KR100353254B1 - Method for detecting error of anti-lock brake system - Google Patents
Method for detecting error of anti-lock brake system Download PDFInfo
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- KR100353254B1 KR100353254B1 KR1019980019990A KR19980019990A KR100353254B1 KR 100353254 B1 KR100353254 B1 KR 100353254B1 KR 1019980019990 A KR1019980019990 A KR 1019980019990A KR 19980019990 A KR19980019990 A KR 19980019990A KR 100353254 B1 KR100353254 B1 KR 100353254B1
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Classifications
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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
- B60T8/88—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
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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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2302/00—Responses or measures related to driver conditions
- B60Y2302/03—Actuating a signal or alarm device
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- 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
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- 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
Abstract
Description
본 발명은 안티록 브레이크 시스템의 에러감지방법에 관한 것으로, 특히 차륜속도센서가 전기적으로 이상이 없음에도 불구하고 네바퀴 모두 속도신호가 검출되지 않는 경우의 에러를 감지하는 안티록 브레이크 시스템의 에러감지방법에 관한 것이다.The present invention relates to an error detection method of an anti-lock brake system. In particular, an error detection method of an anti-lock brake system that detects an error when a speed signal is not detected on all four wheels even though the wheel speed sensor is not electrically abnormal. It is about a method.
현대는 자동차의 고성능화에 따라 강력하고 안정된 브레이크 성능을 확보하기 위한 안티록 브레이크 시스템(ABS;Antilock Brake System 이하에는 ABS라 한다)을 장착하는 차량이 늘고 있다. 이러한 ABS는 차륜속도센서로부터 차륜속도를 검출받아 슬립율을 계산한후, 계산된 슬립율이 제어영역내의 슬립율이 되도록 구동륜을 제어한다. 따라서, ABS가 이러한 기능을 수행하기 위해서는 차륜속도센서의 정확성이 요구되며, 이에 따라 차륜속도센서의 에러를 감지하기 위한 감지방법이 제안되었다.Hyundai is increasing the number of vehicles equipped with anti-lock brake system (ABS; referred to as ABS) to secure strong and stable brake performance. The ABS detects the wheel speed from the wheel speed sensor and calculates a slip ratio, and then controls the driving wheels so that the calculated slip ratio becomes a slip ratio in the control region. Therefore, in order for ABS to perform such a function, the accuracy of the wheel speed sensor is required. Accordingly, a detection method for detecting an error of the wheel speed sensor has been proposed.
즉, 종래 차륜속도센서의 에러감지는 ABS제어부에서 이루어졌다. ABS제어부는 각 바퀴에 장착된 차륜속도센서로부터 속도신호를 입력받아 계산(S11)하고, 계산된 차륜속도를 상호 비교한다(S12). 그 비교치가 미리 설정된 기준치를 넘는 것으로 판단(S13)되면, ABS기능을 오프시킨후 현재의 에러코드를 저장(S14)하고, 동시에 경고등을 점등하여 운전자에게 ABS기능이 정상적으로 수행될 수 없음을 알린다(S15).That is, the error detection of the conventional wheel speed sensor is made in the ABS control unit. The ABS control unit receives the speed signal from the wheel speed sensor mounted on each wheel (S11), and compares the calculated wheel speeds with each other (S12). When it is determined that the comparison value exceeds the preset reference value (S13), the ABS function is turned off, the current error code is stored (S14), and a warning light is turned on at the same time to inform the driver that the ABS function cannot be normally performed ( S15).
그러나 종래 에러감지방법은 다음과 같은 문제점이 있었다.However, the conventional error detection method has the following problems.
즉, 종래 에러감지방법은 각 바퀴에 장착된 차륜속도센서로부터 속도신호를 입력받아 상호 비교하고, 그 비교치가 미리 설정된 기준치를 넘는 경우만을 에러로 감지하였다. 따라서, 주행중 모든 차륜속도센서로부터 속도신호가 검출되지 않은 경우 ABS제어부는 에러상태를 감지하지 못한다.That is, in the conventional error detection method, a speed signal is input from a wheel speed sensor mounted on each wheel and compared with each other, and only when the comparison value exceeds a predetermined reference value, the error is detected. Therefore, if the speed signal is not detected from all the wheel speed sensors while driving, the ABS controller does not detect an error condition.
