KR100358738B1 - Method for calculating the body speed of a four-wheel drive antilock brake system - Google Patents
Method for calculating the body speed of a four-wheel drive antilock brake system Download PDFInfo
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- KR100358738B1 KR100358738B1 KR10-1998-0040541A KR19980040541A KR100358738B1 KR 100358738 B1 KR100358738 B1 KR 100358738B1 KR 19980040541 A KR19980040541 A KR 19980040541A KR 100358738 B1 KR100358738 B1 KR 100358738B1
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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
- B60T8/17—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
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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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
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
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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
- B60Y2400/00—Special features of vehicle units
- B60Y2400/81—Braking systems
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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
- B60Y2400/82—Four wheel drive systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Regulating Braking Force (AREA)
Abstract
본 발명은 4륜 구동차량의 안티록 브레이크 시스템의 차체속도 산출방법에 관한 것으로, 더 상세하게는 마찰력이 낮은 도로에서 스핀 발생 후 제동을 할 때 정확한 차체속도를 산출할 수 있는 4륜 구동차량의 안티록 브레이크 시스템의 차체속도 산출방법에 관한 것이다.The present invention relates to a method for calculating the body speed of an anti-lock brake system of a four-wheel drive vehicle. More particularly, the present invention relates to a four-wheel drive vehicle that can calculate an accurate body speed when braking after a spin is generated on a road with low friction. The present invention relates to a method for calculating the body speed of an anti-lock brake system.
본 발명에 따른 4륜 구동차량의 안티록 브레이크 시스템의 차체속도 산출방법에 의하면, 차륜속도를 감지하는 차륜센서와 차량의 종감가속도를 감지하는 종감가속도센서를 구비하여, 차륜센서로부터 감지된 차륜속도로부터 차체속도를 판단하고 차륜 스핀 발생시 일정시간 간격으로 종감가속도 센서를 통해 산출된 차체속도를 보정하여 실제 차체속도에 근접한 값을 산출하여 불필요한 안티록 브레이크시스템의 작동을 방지하여 제동성능을 향상시킬 수 있다.According to the method of calculating the body speed of the anti-lock brake system of a four-wheel drive vehicle according to the present invention, the wheel sensor for detecting the wheel speed and the longitudinal acceleration sensor for detecting the longitudinal acceleration of the vehicle, it is detected from the wheel sensor Judging the body speed from the wheel speed and correcting the body speed calculated by the longitudinal deceleration acceleration sensor at regular time intervals when the wheel spin occurs, and calculating the value close to the actual body speed to prevent unnecessary antilock brake system from operating. Can be improved.
Description
본 발명은 4륜 구동차량의 안티록 브레이크 시스템의 차체속도 산출방법에 관한 것으로, 더 상세하게는 마찰력이 낮은 도로에서 스핀 발생 후 제동을 할 때정확한 차체속도를 산출할 수 있는 4륜 구동차량의 안티록 브레이크 시스템의 차체속도 산출방법에 관한 것이다.The present invention relates to a method for calculating the vehicle speed of an anti-lock brake system of a four-wheel drive vehicle. More particularly, the present invention relates to a four-wheel drive vehicle capable of calculating an accurate vehicle speed when braking after spin generation on a road with low friction. The present invention relates to a method for calculating the body speed of an anti-lock brake system.
일반적으로 차량에는 제동을 위한 브레이크 시스템이 필수적으로 장착되는데, 근래에는 자동차가 고성능화 되어감에 따라 강력하고 안정된 브레이크 성능을 확보함과 동시에 어떠한 노면 조건에서도 충분한 제동력과 안정성을 보유하면서 자동차를 정지시키는 브레이크 시스템이 요구되고 있다. 그 요구 조건인, 보다 강력하고 안정된 제동력과 높은 조향성을 구현할 수 있는 대표적인 것이 안티록 브레이크 시스템이다.In general, a vehicle is equipped with a brake system for braking. In recent years, as a vehicle becomes more efficient, a brake that stops the vehicle while maintaining sufficient braking force and stability under any road condition while ensuring strong and stable brake performance. System is required. The anti-lock brake system is one of the requirements to realize more powerful and stable braking force and high steering.
도 1은 종래의 안티록 브레이크 시스템은 개략적인 제어 흐름도이다.1 is a schematic control flowchart of a conventional antilock brake system.
먼저 제어부는 차륜센서로부터 데이터를 취득한다(S1).First, the control unit acquires data from the wheel sensor (S1).
