KR100358742B1 - Anti-lock brake control system - Google Patents

Anti-lock brake control system Download PDF

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Publication number
KR100358742B1
KR100358742B1 KR1019970078445A KR19970078445A KR100358742B1 KR 100358742 B1 KR100358742 B1 KR 100358742B1 KR 1019970078445 A KR1019970078445 A KR 1019970078445A KR 19970078445 A KR19970078445 A KR 19970078445A KR 100358742 B1 KR100358742 B1 KR 100358742B1
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South Korea
Prior art keywords
speed
calculating
wheel
wheel speed
vehicle speed
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KR1019970078445A
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Korean (ko)
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KR19990058345A (en
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동 환 이
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주식회사 만도
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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
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • 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
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • 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
    • B60T8/58—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 responsive to speed and another condition or to plural speed conditions
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • 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
    • 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
    • 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
    • B60Y2400/30—Sensors
    • B60Y2400/304—Acceleration 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
    • 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

Abstract

PURPOSE: An anti-lock brake control system is provided to perform stable braking by detecting vehicle speed by a slave deceleration and acceleration sensor and by controlling braking pressure, based on the detected vehicle speed. CONSTITUTION: An anti-lock brake control system comprises a wheel speed-detecting unit(10); a first vehicle speed-calculating unit(12) calculating the vehicle speed, based on the detected wheel speed; a slave deceleration and acceleration-detecting unit(20) to detect slave deceleration and acceleration produced in braking a vehicle; a second vehicle speed-calculating unit(22) calculating the vehicle speed, based on the detected slave deceleration and acceleration; a road condition-deciding unit(24) deciding the frictional condition of a road, based on the variable ratio of the detected slave deceleration and acceleration; and a central processing unit(30) receiving the wheel speed and vehicle speed from the wheel speed-detecting unit and the first vehicle speed-calculating unit and calculating a first slip rate, receiving the wheel speed and vehicle speed from the wheel speed-detecting unit and the second vehicle speed-calculating unit and calculating a second slip rate, and outputting a signal to control a braking pressure control unit(40) producing braking pressure to a wheel, based on the selected slip information between the first and second slip rates. Thus, stable braking is performed.

Description

안티록 브레이크 제어장치Antilock Brake Control

본 발명은 안티록 브레이크 제어장치에 관한 것으로, 더욱 상세하게는 종가속도센서를 이용한 4륜구동차량의 안티록 브레이크 제어장치에 관한 것이다.The present invention relates to an antilock brake control device, and more particularly, to an antilock brake control device for a four-wheel drive vehicle using a longitudinal acceleration sensor.

자동차가 일정한 속도로 주행하고 있을 때는 바퀴의 차륜속도(차륜의 바깥 둘레 속도)와 차체의 속도는 일치하고 있으나, 차륜에 제동력이 작용되면, 차체속도와 차륜속도는 일치되지 않게 된다. 이것은 타이어와 도로면 사이에 슬립이 발생하기 때문이다.When the vehicle is running at a constant speed, the wheel speed of the wheel (the outer circumferential speed of the wheel) and the speed of the vehicle body coincide, but when the braking force is applied to the wheel, the vehicle speed and the wheel speed do not coincide. This is because slip occurs between the tire and the road surface.

따라서, 종래 안티록 제어에 있어서, 차체속도와 차륜속도를 구하고, 이로부터 슬립률을 연산하고, 연산된 슬립률이 일정범위(예 15-20%)를 유지할 수 있도록 브레이크의 제동압을 제어하여 자동차의 제동능력을 향상시켰다.Therefore, in the conventional anti-lock control, the body speed and the wheel speed are obtained, the slip rate is calculated therefrom, and the braking pressure of the brake is controlled so that the calculated slip rate can be maintained in a certain range (for example, 15-20%). Improved the braking ability of the car

