KR20020055842A - Method and apparatus of detecting a speed in anti-lock brake system - Google Patents

Method and apparatus of detecting a speed in anti-lock brake system Download PDF

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Publication number
KR20020055842A
KR20020055842A KR1020000085079A KR20000085079A KR20020055842A KR 20020055842 A KR20020055842 A KR 20020055842A KR 1020000085079 A KR1020000085079 A KR 1020000085079A KR 20000085079 A KR20000085079 A KR 20000085079A KR 20020055842 A KR20020055842 A KR 20020055842A
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South Korea
Prior art keywords
wheel speed
wheel
speed
pass filter
vehicle
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KR1020000085079A
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Korean (ko)
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임구빈
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밍 루
주식회사 만도
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Priority to KR1020000085079A priority Critical patent/KR20020055842A/en
Publication of KR20020055842A publication Critical patent/KR20020055842A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/26—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
    • B60T8/266—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 using valves or actuators with external control means
    • B60T8/268—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 using valves or actuators with external control means using the valves of an ABS, ASR or ESP system
    • 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
    • B60T8/17616—Microprocessor-based systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/4802—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage by using electronic circuits in general
    • G01P3/4805—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage by using electronic circuits in general by using circuits for the electrical integration of the generated pulses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/24—Coupling light guides
    • G02B6/26—Optical coupling means
    • G02B6/28—Optical coupling means having data bus means, i.e. plural waveguides interconnected and providing an inherently bidirectional system by mixing and splitting signals
    • G02B6/293—Optical coupling means having data bus means, i.e. plural waveguides interconnected and providing an inherently bidirectional system by mixing and splitting signals with wavelength selective means
    • G02B6/29379—Optical coupling means having data bus means, i.e. plural waveguides interconnected and providing an inherently bidirectional system by mixing and splitting signals with wavelength selective means characterised by the function or use of the complete device
    • G02B6/29389—Bandpass filtering, e.g. 1x1 device rejecting or passing certain wavelengths

Abstract

PURPOSE: An ABS(Anti-lock Brake System) vehicle speed measuring apparatus is provided to exactly perform an ABS controlling motion by removing an abruptly generated noise signal through an analysis of a wheel speed detected from a wheel speed sensor. CONSTITUTION: An ABS vehicle speed measuring apparatus roughly comprises a wheel speed sensor(10), and an electronic control unit(20) for controlling the ABS. The electronic control unit(20) further includes a wheel speed detection part(21) detecting a wheel speed by the wheel speed sensor(10), a first low-pass filter(22) filtering harmonics of the wheel speed detected from the wheel speed detection part(21), a differentiator(23) supplying a wheel acceleration value by differentiate the signal supplied from the first low-pass filter(22), a second low-pass filter(24), an integrator(25) supplying the wheel speed by integrating the signal of the second low-pass filter(24), and a controller(26).

Description

에이비에스 차량의 차체속도 측정장치 및 방법{Method and apparatus of detecting a speed in anti-lock brake system}Method and apparatus of detecting a speed in anti-lock brake system of ABS vehicle

본 발명은 차체속도 측정장치 및 방법에 관한 것으로, 차륜속도센서의 신호를 분석하여 순간적으로 발생하는 잡음신호를 제거하여 정확한 차륜속도와 차체속도를 구하기 위한 안티 록 브레이크 시스템(Anti-lock Brake System 이하 ABS) 차량의 차체속도 측정장치 및 방법에 관한 것이다.The present invention relates to an apparatus and a method for measuring a vehicle speed, wherein an anti-lock brake system for obtaining an accurate wheel speed and a vehicle speed by analyzing a signal of a wheel speed sensor and removing a noise signal generated at an instant is described below. ABS) Vehicle body speed measuring apparatus and method.

