WO2012011459A1 - 車両のスキッド検知装置 - Google Patents
車両のスキッド検知装置 Download PDFInfo
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- WO2012011459A1 WO2012011459A1 PCT/JP2011/066318 JP2011066318W WO2012011459A1 WO 2012011459 A1 WO2012011459 A1 WO 2012011459A1 JP 2011066318 W JP2011066318 W JP 2011066318W WO 2012011459 A1 WO2012011459 A1 WO 2012011459A1
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- Prior art keywords
- wheel
- calculated
- skid
- accelerations
- ratio
- Prior art date
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- 238000001514 detection method Methods 0.000 title claims abstract description 40
- 230000001133 acceleration Effects 0.000 claims abstract description 107
- 230000008859 change Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 description 19
- 230000008569 process Effects 0.000 description 14
- 230000000694 effects Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/344—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a transfer gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
- B60W2520/263—Slip values between front and rear axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
- B60W2710/105—Output torque
Definitions
- the present invention relates to a vehicle skid detection device, and more particularly to a device that detects front and rear wheel skids in a four-wheel drive vehicle.
- skid determination is usually made based on the difference between the average front wheel speed and the average rear wheel speed, and examples thereof include the technology described in Patent Document 1 below.
- the object of the present invention is to solve the above-mentioned problems, and in a four-wheel drive vehicle, in addition to the skid of one of the front and rear wheels, a vehicle that can accurately detect even when the front and rear wheels skid simultaneously. It is to provide a skid detecting device.
- a skid detection device for a vehicle in which the output of a drive source is changed by a transmission to drive the front and rear wheels, respectively,
- Wheel rotation speed detecting means for detecting the rotation speed of any one of the wheels, and sequentially calculating the acceleration of the wheel from which the rotation speed is detected from the detected rotation speed, and among the sequentially calculated wheel accelerations
- Wheel acceleration ratio calculating means for calculating a ratio of two accelerations (different at the calculation time for the same wheel), and comparing the ratio of the two calculated accelerations with a predetermined value, When the ratio exceeds the predetermined value, it is configured to include skid determination means for determining that a wheel including at least one of the wheels is skid.
- the wheel acceleration ratio calculation means calculates a ratio of two accelerations calculated during a predetermined time out of the sequentially calculated wheel accelerations. It was configured as follows.
- the skid determination means is configured such that the ratio of the two calculated accelerations exceeds the predetermined value when the driving force of the vehicle is equal to or less than a predetermined driving force value. In some cases, it is determined that a wheel including at least one of the wheels is skid.
- the skid determination means is configured so that a ratio of the two accelerations calculated when the driving force change amount of the vehicle is equal to or less than a driving force change amount specified value is When exceeding a predetermined value, it is configured to determine that a wheel including at least one of the wheels is skid.
- the wheel acceleration ratio calculating means sets the predetermined value as the calculated wheel acceleration when the calculated wheel acceleration is equal to or less than a predetermined value. The ratio of two accelerations of the calculated wheel accelerations is calculated.
- the acceleration of the wheel from which the rotational speed is detected is sequentially calculated from the detected rotational speed, and the same wheel among the sequentially calculated accelerations of the wheel is calculated.
- the ratio of two accelerations is calculated), and when the calculated ratio of the two accelerations exceeds a predetermined value, it is determined that a wheel including at least one of the wheels is skid. Therefore, in addition to the skid of any of the front and rear wheels, when a wheel including that wheel, in other words, simultaneous skid of the front and rear wheels is generated, the simultaneous skid of the front and rear wheels can be detected with high accuracy.
- skid determination is made based on the difference between the average front wheel speed and the average rear wheel speed.
- the front and rear differential vehicle speed does not occur. The method described in 1 could not detect simultaneous skid on the front and rear wheels.
- the detection device does not detect the difference between the wheel speeds of the front wheel and the rear wheel, but is one of the front and rear wheels, for example, the left wheel of the front wheel, the right wheel of the rear wheel, etc. Detecting by focusing on the speed of one of the four wheels, in other words, detecting the speed of the two wheels without comparing them, in addition to the skid of that wheel, Simultaneous skids can be detected with high accuracy.