그러나 2륜구동차량과는 달리 4륜구동차량에 있어서는 4륜 모두 구동축과 연결되어 서로의 회전력을 구속하기 때문에 차륜속도를 검출하여 차체속도를 연산하는데 어려움이 있었다. 특히 저마찰노면에서 완제동시 회전구속력에 의하여 4륜이 같은 형태로 감속되는 현상이 발생된다. 따라서, 차륜속도센서로부터 검출된 차속신호에 의거하여 연산되는 차체속도는 일반적인 2륜구동차량에서의 차속보다 더 낮게 검출되는 문제점이 있었다. 또한, 이러한 차체속도 정보에 따른 안티록 제어시 노면상태를 고마찰노면으로 오판하여 고마찰노면에 준한 제동압을 발생시켜 제어하므로서, 불안정한 제동이 이루어지는 등의 문제점이 있었다.However, unlike two-wheel drive vehicles, in all four-wheel drive vehicles, since all four wheels are connected to the driving shaft to restrain the rotational force of each other, there is a difficulty in calculating the vehicle speed by detecting the wheel speed. In particular, the phenomenon that the four wheels are decelerated in the same shape by the rotational restraint force during the low braking surface. Therefore, there is a problem that the body speed calculated based on the vehicle speed signal detected from the wheel speed sensor is detected lower than that of a typical two-wheel drive vehicle. In addition, when the anti-lock control according to the vehicle speed information, the road surface state is misjudged to the high friction road surface to generate and control the braking pressure according to the high friction road surface, resulting in unstable braking.

본 발명은 전술한 문제점을 해결하기 위하여 안출된 것으로, 그 목적은 4륜구동차량에 있어서 종감가속도센서를 이용하여 차체속도를 검출하고, 검출된 차체속도에 의거하여 제동압을 제어하므로서 안정적인 제동이 이루어질 수 있도록 한 안티록 브레이크 제어장치에 관한 것이다.SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and its object is to detect a vehicle speed using a longitudinal acceleration sensor in a four-wheel drive vehicle, and to control the braking pressure based on the detected vehicle speed, thereby providing stable braking. An antilock brake control device is provided.

도 1은 본 발명에 따른 안티록 브레이크 제어장치의 제어블록도,1 is a control block diagram of an anti-lock brake control apparatus according to the present invention;

도 2는 본 발명에 따른 안티록 브레이크 제어장치에 내장된 전자제어유니트ECU의 동작 흐름을 도시한 순서도이다.2 is a flow chart showing the operation flow of the electronic control unit ECU built in the anti-lock brake control apparatus according to the present invention.

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

10:차륜속도 검출수단 12:제 1차체속도 연산수단10: wheel speed detecting means 12: first body speed calculating means

20:종감가속도 검출수단 22:제 2차체속도 연산수단20: longitudinal acceleration detection means 22: second vehicle body speed calculation means

24:노면상태 판단수단 30:중앙연산장치24: road state judgment means 30: central operation device

40:제동압 제어수단40: braking pressure control means

이러한 기술적 과제를 달성하기 위한 본 발명의 구성은, 차륜속도 검출수단;The configuration of the present invention for achieving the above technical problem, wheel speed detection means;

상기 차륜속도 검출수단으로부터 검출된 차륜속도에 의거하여 차체속도를 연산해 내는 제 1차체속도 연산수단; 차량의 제동동작시 발생되는 종감가속도를 검출하기 위한 종감가속도 검출수단; 상기 종감가속도 검출수단으로부터 검출된 종감가속도에 의거하여 차체속도를 연산해 내는 제 2차체속도연산수단; 상기 종감가속도 검출수단으로부터 검출된 종감가속도의 변화율에 의거하여 노면의 마찰상태를 판단해 내는 노면상태 판단수단; 상기 차륜속도 검출수단과 상기 제 1차체속도 연산수단으로부터 차륜속도 및 차체속도를 연산받아 제 1슬립률을 계산해 내고, 상기 차륜속도 검출수단과 상기 제 2차체속도 연산수단으로 차륜속도 및 차체속도를 연산받아 제 2슬립률을 계산하여 상기 노면상태 판단수단으로부터 판단된 노면에 따라 제 1, 제 2슬립률 중 택일된 슬립정보에 의거하여 휠에 브레이크 제동압을 발생시키는 제동압 제어수단을 제어하기 위한 신호를 출력하는 중앙연산장치로 구성된 것을 특징으로 한다.First vehicle body speed calculating means for calculating a vehicle body speed based on the wheel speed detected from the wheel speed detecting means; Longitudinal acceleration detection means for detecting longitudinal acceleration generated during braking operation of the vehicle; Second vehicle body speed calculating means for calculating a vehicle body speed based on the longitudinal acceleration detected by the longitudinal acceleration detection means; Road surface condition determination means for judging the frictional state of the road surface based on the rate of change of the longitudinal acceleration detected by the longitudinal acceleration detection means; The wheel speed detecting means and the first body speed calculating means calculate the wheel speed and the body speed to calculate a first slip ratio, and the wheel speed detecting means and the second body speed calculating means calculate the wheel speed and the body speed. Calculating a second slip rate and controlling the braking pressure control means for generating a brake braking pressure on the wheel based on the slip information selected among the first and second slip rates according to the road surface determined by the road state determination means. Characterized in that it comprises a central operation unit for outputting a signal for.