따라서, ABS제어부는 현재 자동차가 정차하고 있는 정상상태로 판단하여 제동동작시 ABS기능을 수행하지 못하는 등의 문제점이 있었다.Therefore, the ABS control unit is determined to be in a normal state where the vehicle is stopped, and there is a problem such that the ABS function cannot be performed during the braking operation.
본 발명은 전술한 문제점을 해결하기 위하여 안출된 것으로, 그 목적은 각 콘트롤러간에 쌍방향 통신이 가능하도록 하여 주행중 차륜속도센서가 전기적으로 이상이 없음에도 불구하고 네바퀴 모두 속도신호가 검출되지 않는 경우 엔진 제어부로부터 엔진정보를 입력받아 주행여부를 판단하고, 그 판단결과에 의거하여 경보동작을 수행할 수 있도록 한 안티록 브레이크 시스템의 에러감지방법을 제공하는데 있다.The present invention has been made to solve the above-described problems, the object of the present invention is to enable two-way communication between each controller, even if the wheel speed sensor while driving, even if all four wheel speed signal is not detected, the engine The present invention provides an error detection method of an anti-lock brake system in which engine information is input from a controller to determine whether the vehicle is driven and an alarm operation can be performed based on the determination result.
도 1은 종래 안티록 브레이크 시스템의 ABS제어부에 짜여진 플로우챠트,1 is a flow chart woven into the ABS control unit of the conventional anti-lock brake system,
도 2는 본 발명에 적용되는 자동차의 개략적인 제어블록도,2 is a schematic control block diagram of a motor vehicle applied to the present invention;
도 3은 본 발명에 따른 안티록 브레이크 시스템의 ABS제어부에 짜여진 플로우챠트이다.3 is a flow chart incorporated into the ABS control unit of the anti-lock brake system according to the present invention.
*도면의 주요부분에 대한 부호의 설명** Description of the symbols for the main parts of the drawings *
21:엔진 22:엔진제어부 23:CAN버스21: Engine 22: Engine control unit 23: CAN bus
24:ABS제어부 26:경보등구동부 27:경보등24: ABS control unit 26: Alarm light drive unit 27: Alarm light
S1-S4:차륜속도센서S1-S4: wheel speed sensor
이러한 기술적 과제를 달성하기 위한 본 발명의 구성은, 엔진제어부와, 상기 엔진제어부와 쌍방향 정보교환이 가능하도록 통신 네트워크가 구성되며, 각 바퀴에 장착된 차륜속도센서로부터 속도신호를 입력받아 상기 차륜속도센서의 에러를 감지하는 안티록 브레이크 시스템의 에러감지방법에 있어서, 각 바퀴에 장착된 상기 차륜속도센서로부터 차륜속도 신호를 입력받아 차륜속도를 계산하는 계산단계와, 상기 계산단계에서 상기 차륜속도센서로부터 차륜속도 신호가 입력되지 않아 계산된 차륜속도가 없는 경우 상기 엔진제어부로부터 차속정보를 입력받는 입력단계와, 상기 입력단계에서 상기 엔진제어부로부터 차속정보가 입력되면 상기 차륜속도센서가 에러인 것으로 판단하여 경보동작을 수행하는 단계로 이루어진 것을 특징으로 한다.In order to achieve the above technical problem, an engine control unit and a communication network are configured to enable two-way information exchange with the engine control unit, and the wheel speed is input by receiving a speed signal from a wheel speed sensor mounted on each wheel. An error detection method of an anti-lock brake system for detecting an error of a sensor, the method comprising: calculating a wheel speed by receiving a wheel speed signal from the wheel speed sensor mounted on each wheel; and calculating the wheel speed sensor in the calculation step. If there is no wheel speed calculated from the wheel speed signal from the input step of receiving vehicle speed information from the engine control unit, and if the vehicle speed information is input from the engine control unit in the input step, the wheel speed sensor is determined to be an error. Characterized in that the step consisting of performing an alarm operation.
