이고,Load on the front wheel ego,

후륜 휠에 걸리는 하중이다.Load on the rear wheel to be.

전술한 바와 같은 연산식에 의거하여 자동차의 제동력 발생시 무게중심의 이동에 따라 전륜 휠과 후륜 휠에 걸리는 각각의 하중이 검출되면 제어수단은 다음과 같은 연산식에 의거하여 타이어의 처짐량을 연산한다(스텝103).When the respective loads applied to the front wheel and the rear wheel are detected in accordance with the movement of the center of gravity when the braking force of the vehicle is generated based on the above-described equation, the control unit calculates the deflection amount of the tire based on the following equation Step 103).

먼저, 자동차의 동적 상태에서 연산된 타이어의 처짐량을 “X”라고 정의하면,First, if the deflection amount of the tire calculated in the dynamic state of the vehicle is defined as " X &

전륜 처짐량(Xf) =,Front wheel deflection amount (Xf) = ,

후륜 처짐량(Xr) =된다.Rear wheel deflection amount (Xr) = do.

여기서 Xf 는 동적 상태에서 연산되는 전륜 타이어의 처짐량이고, Xr은 동적 상태에서 연산되는 후륜 타이어의 처짐량이다.Here, Xf is the deflection amount of the front tire calculated in the dynamic state, and Xr is the deflection amount of the rear tire calculated in the dynamic state.

전술한 바와 같은 연산식에 의하여 타이어의 처짐량이 연산되면 제어수단은 검출되는 타이어의 처짐량에 따라 전륜 휠의 타이어 반경(R′)은 기준 타이어의 반경(R)에 전륜 동적 처짐량(Xf)을 가산한 R′= R + Xf 이고, 후륜 휠의 타이어 반경(R″)은 기준 타이어의 반경(R)에 후륜 동적 처짐량(Xr)을 가산한 R″= R + Xr로 타이어의 반경(R)을 보정한다(스텝104).When the amount of deflection of the tire is calculated by the above-described equation, the controller calculates the tire radius (R ') of the front wheel according to the deflection amount of the detected tire by adding the front wheel dynamic deflection amount (Xf) The radius R of the tire of the rear wheel is calculated as R " = R + Xr obtained by adding the rear wheel dynamic deflection amount Xr to the radius R of the reference tire, (Step 104).

이후, 제어수단은 보정된 타이어의 반경에 따라 휠속도를 다음과 같은 연산식을 통해 검출한다(스텝105).Then, the control means detects the wheel speed according to the radius of the corrected tire through the following equation (Step 105).

이고, ego,

이다. to be.

전술한 바와 같은 연산식을 통해 검출된 휠속에 의하여 정지 제어시 안정된 제동력이 유지되어 조향성 및 제동의 안정성이 제공된다.The stable braking force is maintained during the stop control by the wheel detected by the above-described equation, and the stability of steering and braking is provided.

이상에서 설명한 바와 같이 본 발명은 정지 제어를 위한 제동력 발생시 자동차의 무게 중심 이동으로 인한 전륜 휠 및 후륜 휠의 타이어 처짐량을 검출한 후 검출된 처짐량에 따라 타이어의 반경을 보정하여 정지되어 되는 자동차의 휠속도를 정확하게 검출하므로 정지 제어에 신뢰성이 제공되고, 안정된 제동력 발생으로 조행성 및 운행에 안정성을 제공한다.As described above, according to the present invention, when the braking force for stop control is generated, the tire deflection amount of the front wheel and the rear wheel due to the center of gravity of the automobile is detected, and the radius of the tire is corrected according to the detected deflection amount, Since the speed is accurately detected, the stop control is provided with reliability, and stable braking force is generated, thereby providing stability in operation and stability.

Claims (6)