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 1은 본 발명에 따른 안티록 브레이크 제어장치의 블록도이며, 도 2는 본 발명에 따른 안티록 브레이크 제어장치에 내장된 전자제어유니트ECU의 동작의 흐름을 도시한 순서도이다.Fig. 1 is a block diagram of an antilock brake control device according to the present invention, and Fig. 2 is a flow chart showing the operation of the electronic control unit ECU built in the antilock brake control device according to the present invention.

먼저, 도 1을 참조하여 본 발명의 구성부를 설명하면 다음과 같다.First, referring to FIG. 1, the components of the present invention will be described.

본 발명의 구성은 차륜속도(V) 검출수단(10), 차륜속도(VP) 검출수단(10)으로부터 검출된 차륜속도(V) 정보에 의거하여 차체속도(VP)를 연산해 내는 제 1차체속도 연산수단(12), 차량의 제동동작시 발생되는 종감가속도를 검출하기 위한 종감가속도 검출수단(20), 종감가속도 검출수단(20)으로부터 검출된 종감가속도에 의거하여 차체속도(VP')를 연산해 내는 제 2차체속도연산수단(22), 종감가속도 검출수단(20)으로부터 검출된 종감가속도의 변화율(기울기)에 의거하여 노면의 마찰상태를 판단해 내는 노면상태 판단수단(24), 차륜속도(V) 검출수단(10)과 제 1차체속도 연산수단(12)으로부터 차륜속도(V) 및 차체속도(VP)를 연산받아 제 1슬립률을 계산해 내고, 차륜속도(V) 검출수단(10)과 제 2차체속도(VP') 연산수단(22)으로 차륜속도(V) 및 차체속도(VP')를 연산받아 제 2슬립률을 계산하여 노면상태 판단수단(24)으로부터 판단된 노면에 따라 제 1, 제 2슬립률 중 택일하여 휠에 브레이크 제동압을 발생시키는 제동압 제어수단(40)을 제어하기 위한 신호를 출력하는 중앙연산장치(24)를 포함하여 구성된다.The configuration of the present invention is the first vehicle body for calculating the vehicle speed VP based on the wheel speed V information detected from the wheel speed V detecting means 10 and the wheel speed VP detecting means 10. On the basis of the speed deceleration means 12, the end deceleration acceleration detecting means 20 for detecting the end deceleration acceleration generated during the braking operation of the vehicle, and the end deceleration acceleration detection means 20, the vehicle body speed ( Road state determination for judging the frictional state of the road surface based on the rate of change (tilt) of the longitudinal deceleration acceleration means 22 and the deceleration acceleration detecting means 20 for calculating VP '). The wheel speed V and the body speed VP are calculated from the means 24, the wheel speed V detecting means 10, and the first body speed calculating means 12, and the first slip rate is calculated. (V) The wheel speed V and the body speed VP 'are calculated by the detecting means 10 and the second body speed VP' calculating means 22, and the second slot is calculated. Calculating a rate and outputting a signal for controlling the braking pressure control means 40 which generates a brake braking pressure on the wheel by selecting one of the first and second slip rates in accordance with the road surface determined by the road surface condition determining means 24. It comprises a central computing device (24).

이하, 전술한 구성부 및 도 2를 참조하여 본 발명에 따른 앤티록 제어장치의 동작상태를 설명하고자 한다.Hereinafter, an operation state of the anti-lock control device according to the present invention will be described with reference to the above-described configuration unit and FIG. 2.

앤티록 제어장치가 장착된 차량에 있어서, 운전자가 제동 또는 감속의 목적으로 브레이크 페달을 밟게 되면 ABS조건에 들어가게 되는데, 이는 전자제어유니트ECU에 의하여 판단된다(S1).In a vehicle equipped with an anti-lock control device, when the driver presses the brake pedal for the purpose of braking or deceleration, the vehicle enters the ABS condition, which is determined by the electronic control unit ECU (S1).