이하, 본 발명에 따른 하나의 바람직한 실시 예를 첨부된 도면을 참조하여 상세히 설명하고자 한다.Hereinafter, one preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings.
도 2는 본 발명에 적용되는 자동차의 개략적인 제어 블록도, 도 3은 본 발명에 따른 안티록 브레이크 시스템의 ABS제어부에 짜여진 플로우챠트이다.FIG. 2 is a schematic control block diagram of a motor vehicle applied to the present invention, and FIG. 3 is a flowchart incorporated into the ABS control unit of the anti-lock brake system according to the present invention.
도 2는 도시된 바와 같이, 엔진의 출력토크를 제어하는 EMS(Engine Management System 이하 EMS라 한다)제어부(22)와, 차륜속도센서(S1-S4)로부터 차륜속도신호를 입력받아 바퀴(W1-W4)이 로크되는 것을 방지하는 ABS제어부(24), 그리고 EMS제어부(22)와 ABS제어부(24)간 쌍방향 데이타 교환이 가능하도록 한 콘트롤 에어리어 네트워크(Control area network 이하 CAN라 한다)버스(BUS)(23)와, ABS제어부(24)의 판단결과에 의거하여 각 바퀴(W1-W4)의 제동압을 가압, 유지, 감압하는 ABS액츄에이터(25)와, ABS제어부(24)에서 에러검출시 경보등(27)을 구동하는 경보등구동부(26) 등으로 이루어진다.2, as shown in FIG. 2, the wheel W1- receives the wheel speed signal from the EMS control unit 22 for controlling the output torque of the engine and the wheel speed sensor S1-S4. ABS control unit 24 to prevent W4) from being locked, and a control area network (hereinafter referred to as CAN) that enables bidirectional data exchange between EMS control unit 22 and ABS control unit 24. (23) and the ABS actuator 25 which pressurizes, maintains and depressurizes the braking pressure of each wheel W1-W4 based on the determination result of the ABS control unit 24, and an alarm when an error is detected by the ABS control unit 24. And an alarm light driver 26 for driving 27.
상기 ABS제어부(24)는 각 바퀴(W1-W4)에 장착된 차륜속도센서(S1-S4)로부터 소정시간마다 지속적으로 속도신호를 입력받아 차륜속도, 차체속도, 그리고 슬립율을 연산한다.The ABS control unit 24 receives the speed signal continuously every predetermined time from the wheel speed sensors S1-S4 mounted on the wheels W1-W4 to calculate wheel speed, body speed, and slip ratio.
즉, 바퀴의 회전속도에 비례하여 교류전압의 주파수가 높아져 출력되는 속도신호는 인터페이스회로에서 펄스로 변환되고, 이는 펄스처리회로에서 펄스의 계수 및 계산이 행해진다. ABS제어부(24)는 펄스처리회로에서 계산된 수치를 미리 짜여진 프로그램에 따라 차체속도 및 슬립율을 연산하고, 연산 결과에 따라 ABS기능을 수행한다.That is, the frequency signal of the AC voltage is increased in proportion to the rotational speed of the wheel, and the output speed signal is converted into a pulse in the interface circuit, which counts and calculates the pulse in the pulse processing circuit. The ABS control unit 24 calculates the vehicle body speed and the slip ratio according to a pre-programmed value calculated by the pulse processing circuit, and performs the ABS function according to the calculation result.
또, 상기 차륜속도센서(S1-S4)는 자성체의 폴피스와 이 폴피스와 소정거리 이격(이하 에어갭이라 한다)되며, 바퀴(W1-W4)에 장착되어 회전하는 로터(미도시)로 이루어진다.In addition, the wheel speed sensor (S1-S4) is a pole piece of the magnetic material and a predetermined distance away from the pole piece (hereinafter referred to as an air gap), the rotor (not shown) mounted on the wheel (W1-W4) is rotated Is done.