일반적으로 ABS 시스템은 급제동시나 미끄러운 노면에서 제동장치의 동작으로 발생하게 되는 차륜의 슬립(미끄러짐)을 감지하고, 그에 따라 브레이크의 유압을 제어하여 차륜에 적절한 미끄러짐을 확보할 수 있도록 하는 시스템이다.In general, the ABS system is a system that detects slippage (slip) of the wheels generated by the operation of the braking device during sudden braking or on a slippery road surface, and controls hydraulic pressure of the brake accordingly to secure proper slippage on the wheels.

종래의 ABS 시스템에서는 차륜속도센서로부터 검출되는 차륜속도에 따라 차체속도를 계산하고, 차륜의 슬립율((차체속도 - 차륜속도)*100 / 차체속도[%])을 계산하여 그 값에 따라 판단한다.In the conventional ABS system, the body speed is calculated according to the wheel speed detected from the wheel speed sensor, and the slip ratio ((body speed-wheel speed) * 100 / body speed [%]) of the wheel is calculated and judged according to the value. do.

그러나, 차륜속도센서로부터 검출된 차륜속도값에 노이즈신호가 포함되어 있는 경우에는 검출된 차륜속도값은 실제 차륜속도를 정확히 반영하지 못하고, 그로 인해, 차륜속도에 따라 계산되는 차체속도도 실제 차량의 속도를 정확히 반영하지 못하여 실제 차체속도보다 계산된 차체속도가 클 경우에는 적절한 미끄러짐이 발생할 경우에도 너무 많은 미끄러짐이 발생한 것으로 판단하여 브레이크 유압을 계속 감압시켜, 제동거리가 이상적인 경우보다 더 길어지는 경우가 발생하므로 제동장치의 동작을 제대로 수행할 수 없는 문제가 발생하고, 실제 차체속도보다 계산된 차체속도가 적게 계산될 경우에는 큰 슬립이 발생한 경우에도 적은 슬립으로 발생한 것으로 간주하여 브레이크 액압을 증가시킴으로서 차륜이 잠기는 현상이 발생한다.However, when the wheel speed value detected from the wheel speed sensor includes a noise signal, the detected wheel speed value does not accurately reflect the actual wheel speed, and therefore, the vehicle speed calculated according to the wheel speed may also be calculated. If the calculated vehicle speed is larger than the actual vehicle speed because it does not accurately reflect the speed, it is judged that too much slippage occurs even if a proper slippage occurs, and the brake hydraulic pressure is continuously reduced so that the braking distance becomes longer than the ideal case. If the calculated vehicle speed is less than the actual vehicle speed, it is regarded as a low slip even in the event of a large slip and increases the brake hydraulic pressure. This locking phenomenon occurs.

본 발명은 전술한 문제점을 해결하기 위한 것으로, 본 발명의 목적은 차륜속도센서로부터 검출된 차륜속도값의 신호를 분석하여 순간적으로 발생하는 잡음신호를 제거함으로서 차륜속도값에 따라 계산되는 차체속도값이 정확한 차체속도값을 갖도록 하기 위한 ABS 차량의 차체속도 측정장치 및 방법에 관한 것이다.The present invention is to solve the above problems, an object of the present invention is to analyze the signal of the wheel speed value detected from the wheel speed sensor to remove the noise signal generated by the instantaneous vehicle speed value calculated according to the wheel speed value The present invention relates to an apparatus and a method for measuring a vehicle speed of an ABS vehicle so as to have a correct vehicle speed value.

도 1은 본 발명에 따른 ABS 차량의 차체속도 측정장치의 블록도이다.1 is a block diagram of a body speed measurement apparatus of an ABS vehicle according to the present invention.

도 2는 본 발명에 따른 ABS 차량의 차체속도 산출방법의 흐름도이다.2 is a flowchart illustrating a method of calculating a vehicle body speed of an ABS vehicle according to the present invention.