현재의 차량상태가 ABS조건으로 판단되면 전자제어유니트ECU는 차륜속도(V) 검출수단(10) 및 종감가속도 검출수단(20)를 이용하여 차체속도(VP,VP')를 판단한다. 즉, 통상의 경우 차륜속도(V) 검출수단(10)으로부터 검출된 차속정보에 의거하여 차체속도(VP)를 연산하며, 본 발명의 경우 종감가속도 검출수단(20)으로부터 검출된 종감가속도에 의거하여 차체속도(VP')를 계산한다(S2). 이때 종감가속도에 의거한 차체속도의 계산과정을 연속적으로 수회 실시하여 종감가속도의 기울기를 알아낸다.If the current vehicle state is determined to be an ABS condition, the electronic control unit ECU determines the vehicle speeds VP and VP 'using the wheel speed V detecting means 10 and the longitudinal deceleration detecting means 20. That is, the vehicle body speed VP is calculated based on the vehicle speed information detected from the wheel speed V detecting means 10 in the normal case, and in the present invention, the end deceleration acceleration detected from the end deceleration detecting means 20. Based on the calculated vehicle speed (VP ') (S2). At this time, the slope of the final acceleration is determined by performing several times the calculation process of the body speed based on the final acceleration.

S2에서 검출된 종감가속도의 변화량(기울기)에 근거하여 노면상태 판단수단(24)은 도로의 노면 조건이 저마찰노면인가를 판단한다(S3). 즉, 종감가속도는 노면의 상태에 따라 그 변화량에 차이가 있는데 일반적으로 마찰력이 큰 노면이 그렇지 않은 노면보다 변화량(기울기)가 크게 나타난다.On the basis of the change amount (tilt) of the longitudinal acceleration detected in S2, the road surface condition determining means 24 determines whether the road surface condition of the road is a low friction road surface (S3). In other words, the vertical acceleration is different depending on the road condition. In general, the road with large frictional force shows a larger change (tilt) than the road without.

S3에서 저마찰노면으로 판단되면, 전자제어유니트ECU는 종감가속도 검출수단에 의거하여 검출된 차체속도(VP')의 기울기를 세트한다(S4).If it is determined in S3 that the surface is low friction, the electronic control unit ECU sets the slope of the detected vehicle body speed VP 'based on the longitudinal deceleration detection means (S4).

그리고 통상의 방법으로 검출된 차체속도(VP), 즉 차륜속도(V) 검출수단(10)으로부터 검출된 차속정보에 의거하여 연산된 차체속도(VP)를 S4에서 세팅된 차체속도 기울기에 준한 차체속도(VP')로 변경한다(S5). 이는 전술한 바와 같이, 4륜구동차량에 있어서, 차체속도 검출수단(10)에 의하여 검출된 차체속도(VP)는 실제적인 차체속도보다 더 낮게 계산되기 때문이다.The body speed VP calculated by the vehicle body speed VP, that is, the vehicle speed VP calculated on the basis of the vehicle speed information detected by the wheel speed V detecting means 10, is set according to the body speed gradient set in S4. The speed is changed to VP '(S5). This is because, as described above, in the four-wheel drive vehicle, the vehicle body speed VP detected by the vehicle body speed detecting means 10 is calculated to be lower than the actual vehicle body speed.

그리고 전자제어유니트ECU는 S5에서 변경된 차체속도(VP')가 미리 설정된 차체속도의 임계치를 만족하는 가를 판단한다(S6).The electronic control unit ECU determines whether the body speed VP ′ changed in S5 satisfies a threshold value of the preset body speed (S6).

S6에서 판단조건이 만족되면 전자제어유니트ECU는 종감가속도를 이용한 차체속도 계산과정을 리셋 시키며(S7), 차륜속도(V) 검출수단(10)으로부터 검출된 차속정보와 전술한 단계(S2,S4,S5)에 의하여 검출된 차체속도(VP')에 의거하여 슬립률을 계산해 내고 계산된 슬립률에 따라 제동압 제어수단(40)에 제어신호를 출력하여 통상의 ABS제어를 실시한다(S8).If the determination condition is satisfied in S6, the electronic control unit ECU resets the vehicle speed calculation process using the longitudinal deceleration (S7), and the vehicle speed information detected from the wheel speed (V) detecting means 10 and the above-described steps (S2, The slip ratio is calculated based on the vehicle speed VP 'detected by S4 and S5, and a control signal is output to the brake pressure control means 40 according to the calculated slip ratio to perform normal ABS control (S8). ).

또한, S6에서 판단조건이 불만족되면 제어수순은 처음으로 리턴되며, 전술한 단계(S1-S6)를 재수행하게 된다.In addition, if the determination condition is not satisfied at S6, the control procedure is returned for the first time, and the above-described steps S1-S6 are performed again.