- the vehicle skid detecting device is configured to calculate the ratio of two accelerations calculated during a predetermined time out of the sequentially calculated wheel accelerations.
- the detection accuracy can be improved by limiting the value to a value calculated during a predetermined time.
- the vehicle skid detection device when the ratio of the two accelerations calculated when the driving force of the vehicle is equal to or less than the driving force prescribed value exceeds a predetermined value, at least one of the wheels is set. Since it comprised so that it may be judged that the wheel which contains is skid, in addition to the above-mentioned effect, a misdetection can be prevented and a detection precision can be improved.
- the predetermined value is set as the calculated wheel acceleration, and two of the calculated wheel accelerations are calculated. Since the configuration is such that the acceleration ratio is calculated, in addition to the above-described effects, the case where the wheel acceleration becomes a predetermined value or less due to a temporary cause or the like can be eliminated, and the detection accuracy can be improved.
- FIG. 1 is a schematic diagram showing an overall vehicle skid detection apparatus according to an embodiment of the present invention.
- 3 is a flowchart showing the operation of the vehicle control device shown in FIG. 1.
- FIG. 2 is a sub-routine flow chart showing a wheel acceleration ratio calculation process of the flow chart.
- FIG. 1 is a schematic view generally showing a skid detecting device for a vehicle according to an embodiment of the present invention.
- reference numeral 10 denotes a vehicle, and the vehicle 10 is equipped with an internal combustion engine (drive source; hereinafter referred to as “engine”) 12 that uses water-cooled gasoline as fuel.
- engine 12 drives source; hereinafter referred to as “engine”
- the output of the engine 12 is input to a CVT (Continuous Variable Transmission) 14.
- CVT Continuous Variable Transmission
- the CVT 14 includes a drive pulley 14a disposed on the main shaft MS, a driven pulley 14b disposed on the countershaft CS, a metal belt 14c wound around the hydraulic pulley 14a, and a hydraulic mechanism (see FIG.
- the output of the engine 12 input from the main shaft MS via the torque converter 16 and the forward clutch 20 is changed at a continuously variable transmission ratio.
- the output of the engine 12 shifted by the CVT 14 is input from the countershaft CS to the transfer 24 via the reduction gear 22 and is distributed to the front wheel side and the rear wheel side there.
- the output on the front wheel side is transmitted to the front wheels 30FL and 30FR via the front differential mechanism 26.
- the vehicle 10 is configured as a four-wheel drive 4WD type vehicle that drives the front and rear wheels 30F and 30R by shifting the output of the engine 12 with the CVT 14.
- a viscous coupling (hereinafter referred to as “VC”) 36 is inserted on the propeller shaft 32.
- VC 36 A viscous coupling (hereinafter referred to as “VC”) 36 is inserted on the propeller shaft 32.
- a large number of clutch plates are housed in a container and high-viscosity silicon oil (fluid) is sealed, and power is transmitted by a shearing force generated by a rotation difference generated between the plates.
- an NDR sensor 40 is provided in the vicinity of the drive pulley 14a to generate an output corresponding to the input rotational speed of the CVT 14, and an NDN sensor 42 is provided in the vicinity of the driven pulley 14b to respond to the output rotational speed of the CVT 14. Output.
- wheel speed sensors (wheel rotation speed detecting means) 44 are provided, respectively, and the wheels 30, that is, the left and right front and rear wheels 30FL. , 30FR, 30RL, and 30RR are output in accordance with the rotational speed (wheel speed).
- An accelerator opening (AP) sensor 46 is provided in the vicinity of an accelerator pedal (not shown) on the floor of the driver's seat of the vehicle 10 to generate an output corresponding to the accelerator opening (depressing amount of the accelerator pedal by the driver) AP.
- a brake (BRK) switch 50 is provided in the vicinity of a brake pedal (not shown), and outputs an on signal when the driver operates the brake pedal.
- the output of the sensor described above is sent to an ECU (Electronic Control Unit) 54.