제동시 휠속 검출방법에 있어서, 운행되는 자동차의 제동을 위한 제동력이 검출되면 검출되는 운행정보에 따라 초기 제동력을 발생시키는 과정과; 상기 초기 제동력의 발생에 따라 자동차의 무게중심의 이동으로 인하여 전륜 휠 및 후륜 휠에 미치는 하중을 검출하는 과정과; 상기 과정에서 검출된 전륜 휠 및 후륜 휠의 하중값을 통해 타이어의 처짐량을 검출하는 과정과; 상기 검출된 타이어의 처짐량을 통해 실제 타이어의 반경을 검출한 후 기준 값으로 설정되어 있는 타이어의 반경을 보정하는 과정과, 상기 보정된 타이어의 반경과 검출되는 운행정보를 통해 실제의 휠속을 검출하여 제동력 제어를 실행하는 과정을 포함하는 것을 특징으로 하는 자동차의 정지 제어시 휠속 검출방법.A method of detecting a wheel speed during braking, the method comprising the steps of: generating an initial braking force based on driving information detected when braking force for braking an automobile is detected; Detecting a load on the front wheel and the rear wheel due to the movement of the center of gravity of the automobile according to the generation of the initial braking force; Detecting a deflection amount of the tire based on the load values of the front wheel and the rear wheel detected in the process; Detecting a radius of an actual tire through a deflection amount of the detected tire and then correcting a radius of the tire set as a reference value; detecting an actual wheel speed through the radius of the corrected tire and the detected driving information And controlling the braking force based on the detected braking force. 제1항에 있어서, 상기 과정에서 전륜 휠 및 후륜 휠의 하중 검출은, 검출되는 자동차의 가속도를 “d”, 정지 제어시 자동차의 전륜 휠에 걸리는 하중을 “Wf”, 정지 제어시 자동차의 후륜 휠에 걸리는 하중을 “Wr”, 자동차의 무게를 “W”, 자동차의 중력가속도를 “g”, 자동차의 무게중심과 전륜 휠과의 거리를 “a”,자동차의 무게중심과 후륜 휠과의 거리를 “b”, 자동차의 무게중심과 지면과의 거리를 “h”라고 정의하는 경우,2. The method according to claim 1, wherein the load detection of the front wheel and the rear wheel in the process is performed by detecting the acceleration of the detected automobile as " d ", the load applied to the front wheel of the automobile as & A weight "W" of the car, a gravity acceleration of the car "g", a distance between the center of gravity of the car and the front wheel "a", a center of gravity of the car and the rear wheel When the distance is defined as "b" and the distance between the center of gravity of the vehicle and the ground is defined as "h" 전륜 휠에 걸리는 하중이고,Load on the front wheel ego, 후륜 휠에 걸리는 하중로 설정되는 연산식을 통해 검출하는 것을 특징으로 하는 자동차의 정지 제어시 휠속 검출방법.Load on the rear wheel Is detected by an arithmetic expression that is set to a predetermined value. 제1항에 있어서, 상기 과정에서 상기 검출된 전륜 휠 및 후륜 휠의 하중 값을 통해 검출하는 타이어의 처짐량은 자동차의 동적 상태에서 연산된 타이어의 처짐량을 “X”라고 정의하면,2. The method according to claim 1, wherein, in the above process, the deflection amount of the tire detected based on the detected load values of the front wheel and the rear wheel is defined as " X " 전륜 처짐량(Xf) =,Front wheel deflection amount (Xf) = , 후륜 처짐량(Xf) =로 설정되는 연산식을 통해 검출하는 것을 특징으로 하는 자동차의 정지 제어시 휠속 검출방법.Rear wheel deflection amount (Xf) = Is detected by an arithmetic expression that is set to a predetermined value. 제1항에 있어서, 상기 과정에서 타이어의 처짐량을 통해 검출하는 타이어의 실제 반경은, 전륜 휠의 타이어 반경(R′)은 기준 타이어의 반경(R)에 전륜 동적 처짐량(Xf)을 가산하고, 후륜 휠의 타이어 반경(R″)은 기준 타이어의 반경(R)에 후륜 동적 처짐량(Xr)을 가산하여 검출하는 것을 특징으로 하는 자동차의 정지 제어시 휠속 검출방법.2. The method according to claim 1, wherein the actual radius of the tire detected through the amount of deflection of the tire in the above process is such that the tire radius R 'of the front wheel is calculated by adding the front wheel dynamic deflection amount Xf to the radius R of the reference tire, Wherein the tire radius R " of the rear wheel is detected by adding the rear wheel dynamic deflection amount Xr to the radius R of the reference tire. 제1항에 있어서, 정지 제어되는 상태에서 실제적으로 검출되는 휠속은,2. The control method according to claim 1, wherein the actually detected wheel in the stop- 이고, ego, 로 설정되는 연산식에 의해 검출되는 것을 특징으로 하는 자동차의 정지 제어시 휠속 검출방법. Is detected by an arithmetic expression that is set to the vehicle speed. 제1항에 있어서, 상기 과정에서 정지 제어되는 상태에서 검출되는 운행정보는 감가속도의 정보와 슬립율, 가상 차속, 저크, 휠속 등으로 이루어지는 것을 특징으로 하는 자동차의 정지 제어시 휠속 검출방법.The method as claimed in claim 1, wherein the driving information detected in the stop control state includes information on a depreciation rate, a slip rate, a virtual vehicle speed, a jerk, and a wheel speed.
KR1019960055158A 1996-11-19 1996-11-19 Anti-lock brake system of a car KR100254224B1 (en)

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