그리고 판단단계인 S3에서 저마찰노면으로 판단되지 않으면, 즉 일반적인 노면으로 판단되면 전자제어유니트ECU는 종감가속도 검출수단(20)으로부터 검출된 차체속도(VP')가 세팅된 경우 통상의 방법으로 검출된 차체속도(VP), 즉 차륜속도(V) 검출수단(10)으로부터 검출된 차속정보에 의거하여 연산된 차체속도(VP)로 변경한다(S9).If it is determined that the low friction road surface is not determined in step S3, that is, if it is determined that the road surface is a general road surface, the electronic control unit ECU performs the conventional method when the vehicle speed VP ′ detected from the end acceleration acceleration detecting unit 20 is set. The vehicle body speed VP, that is, the vehicle speed VP calculated on the basis of the vehicle speed information detected by the wheel speed V detecting means 10 is changed (S9).

그리고 전자제어유니트ECU는 차륜속도 검출수단(10)으로부터 검출된 차륜속도(V)와 차륜속도(V)에 의거하여 연산된 차체속도(VP)로부터 슬립률을 계산해 내고, 계산된 슬립률에 따라 제동압 제어수단(40)에 제어신호를 출력하여 통상의 ABS제어를 실시한다(S8).The electronic control unit ECU calculates a slip ratio from the vehicle speed VP calculated on the basis of the wheel speed V and the wheel speed V detected from the wheel speed detecting means 10, and according to the calculated slip rate. The control signal is output to the braking pressure control means 40 to perform normal ABS control (S8).

이상에서 상세히 설명한 바와 같이, 본 발명에 의하면 4륜구동차량에 있어서 종감가속도센서를 이용하여 차체속도를 검출하고, 검출된 차체속도에 의거하여 노면상태를 판단하고, 판단된 노면상태에 따라 제동압을 제어하므로서 제동을 안정적으로 가져갈 수 있게 되며, 나아가서는 제동 정지 거리를 단축시키는 등의 효과가 있다.As described above in detail, according to the present invention, the four-wheel drive vehicle detects the vehicle speed using the longitudinal deceleration acceleration sensor, determines the road surface state based on the detected vehicle speed, and brakes the pressure according to the determined road surface state. By controlling the control, it is possible to stably take the braking, further reducing the braking stopping distance.

Claims (1)

차륜속도 검출수단;Wheel speed detecting means; 상기 차륜속도 검출수단으로부터 검출된 차륜속도에 의거하여 차체속도를 연산해 내는 제 1차체속도 연산수단;First vehicle body speed calculating means for calculating a vehicle body speed based on the wheel speed detected from the wheel speed detecting means; 차량의 제동동작시 발생되는 종감가속도를 검출하기 위한 종감가속도 검출수단;Longitudinal acceleration detection means for detecting longitudinal acceleration generated during braking operation of the vehicle; 상기 종감가속도 검출수단으로부터 검출된 종감가속도에 의거하여 차체속도를 연산해 내는 제 2차체속도연산수단;Second vehicle body speed calculating means for calculating a vehicle body speed based on the longitudinal acceleration detected by the longitudinal acceleration detection means; 상기 종감가속도 검출수단으로부터 검출된 종감가속도의 변화율에 의거하여 노면의 마찰상태를 판단해 내는 노면상태 판단수단;Road surface condition determination means for judging the frictional state of the road surface based on the rate of change of the longitudinal acceleration detected by the longitudinal acceleration detection means; 상기 차륜속도 검출수단과 상기 제 1차체속도 연산수단으로부터 차륜속도 및 차체속도를 연산받아 제 1슬립률을 계산해 내고, 상기 차륜속도 검출수단과 상기 제 2차체속도 연산수단으로 차륜속도 및 차체속도를 연산받아 제 2슬립률을 계산하여 상기 노면상태 판단수단으로부터 판단된 노면에 따라 제 1, 제 2슬립률 중 택일된 슬립정보에 의거하여 휠에 브레이크 제동압을 발생시키는 제동압 제어수단을 제어하기 위한 신호를 출력하는 중앙연산장치로 구성된 것을 특징으로 하는 안티록 브레이크 제어장치.The wheel speed detecting means and the first body speed calculating means calculate the wheel speed and the body speed to calculate a first slip ratio, and the wheel speed detecting means and the second body speed calculating means calculate the wheel speed and the body speed. Calculating a second slip rate and controlling the braking pressure control means for generating a brake braking pressure on the wheel based on the slip information selected among the first and second slip rates according to the road surface determined by the road state determination means. Anti-lock brake control device, characterized in that consisting of a central operation unit for outputting a signal.
KR1019970078445A 1997-12-30 1997-12-30 Anti-lock brake control system KR100358742B1 (en)

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