- the ECU 54 is composed of a microcomputer including a CPU, ROM, EEPROM, RAM, input / output I / O, and the like, and controls the operation of the CVT 14.
- the ECU 54 is connected to an ECU 60 that controls the operation of the engine 12 and a ECU 62 that performs traction control, anti-skid control, and the like via a CAN (Controller Area Network) 56.
- CAN Controller Area Network
- FIG. 2 is a flow chart showing the operation, and is executed every time preset by the ECU 54 (for example, 10 [msec]).
- FIG. 3 is a sub-routine flow chart showing the calculation process.
- acceleration is performed on the front and rear wheels 30F, 30R, that is, any of the front wheels 30FL, 30FR and the rear wheels 30RL, 30RR detected by the wheel speed sensor 44, more specifically, all four wheels. Is calculated, and it is determined whether or not the acceleration thereof exceeds a predetermined value (for example, 1 [m / s 2 ]).
- the ECU 54 reads the speed obtained from the output of the wheel speed sensor 44, and obtains it from the output of the wheel speed sensor 44 before a certain time (during a program loop before a certain time in the flowchart of FIG. 2). A difference value from the obtained speed is obtained, and the obtained difference value is divided by the certain time to calculate the acceleration of the wheel (for example, the front wheel 30FL), and it is determined whether or not the calculated acceleration exceeds a predetermined value.
- the predetermined value is set as the calculated wheel acceleration because the wheel acceleration becomes too small due to a temporary cause or cruise traveling, which will be described later. This is because the ratio of the wheel acceleration at the wheel is prevented from becoming an excessively small value, and the accuracy of skid detection is prevented from deteriorating.
- the process proceeds to S106, where it is determined whether or not the wheel acceleration calculated before a predetermined time (for example, 1 [sec]) exceeds the above-described predetermined value.
- a predetermined time for example, 1 [sec]
- the process proceeds to S108, and the calculation is performed a predetermined time before Let the wheel acceleration be the value var2.
- the process proceeds to S110, and the default value is set to var2. That is, even when the wheel acceleration calculated before the predetermined time is equal to or less than the predetermined value, the predetermined value is set as the calculated wheel acceleration.
- the predetermined value is set to the calculated wheel acceleration because the wheel acceleration is a small value (specifically, 1 [m / s 2] become too small value) to prevent the ratio of the wheel acceleration in S112 to be described later is excessively larger than, in order to prevent deterioration of the accuracy of the skid detection.
- the process proceeds to S112, and var1 is divided by var2 to calculate the ratio between the two, that is, the ratio of two accelerations (different at the calculation time for the same wheel) of the sequentially calculated accelerations. More precisely, the ratio of two accelerations calculated during a predetermined time among the accelerations sequentially calculated for the same wheel is calculated.
- the above process is performed for all four wheels.
- the rotational speeds of the four wheels 30FL, 30FR, 30RL, and 30RR are sequentially calculated at each time interval, and four from the calculated rotational speeds.
- the wheel acceleration ratio is calculated sequentially.
- driving force indicates the driving force of the vehicle 10 and is calculated according to the following equation.
- Driving force engine torque x pulley ratio x final ratio / tire diameter
- Engine torque engine 12 output torque obtained by communicating with ECU 60 (calculated from engine speed and load, etc.), pulley ratio: CVT 14 ratio (gear ratio) calculated by ECU 54, final ratio: fixed value, tire Diameter: The diameter of the wheel 30.
- the program proceeds to S14, in which it is determined whether or not the driving force change is small, more specifically, whether or not the driving force change amount is equal to or less than a predetermined driving force change amount.
- amount of change in driving force indicates the driving force of the vehicle 10 and is calculated according to the following equation.
- Driving force change amount current driving force ⁇ driving force before a predetermined time
- current driving force driving force calculated in the current program loop of FIG. 2 flow chart
- driving force before a predetermined time program before a predetermined time (for example, 1 [sec]) of FIG. 2 flow chart This is the driving force calculated by the loop.