상기 로터는 외주면에 톱니형상의 치차가 형성되어 회전시 이 치차가 폴피스에 자계변화를 일으켜 교류신호가 출력되도록 한다. 그리고 폴피스와 로터는 통상 0.3㎜ 내지 1㎜정도의 에어갭을 갖도록 조립되어 있는바, 이러한 에어갭이 외부로부터 가해지는 어떤힘에 의하여 변화하거나 폴피스의 센싱각이 틀어지게 되면 주행중 차륜속도가 검출되지 않은 경우가 발생한다.The rotor has a toothed tooth tooth formed on the outer circumferential surface of the rotor to cause a magnetic field change on the pole piece so that an AC signal is output. The pole piece and the rotor are usually assembled to have an air gap of about 0.3 mm to 1 mm. If the air gap is changed by any force applied from the outside or the sensing angle of the pole piece is changed, the wheel speed during driving is increased. If not detected occurs.
따라서, 차륜속도센서(S1-S4)는 ABS제어부(24)에 의하여 소정시간마다 지속적으로 그 동작상태를 진단받게 된다.Therefore, the wheel speed sensors S1-S4 are diagnosed continuously by the ABS control unit 24 every predetermined time.
다음, 상기 EMS제어부(22)는 센서를 통하여 입력된 정보에 의거하여 엔진 rpm, 엔진토크, 스로틀 포지션, 차속정보 등을 연산하여 소정주기로 각각의 액츄에이터에 출력신호를 보낸다. 즉, 센서의 신호나 스위치 신호를 연산하고, 연산된 정보에 의거하여 엔진(21)을 스타트시키고, 엔진시동시의 처리, 아이들시의 처리, 연료분사량, 점화시기 등을 연산하여 소정주기로 각각의 액츄에이터에 출력신호를 보낸다.Next, the EMS controller 22 calculates engine rpm, engine torque, throttle position, vehicle speed information, and the like based on the information input through the sensor, and sends an output signal to each actuator at a predetermined cycle. That is, the sensor signal or the switch signal is calculated, and the engine 21 is started based on the calculated information, and the processing at engine startup, the processing at idle, the fuel injection amount, the ignition timing, and the like are calculated at predetermined intervals. Send the output signal to the actuator.
다음, 상기 CNS버스(23)는 EMS제어부의 노드, ABS제어부의 노드, 그리고 기타 제어부의 노드가 병렬로 접속되어 있어 1개의 노드(인코더와 디코더 송수신 기능을 갖는 단말기)에서 모든 노드로 동시에 정보교환을 할 수 있다. 따라서, 일예로 ABS제어부(24)에서 차륜속도정보를 지칭하는 ID신호를 CAN버스(23)를 통하여 전송하면, EMS제어부(22)는 자신이 연산한 정보중 수신된 ID에 해당하는 정보가 있으면, CAN버스(23)를 통하여 재전송한다. 이에 따라, 제어부 상호간 정보교환이 가능한 쌍방향성 통신 네트워크가 구성된다.Next, in the CNS bus 23, the nodes of the EMS control unit, the ABS control unit, and the nodes of the other control units are connected in parallel to exchange information from one node (terminal having an encoder and decoder transmission / reception function) to all nodes simultaneously. can do. Thus, for example, if the ABS control unit 24 transmits the ID signal indicating the wheel speed information through the CAN bus 23, the EMS control unit 22 if there is information corresponding to the received ID of the information calculated by itself Retransmit through CAN bus 23. As a result, a bidirectional communication network capable of exchanging information between control units is provided.
이하, 전술한 구성부 및 도 3을 참조하여 본 발명에 따른 작용효과를 설명한다.Hereinafter, the operation and effect of the present invention will be described with reference to the above-described components and FIG. 3.
자동차가 주행함에 따라 ABS제어부(24)는 각 바퀴(W1-W4)에 장착된 차륜속도센서(S1-S4)를 통하여 입력된 차속신호에 의거하여 각 바퀴(W1-W4)의 차륜속도를 계산하는 단계를 수행한다(S31).As the vehicle runs, the ABS control unit 24 calculates the wheel speed of each wheel W1-W4 based on the vehicle speed signal inputted through the wheel speed sensors S1-S4 mounted on the wheels W1-W4. To perform the step (S31).