*도면의 주요 기능에 대한 부호의 설명** Description of the symbols for the main functions of the drawings *

10 : 차륜속도센서20 : 전자제어유닛10: wheel speed sensor 20: electronic control unit

21 : 차륜속도 검출부22 : 제 1저역통과필터21: wheel speed detection unit 22: first low pass filter

23 : 미분기24 : 제 2저역통과필터23: Differentiator 24: 2nd low pass filter

25 : 적분기26 : 제어부25: integrator 26: control unit

전술한 목적을 달성하기 위한 본 발명은 차륜속도센서로부터 차륜속도를 검출하는 차륜속도 검출부, 상기 차륜속도 검출부로부터 검출된 상기 차륜속도를 필터링하는 제 1저역통과필터, 상기 제 1저역통과필터로부터 출력되는 차륜속도를 미분하여 차륜가속도를 출력하는 미분기, 상기 미분기로부터 출력되는 차륜가속도를 필터링하는 제 2저역통과 필터, 상기 제 2저역통과필터로부터 출력되는 차륜가속도를 적분하여 차륜속도를 출력하는 적분기, 상기 적분기로부터 출력되는 차륜속도에 따라 차체속도를 산출하는 제어부를 포함하는 것을 특징으로 한다.The present invention for achieving the above object is a wheel speed detection unit for detecting the wheel speed from the wheel speed sensor, a first low pass filter for filtering the wheel speed detected from the wheel speed detection, the output from the first low pass filter An integrator for outputting wheel acceleration by differentiating a wheel speed, a second low pass filter for filtering wheel acceleration output from the differentiator, an integrator for outputting wheel speed by integrating wheel acceleration output from the second low pass filter, And a controller for calculating a vehicle body speed according to the wheel speed output from the integrator.

또한, 본 발명의 방법은 차륜속도센서로부터 차륜속도를 검출하는 단계, 상기 검출된 차륜속도를 필터링하는 단계, 상기 필터링된 차륜속도를 미분하여 차륜가속도를 산출하는 단계, 상기 산출된 차륜가속도를 필터링 하는 단계, 상기 필터링된 차륜가속도를 적분하여 차륜속도를 산출하는 단계, 상기 산출된 차륜속도에 따라 차체속도를 산출하는 단계를 포함하는 것을 특징으로 한다.In addition, the method of the present invention includes detecting a wheel speed from a wheel speed sensor, filtering the detected wheel speed, calculating a wheel acceleration by differentiating the filtered wheel speed, and filtering the calculated wheel acceleration. And calculating the wheel speed by integrating the filtered wheel acceleration, and calculating the vehicle body speed according to the calculated wheel speed.

이하에서는 본 발명의 바람직한 실시예를 본 도면을 참조하여 상세하게 설명하도록 한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

도 1은 본 발명에 따라 ABS 차량의 차체속도 측정장치의 블록도이다. 도 1에 도시된 바와 같이, 본 발명의 구성은 4개의 차륜의 속도를 검출하기 위한 차륜속도센서(10)의 신호를 입력받아 차량의 ABS 제동을 제어하기 위한 전자제어 유닛(20)이 마련되어 있다.1 is a block diagram of a vehicle speed measuring apparatus of an ABS vehicle according to the present invention. As shown in FIG. 1, the configuration of the present invention is provided with an electronic control unit 20 for controlling ABS braking of a vehicle by receiving a signal of a wheel speed sensor 10 for detecting the speed of four wheels. .

그리고, 전자제어 유닛(20)은 차륜속도센서(10)로부터 검출된 차륜속도를 검출하는 차륜속도 검출부(21), 차륜속도 검출부(21)로부터 검출된 차륜속도의 고조파 성분을 필터링하는 제 1저역통과필터(22), 제 1저역통과필터(22)로부터 출력되는 차륜속도를 미분하여 차륜가속도를 출력하는 미분기(23) 및 미분기(23)로부터 출력되는 차륜가속도의 고조파 성분을 필터링하는 제 2저역통과 필터(24)로 이루어져 있다.Then, the electronic control unit 20 is a wheel speed detector 21 for detecting the wheel speed detected from the wheel speed sensor 10, the first low-pass to filter the harmonic components of the wheel speed detected from the wheel speed detector 21 A second low pass for filtering the harmonic components of the wheel acceleration output from the differentiator 23 and the differentiator 23 outputting the wheel acceleration by differentiating the wheel speed output from the pass filter 22 and the first low pass filter 22. It consists of a pass filter 24.