그리고 나서 제어부는 차륜센서로부터 취득한 데이터로부터 차체속도를 산출한다(S2). 차체속도가 산출되면 제어부는 슬립률을 산출한다(S3).The controller then calculates the vehicle body speed from the data acquired from the wheel sensor (S2). When the vehicle speed is calculated, the controller calculates a slip ratio (S3).
슬립률(S)은 t100(%)의 공식에 의하여 산출된다.The slip ratio S is calculated by the formula of t100 (%).
그리고 안티록 브레이크 시스템은 전술한 공식에 의하여 산출된 슬립률에 근거하여 휠실린더의 유압을 제어하여 제동을 행한다(S4).Then, the anti-lock brake system brakes by controlling the hydraulic pressure of the wheel cylinder based on the slip ratio calculated by the above formula (S4).
그러나 4륜구동 차량은 4개의 차륜이 서로 구속되어 있어서 마찰력이 낮은 (LOW-μ)노면에서 출발하는 경우 혹은 주행중 필요이상의 가속에 의하여 차륜의 스핀 발생시, 4개의 차륜 모두 스핀이 발생하여 차륜속도로부터 구해지는 차체속도 역시 실제 차체 속도보다 높게 계산되는 현상이 발생되며, 이때 제동을 걸면 차륜속도는 급격히 떨어지므로 차륜감가속도의 변화 및 슬립으로 인하여 정확한 실제차체속도의 산출이 어려워 불필요한 ABS제어가 이루어지고 그에 따라서 제동 성능이 저하되는 문제점이 있었다.However, in a four-wheel drive vehicle, the four wheels are constrained to each other, so when starting from a low friction road (LOW-μ) or when the wheel spins due to more acceleration than necessary during driving, all four wheels generate spins to obtain the wheel speed. Losing body speed is also calculated to be higher than the actual body speed.In this case, if the brake is applied, the wheel speed drops sharply, so it is difficult to calculate the exact actual body speed due to the change and slip of the wheel deceleration. Therefore, there was a problem that the braking performance is lowered.
본 발명은 전술한 문제를 해결하기 위한 것으로, 본 발명의 목적은 4륜구동 차량의 안티록 브레이크 시스템에서 마찰력이 낮은 도로에서 스핀 발생 후 제동을 할 때 정확한 차체속도를 산출하여 불필요한 ABS제어를 방지할 수 있도록 4륜 구동차량의 안티록 브레이크 시스템의 차체속도 산출방법을 제공하는 것이다.The present invention is to solve the above-mentioned problems, an object of the present invention is to calculate the correct body speed when braking after the occurrence of the spin on the low friction road in the anti-lock brake system of the four-wheel drive vehicle to prevent unnecessary ABS control It is to provide a method of calculating the body speed of the anti-lock brake system of a four-wheel drive vehicle.
도 1은 종래의 안티록 브레이크 시스템의 개략적인 제어 흐름도이다.1 is a schematic control flowchart of a conventional antilock brake system.
도 2는 본 발명에 따른 안티록 브레이크 시스템의 유압회로도이다.2 is a hydraulic circuit diagram of an anti-lock brake system according to the present invention.
도 3은 본 발명에 따른 안티록 브레이크 시스템의 차체속도 산출방법의 제어 흐름도이다.3 is a control flowchart of a method for calculating a vehicle body speed of an anti-lock brake system according to the present invention.
* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings
11:브레이크페달 12:마스터실린더11: Brake Pedal 12: Master cylinder
21,31,41,51:노말오픈솔레노이드밸브 22,32,42,52:노말클로우즈솔레노이드밸브21, 31, 41, 51: Normally open solenoid valve 22, 32, 42, 52: Normally closed solenoid valve
23,33,43,53:차륜센서 24,34,44,54:휠실린더23, 33, 43, 53: Wheel sensor 24, 34, 44, 54: Wheel cylinder
60:종감가속도센서 70:제어부60: deceleration acceleration sensor 70: control unit
80:타이머80: Timer
상기 목적을 달성하기 위한 본 발명은, 차량의 차륜속도를 산출하는 제1단계, 제1단계 후 차륜의 스핀의 유무를 판단하는 제2단계, 제2단계에서 차륜의 스핀이 아니라고 판단되면 제동신호가 있는지를 판단하는 제3단계, 제3단계에서 제동신호가 없다고 판단되면 엔진과 직접 연결되어 있지 않은 차륜의 감가속도가 제1기준치 이상인지를 판단하는 제4단계, 제4단계에서 엔진과 직접 연결되지 않은 차륜의 감가속도가 제1기준치 이상이라고 판단되면 엔진과 직접연결되지 않은 차륜의 좌측차륜의 감가속도가 제2기준치보다 크거나 엔진과 직접연결되지 않은 차륜의 우측차륜의 감가속도가 제2기준치보다 큰지를 판단하는 제5단계, 제5단계에서 엔진과 직접연결되지 않은 차륜의 좌측차륜의 감가속도가 제2기준치보다 크거나 엔진과 직접연결되지 않은 차륜의 우측차륜의 감가속도가 제2기준치보다 크다고 판단되면 차륜의 스핀이라고 판단하여 스핀플래그를 세트하고 종감가속도에 의하여 차체속도를 산출하는 제6단계, 제6단계에서 스핀플래그 세트 후 차체속도를 보정하는 제7단계를 포함하는 것을 특징으로 하는 방법이다.The present invention for achieving the above object, the first step of calculating the wheel speed of the vehicle, the second step of determining the presence or absence of spin of the wheel after the first step, the brake signal if it is determined that the spin of the wheel in the second step In step 3 of determining whether there is no brake signal in step 3 and determining whether there is no braking signal in step 3, determining whether the deceleration speed of a wheel that is not directly connected to the engine is greater than or equal to the first reference value. If it is determined that the deceleration of the wheel that is not connected is equal to or greater than the first reference value, the deceleration of the left wheel of the wheel that is not directly connected to the engine is greater than the second reference value or the deceleration of the right wheel of the wheel that is not directly connected to the engine is reduced. In the fifth and fifth steps of determining whether the reference value is greater than the second reference value, the deceleration speed of the left wheel of the wheel not directly connected to the engine is greater than the second reference value or the vehicle is not directly connected to the engine. If it is determined that the deceleration speed of the right wheel is greater than the second reference value, it is determined that the wheel is spin, and the body speed is set after the spin flag is set in the sixth and sixth steps of setting the spin flag and calculating the body speed based on the longitudinal deceleration. And a seventh step of correcting.
이하에서는 첨부된 도면을 참조하여 바람직한 실시 예를 상세하게 설명하겠다.Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment.
도 2는 본 발명에 따른 안티록 브레이크 시스템의 유압회로도이다.2 is a hydraulic circuit diagram of an anti-lock brake system according to the present invention.
도 3은 본 발명에 따른 안티록 브레이크 시스템의 차체속도 산출방법의 제어 흐름도이다.3 is a control flowchart of a method for calculating a vehicle body speed of an anti-lock brake system according to the present invention.
본 발명에 따른 안티록 브레이크 시스템을 살펴보면, 먼저 브레이크페달(11)을 밟으면 유압을 발생시키는 마스터실린더(12)가 있는데, 마스터실린더(12)에서 발생된 유압은 유압파이프를 통하여 각 차륜(FL)(FR)(RL)(RR)으로 전달되는데, 제어부(70)의 제어에 의하여 차륜에 전달되는 유압을 조절하는 노말오픈솔레노이드밸브(21)(31)(41)(51)와 노말클로우즈솔레노이드밸브(22)(32)(42)(52)가 유로상에 설치되어 있다.Looking at the anti-lock brake system according to the present invention, first press the brake pedal 11 there is a master cylinder for generating hydraulic pressure, the hydraulic pressure generated in the master cylinder 12 through the hydraulic pipe each wheel (FL) (FR) (RL) (RR), which are normally open solenoid valves 21, 31, 41, 51 and normal close solenoid valves for adjusting the hydraulic pressure transmitted to the wheels under the control of the control unit 70. (22) (32) (42) 52 are provided on the flow path.
또한 각 차륜에는 노말오픈솔레노이드밸브(21)(31)(41)(51)와 노말클로우즈솔레노이드밸브(22)(32)(42)(52)에 의하여 조절된 유압으로 제동력을 발생시키는 휠실린더(24)(34)(44)(54)가 설치되어 있다. 그리고 차륜의 속도를 감지하는 차륜센서(23)(33)(43)(53)가 각 차륜에 설치되며 제어부(70)에 전기적으로 접속되어 있다.In addition, each wheel has a wheel cylinder that generates braking force by hydraulic pressure controlled by the normal open solenoid valves 21, 31, 41, 51 and the normal close solenoid valves 22, 32, 42, 52. 24, 34, 44 and 54 are provided. Wheel sensors 23, 33, 43, and 53 for detecting the speed of the wheels are installed in each wheel and electrically connected to the controller 70.