또, 상기 ABS제어부(24)는 상기 계산단계(S31)의 결과에 의거하여 차륜속도가 검출되었는 가를 판단한다(S32). 즉, 차륜속도의 계산치가 있는 것으로 판단되면 차륜속도가 검출된 것으로 판단하고, 차륜속도의 계산치가 없는 것으로 판단되면 차륜속도가 검출되지 않은 것으로 판단한다.In addition, the ABS control unit 24 determines whether the wheel speed is detected based on the result of the calculation step (S31) (S32). That is, if it is determined that there is a calculated value of the wheel speed, it is determined that the wheel speed is detected, and if it is determined that there is no calculated value of the wheel speed, it is determined that the wheel speed is not detected.
따라서, 상기 판단단계(S32)에서 차륜속도가 검출된 것으로 판단되면, ABS제어부(24)는 각 바퀴(W1-W4)의 차륜속도를 상호 비교한다(S33). 그 비교치가 미리 설정된 기준치를 넘는 것으로 판단(S34)되면, ABS기능을 오프시킨후 현재의 에러코드를 저장(S35)하고, 동시에 경고등(27)을 점등하여 운전자에게 ABS기능이 정상적으로 수행될 수 없음을 알린다(S36).Therefore, if it is determined that the wheel speed is detected in the determination step (S32), the ABS control unit 24 compares the wheel speed of each of the wheels (W1-W4) (S33). If it is determined that the comparison value exceeds the preset reference value (S34), the ABS function is turned off, the current error code is stored (S35), and at the same time, the warning light 27 is turned on, so that the ABS function cannot be normally performed to the driver. Notify (S36).
그리고 상기 판단단계(S32)에서 차륜속도의 계산치가 없는 것으로 판단되면, 즉, 전기적으로 단선되지 않고 차륜속도 신호가 입력되지 않은 것이므로, 이는 네바퀴 모두의 차륜속도센서(S1-S4)가 에어갭 불량임을 유추할 수 있다.And if it is determined that there is no calculated value of the wheel speed in the determination step (S32), that is, because the electrical speed is not disconnected and the wheel speed signal is not input, this means that the wheel speed sensor (S1-S4) of all four wheels is air gap It can be inferred that it is defective.
따라서, ABS제어부(24)는 EMS제어부(22)로부터 차륜속도를 입력받는다(S37). 즉, ABS제어부(24)는 CAN버스(23)를 통하여 EMS제어부(22)에 차륜속도정보를 지칭하는 ID신호를 전송한다. EMS제어부(22)는 자신이 연산한 정보중 수신된 ID에 해당하는 차륜속도 정보를 CAN버스를 통하여 재전송한다.Accordingly, the ABS controller 24 receives the wheel speed from the EMS controller 22 (S37). That is, the ABS controller 24 transmits an ID signal indicating wheel speed information to the EMS controller 22 via the CAN bus 23. The EMS controller 22 retransmits the wheel speed information corresponding to the received ID among the information calculated by the EMS controller through the CAN bus.
그리고 ABS제어부(24)는 차륜속도가 검출되었는 가를 판단한다(S38). 즉, ABS제어부(24)는 차륜속도정보가 EMS제어부(22)로부터 전송되었는가를 판단한다.In addition, the ABS controller 24 determines whether the wheel speed is detected (S38). That is, the ABS controller 24 determines whether the wheel speed information has been transmitted from the EMS controller 22.
상기 판단단계(S38)에서 EMS제어부(22)로부터 차륜속도가 검출된 것으로 판단되면, 이는 현재 각 바퀴(W1-W4)에 장착된 차륜속도센서(S1-S4)가 차륜속도를 읽어들이지 못한 것이므로 ABS제어부(24)는 단계S35 및 단계S36 를 순차적으로 수행하여 운전자에게 ABS기능이 정상적으로 수행될 수 없음을 알린다If it is determined that the wheel speed is detected from the EMS control unit 22 in the determination step (S38), this means that the wheel speed sensor S1-S4 currently mounted on each wheel W1-W4 has not read the wheel speed. The ABS controller 24 sequentially performs steps S35 and S36 to inform the driver that the ABS function cannot be normally performed.
