KR970061665A - 제구동력 제어용 기준 차륜속도 연산장치 - Google Patents

제구동력 제어용 기준 차륜속도 연산장치 Download PDF

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Publication number
KR970061665A
KR970061665A KR1019970005067A KR19970005067A KR970061665A KR 970061665 A KR970061665 A KR 970061665A KR 1019970005067 A KR1019970005067 A KR 1019970005067A KR 19970005067 A KR19970005067 A KR 19970005067A KR 970061665 A KR970061665 A KR 970061665A
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KR
South Korea
Prior art keywords
wheel
vehicle
speed
calculating
force
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KR1019970005067A
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English (en)
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KR100241980B1 (ko
Inventor
켄 고이부치
Original Assignee
와다 아키히로
도요타 지도샤 가부시키가이샤
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Publication of KR970061665A publication Critical patent/KR970061665A/ko
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Publication of KR100241980B1 publication Critical patent/KR100241980B1/ko

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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
    • B60T8/32—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
    • 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
    • B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
    • 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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • 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
    • B60T2250/03—Vehicle yaw rate
    • 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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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

본 발명은 차륜의 횡력에 의한 타이어의 탄성변형에 기인하는 타이어의 접지점의 이동을 고려하여, 제동력 혹은 구동력 제어용의 기준 차륜속도를 고정밀도로 연산하는 것을 목적으로 하며, 차량의 상태량에 근거하여 각 바퀴의 접지하중(Fzi)을 연산하고(스텝 20), 차량의 상태량과 접지하중에 근거하여 각 바퀴의 횡력(Fyi)을 연산하는 것과 동시에 횡력에 근거하여 각 바퀴의 타이어 접지점의 횡이동량(△Ti)을 연산하고(스텝 30), 운전자 이외에 의해 제동력 및 구동력이 제어되고 있지 않은 소정의 차륜의 차륜 속도 및 그 차륜의 타이어 접지점의 횡이동량(△Ti)에 근거하여 차량의 중심에 있어서의 차체속도(Vbrl, Vbrr)를 연산하고(스텝 40,50), 차량 상태량과 접지점의 횡이동략과 중심에 있어서의 차체속도에 근거하여 각 바퀴의 위치에 있어서의 차체속도를 각 바퀴의 기준 차륜속도(Vmi)로서 연산한다(스텝 60 내지 120).

Description

제구동력 제어용 기준 차륜속도 연산장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 전륜구동장치의 제동력 제어식 거동 제어장치의 일부로서 구성된 본 발명에 의한 기준 차륜속도 연산장치의 하나의 실시예를 나타내는 개략구성도.
제2도는 실시예에 의한 기준 차륜속도 연산루틴을 나타내는 일반흐름도.
제3도는 제1도에 나타난 흐름도의 스텝 20에 있어서의 사륜의 접지하중 연산루틴을 나타내는 흐름도.
제4도는 제1도에 나타난 흐름도의 스텝 30에 있어서의 타이어 접지점의 횡이동량 연산루틴을 나타내는 흐름도.

Claims (3)

  1. 운전자 이외에 의해 제동력 및 구동력이 제어되어 있지 않은 소정의 차륜의 차륜 속도를 검출하는 수단과, 차량의 상태량을 검출하는 수단과, 상기 차량의 상태량에 근거하여 각 바퀴의 접지하중을 연산하는 수단과, 상기 차량의 상태량과 상기 접지하중에 근거하여 각 바퀴의 횡력을 연산하는 수단과, 상기 횡력에 근거하여 각 바퀴의 타이어 접지점의 횡이동량을 연산하는 수단과, 상기 차륜 속도에 근거하여 차량의 기준위치에 있어서의 차체속도를 연산하는 수단과, 상기 차량의 상태량과 상기 접지점의 횡이동량과 상기 기준위치에 있어서의 차체속도에 근거하여 각 바퀴의 위치에서 차체속도를 각 바퀴의 기준 차륜속도로서 연산하는 수단을 구비한 것을 특징으로 하는 제구동력 제어용 기준 차륜속도 연산장치.
  2. 제1항에 있어서, 상기 기준위치에 있어서의 차체속도를 연산하는 수단은 상기 차륜 속도와 상기 소정의 차륜의 상기 접지점의 횡이동량에 근거하여 상기 기준위치에 있어서의 차체속도를 연산하는 것을 특징으로 하는 제구동력 제어용 기준 차륜속도 연산장치.
  3. 제1항 또는 제2항에 있어서, 상기 차량의 기준위치는 차량의 중심인 것을 특징으로 하는 재구동력 제어용 기준 차륜속도 연산장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019970005067A 1996-02-23 1997-02-20 제구동력 제어용 기준 차륜 속도 연산 장치 KR100241980B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP8061912A JPH09226559A (ja) 1996-02-23 1996-02-23 制駆動力制御用基準車輪速度演算装置
JP96-61912 1996-02-23

Publications (2)

Publication Number Publication Date
KR970061665A true KR970061665A (ko) 1997-09-12
KR100241980B1 KR100241980B1 (ko) 2000-03-02

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KR1019970005067A KR100241980B1 (ko) 1996-02-23 1997-02-20 제구동력 제어용 기준 차륜 속도 연산 장치

Country Status (4)

Country Link
US (1) US5879061A (ko)
JP (1) JPH09226559A (ko)
KR (1) KR100241980B1 (ko)
DE (1) DE19706752A1 (ko)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100774989B1 (ko) * 2006-05-04 2007-11-09 한국타이어 주식회사 타이어의 코너링 특성 산출방법
KR20150117918A (ko) * 2014-04-11 2015-10-21 김충식 돼지갈비의 갈비뼈와 살코기가 일체로 형성되도록 자르는 방법

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EP0943513B1 (en) * 1998-03-20 2003-12-10 Denso Corporation Apparatus for controlling behavior of vehicle using brakes
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US6526336B2 (en) 2001-02-01 2003-02-25 Invacare Corp. System and method for steering a multi-wheel drive vehicle
JP2003054435A (ja) * 2001-08-09 2003-02-26 Aisin Seiki Co Ltd 後輪操舵制御装置
FR2841200B1 (fr) * 2002-06-21 2004-08-27 Delphi Tech Inc Procede et dispositif pour le freinage en courbe d'un vehicule atomobile
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JP5144304B2 (ja) * 2008-02-22 2013-02-13 本田技研工業株式会社 車両の後輪操舵装置
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US9296295B2 (en) * 2008-12-22 2016-03-29 Caterpillar Inc. Machine control system utilizing inertial yaw sensor
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CN104266627A (zh) * 2014-09-29 2015-01-07 沈阳远大科技园有限公司 车辆静止状态下测量轴距的装置及方法
JP6969440B2 (ja) * 2018-02-26 2021-11-24 トヨタ自動車株式会社 車両の運転支援装置
CN112319231B (zh) * 2020-10-27 2022-08-30 东风汽车有限公司 再生制动系统控制方法、存储介质及电子设备

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JP3050092B2 (ja) * 1995-06-30 2000-06-05 三菱自動車工業株式会社 車両の旋回制御装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100774989B1 (ko) * 2006-05-04 2007-11-09 한국타이어 주식회사 타이어의 코너링 특성 산출방법
KR20150117918A (ko) * 2014-04-11 2015-10-21 김충식 돼지갈비의 갈비뼈와 살코기가 일체로 형성되도록 자르는 방법

Also Published As

Publication number Publication date
US5879061A (en) 1999-03-09
DE19706752A1 (de) 1997-08-28
JPH09226559A (ja) 1997-09-02
KR100241980B1 (ko) 2000-03-02

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