그리고 종감가속도를 감지하는 종감가속도센서(60)가 제어부(70)에 전기적으로 접속되어 있다.And a deceleration acceleration sensor 60 for detecting the deceleration acceleration is electrically connected to the control unit 70.
본 발명에 따른 4륜 구동차량의 안티록 브레이크 시스템의 차체속도 산출방법을 살펴보면 다음과 같다.Looking at the vehicle speed calculation method of the anti-lock brake system of the four-wheel drive vehicle according to the invention as follows.
먼저 제어부(70)는, 차륜속도와 차륜감속도를 산출하고 또한 차체속도와 종감속도를 산출한다. 이때 제어부(70)는 차륜센서(23)(33)(43)(53)와 종감가속도센서(60)를 통하여 입력받은 데이터에 의하여 차륜속도와 종감가속도를 산출한다(S10).First, the control part 70 calculates a wheel speed and a wheel reduction speed, and also calculates a vehicle body speed and a closing speed. At this time, the control unit 70 calculates the wheel speed and the longitudinal acceleration based on the data input through the wheel sensors 23, 33, 43, 53 and the longitudinal acceleration sensor 60 (S10).
그리고 나서 제어부(70)는 차륜의 스핀을 감지하기 위하여 현재의 스핀플래그를 확인하는데, 스핀플래그가 '1'인지 '0'인지를 판단한다(S20). 판단(S20)에서 스핀플래그의 값이 '0'이라면 현재 차륜이 스핀이 일어나지 않은 상태이다. 이때 스핀플래그가 '1'이라고 판단되었을 때의 동작은 후술한다.Then, the controller 70 checks the current spin flag to detect the spin of the wheel, and determines whether the spin flag is '1' or '0' (S20). If the value of the spin flag is '0' in the determination S20, the current wheel does not spin. An operation when the spin flag is determined to be '1' will be described later.
판단(S20)에서 스핀플래그가 '0'이라고 판단되면 제어부(70)는 제동상태가 아닌지를 판단하는데, 그러기 위해서 제어부(70)는 브레이크신호가 없는지(즉, 브레이크신호가 로우신호인지)를 판단한다(S30). 브레이크페달을 조작하면 제어부(70)로 하이신호('1')가 입력되고 조작하지 않으면 제어부(70)로 로우신호('0')가 입력된다.If it is determined in S20 that the spin flag is '0', the controller 70 determines whether the braking state is not braking. In order to do so, the controller 70 determines whether there is no brake signal (that is, whether the brake signal is a low signal). (S30). When the brake pedal is operated, the high signal '1' is input to the controller 70, and when the brake pedal is not operated, the low signal '0' is input to the controller 70.
만약 판단(S30)에서 브레이크신호가 없다(로우신호)고 판단되면 제어부(70)는 엔진과 직접 연결되지 않은 차륜의 감가속도를 판단하기 위하여, 제어부(70)는 엔진이 직접 연결되어 있는 차륜이 전륜(전륜구동)인지를 판단한다(S40).If it is determined in step S30 that there is no brake signal (low signal), the controller 70 determines the deceleration speed of the wheel that is not directly connected to the engine, and the controller 70 determines that the wheel to which the engine is directly connected is connected. It is determined whether the front wheel (front wheel drive) (S40).
판단(S40)에서 엔진에 직접연결되어 있는 차륜이 전륜이 아니고 후륜이라고 판단되면 제어부(70)는 전류의 두 차륜의 감가속도가 제1기준치보다 크거나 같은지를 판단한다(S41).If it is determined in S40 that the wheels directly connected to the engine are not the front wheels but the rear wheels, the controller 70 determines whether the deceleration speeds of the two wheels of the current are greater than or equal to the first reference value (S41).
만약 판단(S41)에서 전륜 두 차륜의 감가속도가 제1기준치보다 크거나 같다고 판단되면 제어부(70)는 전좌륜(FL)의 감가속도가 제2기준치보다 크거나 혹은 전우륜(FR)의 감가속도가 제2기준치보다 큰지를 판단한다(S42).If it is determined in step S41 that the deceleration speed of the two front wheels is greater than or equal to the first reference value, the controller 70 determines that the deceleration speed of the front left wheel FL is greater than the second reference value or the deceleration of the front right wheel FR. It is determined whether the speed is greater than the second reference value (S42).