또한, 제 2저역통과 필터(24)로부터 출력되는 차륜가속도를 적분하여 차륜속도를 출력하는 적분기(25), 적분기(25)로부터 출력되는 차륜속도 각각을 비교하여 가장 빠른 차륜속도를 차체속도로 산출하는 제어부(26)로 이루어져 있다.In addition, by comparing the wheel speed output from the integrator 25 and the integrator 25 outputting the wheel speed by integrating the wheel acceleration output from the second low pass filter 24, the fastest wheel speed is calculated as the body speed. It consists of a control unit 26.

도 2는 본 발명에 따른 ABS 차량의 차체속도 산출방법에 대한 흐름도이다. 도 2에 도시된 바와 같이, 먼저, 전자제어유닛(20)이 차륜속도센서(10)로부터 차륜속도를 검출하면(S100), 제 1저역통과필터부(22)를 통해 상기 검출된 차륜속도의 고조파 성분이 필터링 된다(S110).2 is a flowchart illustrating a method of calculating a vehicle body speed of an ABS vehicle according to the present invention. As shown in FIG. 2, first, when the electronic control unit 20 detects the wheel speed from the wheel speed sensor 10 (S100), the first low pass filter unit 22 detects the wheel speed. Harmonic components are filtered (S110).

이어, 고조파 성분이 제거된 차륜속도로부터 차륜가속도를 구하기 위해 미분기(23)를 통해 상기 차륜속도를 미분한다(S120), 상기 미분되어 산출된 차륜가속도는 제 2저역통과필터(24)를 거치면서 다시 한번 고조파 성분이 필터링 된다(S130).Subsequently, in order to obtain wheel acceleration from the wheel speed from which harmonics have been removed, the wheel speed is differentiated through the differentiator 23 (S120), and the differentially calculated wheel acceleration passes through the second low pass filter 24. Harmonic components are once again filtered (S130).

단계(S130)에서 필터링 된 차륜가속도는 적분기(25)를 통과하면서 적분한 후(S140) 차륜속도를 산출하고, 산출된 4개의 차륜속도를 비교하여 가장 빠른 차륜속도를 차체속도로 산출한다(S150).After the wheel acceleration filtered in step S130 is integrated while passing through the integrator 25 (S140), the wheel speed is calculated, and the fastest wheel speed is calculated as the body speed by comparing the calculated four wheel speeds (S150). ).

이후, 산출된 차체속도와 차륜속도에 기초하여 슬립율을 계산한 후 그 계산된 슬립율이 적정값을 유지하도록 차륜의 휠실린더에 가해지는 브레이크 액압을 증감시킴으로서 ABS 제어동작을 수행한다.Thereafter, the slip ratio is calculated based on the calculated body speed and the wheel speed, and then the ABS control operation is performed by increasing or decreasing the brake hydraulic pressure applied to the wheel cylinder of the wheel so that the calculated slip ratio maintains an appropriate value.

이상에서 상세히 설명한 바와 같이, 본 발명은 차륜속도센서로부터 검출된 차륜속도를 분석하여 순간적으로 발생하는 잡음 신호를 제거함으로써 차량이 주행중인 실제의 차체속도에 근접한 차체속도를 산출할 수 있어 ABS 제어동작을 정확히 실행할 수 있는 효과가 있다.As described above in detail, the present invention analyzes the wheel speed detected from the wheel speed sensor and removes a noise signal that is generated instantaneously to calculate a body speed close to the actual body speed at which the vehicle is running. This has the effect of running correctly.