- the process proceeds to S16, in which the wheel acceleration ratios of the four wheels calculated in S10 are respectively compared with predetermined values, and it is determined whether or not the calculated ratio exceeds the predetermined value.
- the predetermined value is, for example, a value twice the calculated ratio.
- the program proceeds to S18, where it is determined that the vehicle is skid, that is, it is determined that a wheel including at least the wheel is skid. More specifically, if the relevant wheel is, for example, the front left wheel 30FL, it is determined that one of the following four events has occurred. 1.30FL only skid 2.30FL, 30FR skid 3.30FL, 30RL skid 4.30FL, 30FR, 30RL, 30RR skid (simultaneous front and rear wheel skids).
- the affirmative determination in S16 indicates that a wheel including at least the relevant wheel is skid, and more precisely, the simultaneous skid of the front and rear wheels has occurred. Means there is.
- the ratio calculated when the driving force is equal to or less than the specified driving force exceeds the predetermined value, and the ratio calculated when the driving force change amount is equal to or less than the specified driving force change value exceeds the predetermined value. At this time, it is determined that a wheel including at least the wheel is skid.
- the skid detection device for the vehicle 10 is configured such that the output of the engine (drive source) 12 is shifted by the CVT (transmission) 14 to drive the front and rear wheels 30F and 30R, respectively.
- a wheel speed sensor for detecting a rotational speed (wheel speed) of any one of the front and rear wheels 30F, 30R (30FL, 30FR, 30RL, 30RR) (more specifically, all four wheels).
- (Wheel rotational speed detecting means) 44 and the acceleration (wheel acceleration var1, var2) of the wheel (more specifically, all four wheels) from which the rotational speed is detected are sequentially calculated from the detected rotational speed.
- a vehicle that calculates a ratio (var1 / var2) of two accelerations of the sequentially calculated wheel accelerations (differing at the calculation time for the same wheel).
- the acceleration ratio calculation means (S10, S100 to S112) and the ratio of the two calculated accelerations are compared with a predetermined value, and when the ratio of the two calculated accelerations exceeds the predetermined value, Since it is configured to include skid determination means (S12 to S20) for determining that the wheel including the wheel is skid, in addition to the skid of any one of the front and rear wheels 30F and 30R, the wheel including the wheel, in other words,
- skid determination means S12 to S20
- skid determination is made based on the difference between the average front wheel speed and the average rear wheel speed.
- the front / rear difference is determined. Since the vehicle speed does not occur, the method described in Patent Document 1 cannot detect the simultaneous skids of the front and rear wheels 30F and 30R.
- the difference between the wheel speeds of the front wheel 30F and the rear wheel 30R is not detected, but one of the front and rear wheels 30F, 30R, for example, the front left wheel 30FL, Detection is performed by focusing on one of the four wheels 30 such as the right wheel 30RR of the rear wheel, in other words, the detection is performed without comparing the rotational speeds of the two wheels.
- simultaneous skids on the front and rear wheels 30F, 30R can be detected with high accuracy, and more accurately, it can be detected with high accuracy that there is a possibility that the simultaneous skids on the front and rear wheels 30F, 30R have occurred.
- the wheel acceleration ratio calculation means calculates a ratio (var1 / var2) of two accelerations calculated during a predetermined time (for example, 1 [sec]) of the sequentially calculated wheel accelerations ( (S100 to S112), the detection accuracy can be improved by limiting to values calculated during a predetermined time in addition to the above-described effects.
- the skid determination means is configured such that when a ratio of two accelerations calculated when the driving force of the vehicle 10 is equal to or less than a predetermined driving force exceeds the predetermined value, a wheel including at least one of the wheels is skid. Since it is configured such that it is determined (S12, S18), in addition to the above effects, erroneous detection can be prevented and detection accuracy can be improved.
- the skid determining means may be configured such that when a ratio of the two accelerations calculated when the driving force of the vehicle is equal to or less than a predetermined driving force exceeds the predetermined value, a wheel including at least one of the wheels is skid.
- erroneous detection can be similarly prevented and detection accuracy can be improved.