하지만, 판단(S40)에서 엔진에 직접 연결되어 있는 차륜이 전륜이라고 판단되면 제어부(70)는 후륜의 두 차륜의 감가속도가 제1기준치보다 크거나 같은지를 판단한다(S50).However, if it is determined in S40 that the wheels directly connected to the engine are the front wheels, the controller 70 determines whether the deceleration speeds of the two wheels of the rear wheels are greater than or equal to the first reference value (S50).
만약 판단(S50)에서 후륜 두 차륜의 감가속도가 제1기준치보다 크거나 같다고 판단되면 제어부(70)는 후좌륜(RL)의 감가속도가 제2기준치보다 크거나 혹은 후우륜(RR)의 감가속도가 제2기준치보다 큰지를 판단한다(S60).If it is determined in step S50 that the deceleration speed of the two rear wheels is greater than or equal to the first reference value, the control unit 70 determines that the deceleration speed of the rear left wheel RL is greater than the second reference value or the deceleration of the rear right wheel RR. It is determined whether the speed is greater than the second reference value (S60).
만약 판단(S42)에서 전좌륜(FL)의 감가속도가 제2기준치보다 크거나 전우륜(FR)의 감가속도가 제2기준치보다 크다고 판단되거나 혹은 판단(S60)에서 후좌륜(RL)의 감가속도가 제2기준치보다 크거나 후우륜(RR)의 감가속도가 제2기준치보다 크다고 판단되면 제어부(70)는 차륜이 스핀한다고 판단하여 스핀플래그를 '1'로 세트한다(S70).If it is determined that the deceleration speed of the front left wheel FL is greater than the second reference value or the deceleration speed of the front right wheel FR is greater than the second reference value in the determination S42, or the deceleration of the rear wheel RL is determined in the determination S60. If it is determined that the speed is greater than the second reference value or the deceleration speed of the rear right wheel RR is greater than the second reference value, the controller 70 determines that the wheel spins and sets the spin flag to '1' (S70).
스핀플래그를 '1'로 세트한 후, 제어부(70)는 종감가속도 값을 확인하여 차체속도를 산출한다(S80).After setting the spin flag to '1', the controller 70 checks the longitudinal deceleration value and calculates the vehicle body speed (S80).
제어부(70)는 차체속도를 산출(S80)하거나 혹은 전술한 단계(S20)에서 스핀플래그가 '1'로 세트되어 있을 경우에는, 제어부(70)는 종감가속도센서(60)의 값을 확인하여 차량이 전진하는지 혹은 후진하는지를 감지한다(S90). 이때 차량이 전진할 때의 종감가속도센서(60)의 값과 차량이 후진할 때의 종감가속도센서(60)의 값은 서로 반대부호를 가진다.The controller 70 calculates the vehicle body speed (S80) or when the spin flag is set to '1' in the above-described step S20, the controller 70 checks the value of the longitudinal acceleration sensor 60. By detecting whether the vehicle is moving forward or backward (S90). At this time, the value of the longitudinal acceleration sensor 60 when the vehicle moves forward and the value of the longitudinal acceleration sensor 60 when the vehicle moves backward have opposite signs.
단계(S90)에서 차량의 전진 혹은 후진을 판단한 후에는 스핀에 의한 차체속도오류를 보정하는 루틴(D)을 수행하는데 다음과 같다.After determining the forward or backward of the vehicle in step S90, the routine D for correcting the vehicle speed error due to the spin is performed.
먼저, 제어부(70)는 타이머(80)를 증가시킨다(S100).First, the control unit 70 increases the timer 80 (S100).
제어부(70)는 타이머(80)를 증가시킨 후 타이머(80)가 기준타이머값이 되었는지를 판단한다(S110). 판단(S110)에서 타이머(80)가 기준타이머값이 되었다고 판단되면 제어부(70)는 종감가속도센서(60)값을 취득하여 차체속도를 재 산출한다(S120).The controller 70 determines whether the timer 80 has become the reference timer value after increasing the timer 80 (S110). If it is determined in S110 that the timer 80 has become the reference timer value, the controller 70 acquires the value of the longitudinal acceleration sensor 60 and recalculates the vehicle body speed (S120).
하지만 판단(S110)에서 타이머(80)가 기준타이머값이 되지 않았다고 판단되면, 제어부(70)는 그 이전에 산출된 차체속도를 그대로 유지하여 슬립률을 산출한다(S130).However, if it is determined in the determination S110 that the timer 80 does not become the reference timer value, the controller 70 calculates the slip ratio by maintaining the previously calculated vehicle speed as it is (S130).