Claims (4)

차륜속도센서로부터 차륜속도를 검출하는 차륜속도 검출부,A wheel speed detector for detecting a wheel speed from a wheel speed sensor; 상기 차륜속도 검출부로부터 검출된 상기 차륜속도를 필터링하는 제 1저역통과필터,A first low pass filter for filtering the wheel speed detected from the wheel speed detection unit; 상기 제 1저역통과필터로부터 출력되는 차륜속도를 미분하여 차륜가속도를 출력하는 미분기,A differentiator for outputting wheel acceleration by differentiating the wheel speed output from the first low pass filter, 상기 미분기로부터 출력되는 차륜가속도를 필터링하는 제 2저역통과 필터,A second low pass filter for filtering wheel acceleration output from the differentiator; 상기 제 2저역통과필터로부터 출력되는 차륜가속도를 적분하여 차륜속도를 출력하는 적분기,An integrator that outputs the wheel speed by integrating the wheel acceleration output from the second low pass filter, 상기 적분기로부터 출력되는 차륜속도에 따라 차체속도를 산출하는 제어부를 포함하는 것을 특징으로 하는 ABS 차량의 차체속도 측정장치.And a control unit for calculating the vehicle body speed according to the wheel speed output from the integrator. 제 1항에 있어서,The method of claim 1, 상기 제어부는 상기 적분기로부터 출력되는 차륜속도 중 가장 빠른 차륜속도를 차체속도를 하는 것을 특징으로 하는 ABS 차량의 차체속도 측정장치.The control unit is a body speed measuring apparatus of the ABS vehicle, characterized in that the body speed to the fastest wheel speed of the wheel speed output from the integrator. 차륜속도센서로부터 차륜속도를 검출하는 단계;Detecting a wheel speed from a wheel speed sensor; 상기 검출된 차륜속도를 필터링하는 단계;Filtering the detected wheel speed; 상기 필터링된 차륜속도를 미분하여 차륜가속도를 산출하는 단계;Calculating wheel acceleration by differentiating the filtered wheel speed; 상기 산출된 차륜가속도를 필터링 하는 단계;Filtering the calculated wheel acceleration; 상기 필터링된 차륜가속도를 적분하여 차륜속도를 산출하는 단계;Calculating wheel speed by integrating the filtered wheel acceleration; 상기 산출된 차륜속도에 따라 차체속도를 산출하는 단계를 포함하는 것을 특징으로 하는 ABS 차량의 차체속도 산출방법.And calculating a vehicle speed according to the calculated wheel speed. 제 1항에 있어서,The method of claim 1, 상기 차체속도 산출단계는 상기 산출된 4개의 차륜속도를 서로 비교하는 단계;The vehicle speed calculating step may include comparing the calculated four wheel speeds with each other; 상기 비교결과 가장 빠른 차륜속도를 차체속도로 하는 것을 특징으로 하는 ABS 차량의 차체속도 산출방법.The body speed calculation method of the ABS vehicle, characterized in that the fastest wheel speed as the body speed as a result of the comparison.
KR1020000085079A 2000-12-29 2000-12-29 Method and apparatus of detecting a speed in anti-lock brake system KR20020055842A (en)

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* Cited by examiner, † Cited by third party
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JPH0664521A (en) * 1992-08-19 1994-03-08 Mitsubishi Motors Corp Antiskid braking method
KR970036162A (en) * 1995-12-23 1997-07-22 전성원 Vehicle speed estimation device using wheel speed
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KR19980049947A (en) * 1996-12-20 1998-09-15 박병재 Vehicle speed estimation method for ABS control of automobile
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KR19990020463A (en) * 1997-08-30 1999-03-25 정몽규 Virtual vehicle speed algorithm
KR19990048324A (en) * 1997-12-09 1999-07-05 정몽규 Road surface determination method and device in ABS control
KR20000027739A (en) * 1998-10-29 2000-05-15 밍 루 Electro control suspension apparatus

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0664521A (en) * 1992-08-19 1994-03-08 Mitsubishi Motors Corp Antiskid braking method
KR970036162A (en) * 1995-12-23 1997-07-22 전성원 Vehicle speed estimation device using wheel speed
KR19980043950A (en) * 1996-12-05 1998-09-05 박병재 Body speed estimation device and method
KR19980049947A (en) * 1996-12-20 1998-09-15 박병재 Vehicle speed estimation method for ABS control of automobile
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