그리고 상기 단계S35에서 저장된 에러코드는 정비장비인 하이 스켄등을 통하여 고장부위를 신속히 찾아내기 위함이다.And the error code stored in the step S35 is to quickly find the failure site through a high scan, such as maintenance equipment.
이상에서 상세히 설명한 바와 같이 본 발명에 의하면, 각 제어부간에 쌍방향 통신이 가능하도록 CAN버스를 마련하여 주행중 차륜속도센서가 전기적으로 이상이 없음에도 불구하고 네바퀴 모두 속도신호가 검출되지 않는 경우 ABS제어부는 CAN버스를 통하여 EMS제어부로부터 차속정보를 입력받아 주행여부를 판단하고, 그 판단결과에 의거하여 차륜속도센서의 에러여부를 신속하게 판단할 수 있는 효과가 있다.As described in detail above, according to the present invention, the ABS control unit is provided when the speed signal is not detected on all four wheels even though the wheel speed sensor is electrically abnormal while the CAN bus is provided to enable two-way communication between the control units. The vehicle speed information is input from the EMS control unit via the CAN bus to determine whether the vehicle is driven, and based on the determination result, it is possible to quickly determine whether the wheel speed sensor is in error.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019980019990A KR100353254B1 (en) | 1998-05-30 | 1998-05-30 | Method for detecting error of anti-lock brake system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019980019990A KR100353254B1 (en) | 1998-05-30 | 1998-05-30 | Method for detecting error of anti-lock brake system |
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| Publication Number | Publication Date |
|---|---|
| KR19990086833A KR19990086833A (en) | 1999-12-15 |
| KR100353254B1 true KR100353254B1 (en) | 2002-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| KR1019980019990A KR100353254B1 (en) | 1998-05-30 | 1998-05-30 | Method for detecting error of anti-lock brake system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140024595A (en) * | 2012-08-20 | 2014-03-03 | 주식회사 만도 | Operation reliability improving method of smart parking assist system |
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| DE102014225831A1 (en) * | 2014-12-15 | 2016-06-16 | Continental Teves Ag & Co. Ohg | Motion detection of a parked vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR890012845A (en) * | 1988-02-10 | 1989-09-19 | 나까하라 쯔네오 | Anti skid device |
| JPH02193247A (en) * | 1989-01-21 | 1990-07-30 | Mazda Motor Corp | Controller provided with plural microcomputers |
| JPH06321076A (en) * | 1993-05-12 | 1994-11-22 | Fujitsu Ten Ltd | Computation synchronizing method for vehicle control computer system incorporating plural cpus |
| KR970045224U (en) * | 1995-12-27 | 1997-07-31 | Speed Detection Circuit of Antilock Braking System |
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- 1998-05-30 KR KR1019980019990A patent/KR100353254B1/en not_active IP Right Cessation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR890012845A (en) * | 1988-02-10 | 1989-09-19 | 나까하라 쯔네오 | Anti skid device |
| JPH02193247A (en) * | 1989-01-21 | 1990-07-30 | Mazda Motor Corp | Controller provided with plural microcomputers |
| JPH06321076A (en) * | 1993-05-12 | 1994-11-22 | Fujitsu Ten Ltd | Computation synchronizing method for vehicle control computer system incorporating plural cpus |
| KR970045224U (en) * | 1995-12-27 | 1997-07-31 | Speed Detection Circuit of Antilock Braking System |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140024595A (en) * | 2012-08-20 | 2014-03-03 | 주식회사 만도 | Operation reliability improving method of smart parking assist system |
| KR101624124B1 (en) | 2012-08-20 | 2016-06-07 | 주식회사 만도 | Operation Reliability Improving Method of Smart Parking Assist System |
Also Published As
| Publication number | Publication date |
|---|---|
| KR19990086833A (en) | 1999-12-15 |
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