그리고 단계(S120)에서 차체속도가 재 산출되면 제어부(70)는 그 산출된 차체속도에 의거하여 슬립률을 산출한다(S130). 물론 판단(S30)에서 제어부(70)로 입력되는 브레이크신호가 하이신호('1')라고 판단될 때에도 슬립률을 산출한다(S130).When the vehicle body speed is recalculated in step S120, the controller 70 calculates a slip ratio based on the calculated vehicle body speed (S130). Of course, the slip ratio is calculated even when it is determined that the brake signal input to the controller 70 is the high signal '1' in the determination S30 (S130).
슬립률은 t100(%)의 공식에 의하여 산출된다.The slip ratio is calculated by the formula of t100 (%).
슬립률이 산출되면 그 데이터에 따라서 제어부(70)는 각 차륜의 노말오픈솔레노이드밸브(21)(31)(41)(51)와 노말클로우즈솔레노이드밸브(22)(32)(42)(52)를 제어하여 유압을 제어한다(S140).When the slip ratio is calculated, the control unit 70 controls the normal open solenoid valves 21, 31, 41, and 51 and the normal closed solenoid valves 22, 32, 42 and 52 of each wheel according to the data. Control the hydraulic pressure to control (S140).
그래서 본 발명에 따라서 산출된 차체속도에 의하여 슬립률을 산출하기 때문에 보다 더 정확한 슬립률을 산출할 수 있으며, 그에 따라 실제 차체속도에 근거한 정확한 안티록 브레이크 시스템의 제어가 가능하다.Therefore, since the slip ratio is calculated based on the body speed calculated according to the present invention, a more accurate slip rate can be calculated, and accordingly, an accurate antilock brake system can be controlled based on the actual body speed.
이상에서 상세하게 설명한 바와 같이, 본 발명에 따른 4륜 구동차량의 안티록 브레이크 시스템의 차체속도 산출방법에 의하면, 차륜속도를 감지하는 차륜센서와 차량의 종감가속도를 감지하는 종감가속도센서를 구비하여, 차륜센서로부터 감지된 차륜속도로부터 차체속도를 판단하고 차륜 스핀 발생시 일정시간 간격으로 종감가속도 센서를 통해 산출된 차체속도를 보정하여 실제 차체속도에 근접한 값을 산출하여 불필요한 안티록 브레이크시스템의 작동을 방지하여 제동성능을 향상시킬 수 있다.As described in detail above, according to the method of calculating the body speed of the anti-lock brake system of the four-wheel drive vehicle according to the present invention, the wheel sensor for detecting the wheel speed and the longitudinal acceleration sensor for detecting the longitudinal acceleration of the vehicle; It determines the vehicle speed from the wheel speed detected from the wheel sensor, and corrects the vehicle speed calculated by the longitudinal acceleration sensor at regular time intervals when the wheel spin occurs, and calculates a value close to the actual vehicle speed to prevent unnecessary anti-lock brake system. The braking performance can be improved by preventing the
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05142240A (en) * | 1991-11-15 | 1993-06-08 | Mitsubishi Motors Corp | Body-speed estimating apparatus for four-wheel driving vehicle |
| JPH0624314A (en) * | 1992-07-03 | 1994-02-01 | Mazda Motor Corp | Anti-skid brake device for all-wheel drive vehicle |
| JPH07205789A (en) * | 1994-01-26 | 1995-08-08 | Honda Motor Co Ltd | Antilock brake control method for four-wheel drive vehicle |
| JPH07205790A (en) * | 1994-01-26 | 1995-08-08 | Honda Motor Co Ltd | Antilock brake control method in vehicle |
| JPH0843417A (en) * | 1994-07-28 | 1996-02-16 | Fuji Heavy Ind Ltd | Method of calculating carbody speed of four-wheel drive car |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05142240A (en) * | 1991-11-15 | 1993-06-08 | Mitsubishi Motors Corp | Body-speed estimating apparatus for four-wheel driving vehicle |
| JPH0624314A (en) * | 1992-07-03 | 1994-02-01 | Mazda Motor Corp | Anti-skid brake device for all-wheel drive vehicle |
| JPH07205789A (en) * | 1994-01-26 | 1995-08-08 | Honda Motor Co Ltd | Antilock brake control method for four-wheel drive vehicle |
| JPH07205790A (en) * | 1994-01-26 | 1995-08-08 | Honda Motor Co Ltd | Antilock brake control method in vehicle |
| JPH0843417A (en) * | 1994-07-28 | 1996-02-16 | Fuji Heavy Ind Ltd | Method of calculating carbody speed of four-wheel drive car |
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