- the wheel acceleration ratio calculating means may use a predetermined value (for example, 1) for the calculated wheel acceleration, more specifically for the calculated wheel acceleration or for a predetermined time (for example, 1 [sec]). [m / s 2 ]) Since the predetermined value is the calculated wheel acceleration, the ratio of two accelerations of the calculated wheel acceleration is calculated (S100 to S112). In addition to the above effects, it is possible to eliminate the case where the wheel acceleration is lower than the predetermined value due to a temporary cause, and the value of the wheel acceleration ratio (var1 / var2) becomes too large or too small. Detection accuracy can be improved.
- the default value is, for example, 1 [m / s 2 ], but may be 1 [m / s 2 ] or more.
- the acceleration ratio is calculated for all four wheels 30FL, 30FR, 30RL, and 30RR in the process of FIG. 2, but the acceleration ratio may be calculated for some wheels. good.
- the description “any one of the front and rear wheels” means that.
- the flow chart of FIG. 2 is executed every preset time (for example, 10 [msec]), and thus the acceleration is also periodically calculated. However, it is sufficient if the acceleration is sequentially calculated, The calculation interval may not be regular.
- the present invention is also applicable to a two-wheel drive vehicle.
- a continuously variable transmission is shown as a transmission, the present invention is applicable to all vehicles equipped with a stepped transmission as long as it is a four-wheel drive vehicle.
- the rotational speed is determined from the detected rotational speed of any of the front and rear wheels.
- the detected accelerations of the wheels are sequentially calculated, the ratio of two different accelerations is calculated at the calculation time for the same wheel among the sequentially calculated accelerations, and the ratio of the two calculated accelerations is set to a predetermined value.
- the ratio of the calculated two accelerations exceeds a predetermined value, it is determined that a wheel including at least one of the wheels is skid.
- the simultaneous skid of the wheel including the wheel can be detected with high accuracy.
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
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Abstract
Description
駆動力=エンジントルク×プーリレシオ×ファイナルレシオ/タイヤ径
駆動力変化量=現在の駆動力-所定時間前の駆動力
1.30FLのみのスキッド
2.30FL,30FRのスキッド
3.30FL,30RLのスキッド
4.30FL,30FR,30RL,30RRのスキッド(前後輪の同時スキッド)。
Claims (5)
- 駆動源の出力を変速機で変速して前後輪をそれぞれ駆動するようにした車両のスキッド検知装置において、前記前後輪のうちのいずれかの車輪の回転速度を検出する車輪回転速度検出手段と、前記検出された回転速度から前記回転速度が検出された車輪の加速度を順次算出すると共に、前記順次算出された車輪の加速度のうちの2つの加速度の比を算出する車輪加速度比算出手段と、前記算出された2つの加速度の比を所定値と比較し、前記算出された2つの加速度の比が前記所定値を超えるとき、前記いずれかの車輪を少なくとも含む車輪がスキッドしていると判断するスキッド判断手段とを備えたことを特徴とする車両のスキッド検知装置。
- 前記車輪加速度比算出手段は、前記順次算出された車輪の加速度のうちの所定時間の間に算出された2つの加速度の比を算出することを特徴とする請求項1記載の車両のスキッド検知装置。
- 前記スキッド判断手段は、前記車両の駆動力が駆動力規定値以下の場合に前記算出された2つの加速度の比が前記所定値を超えるとき、前記いずれかの車輪を少なくとも含む車輪がスキッドしていると判断することを特徴とする請求項1または2記載の車両のスキッド検知装置。
- 前記スキッド判断手段は、前記車両の駆動力変化量が駆動力変化量規定値以下の場合に前記算出された2つの加速度の比が前記所定値を超えるとき、前記いずれかの車輪を少なくとも含む車輪がスキッドしていると判断することを特徴とする請求項1から3のいずれかに記載の車両のスキッド検知装置。
- 前記車輪加速度比算出手段は、前記算出された車輪の加速度が既定値以下のとき、前記既定値を前記算出された車輪の加速度とし、前記算出された車輪の加速度のうちの2つの加速度の比を算出することを特徴とする請求項1から4のいずれかに記載の車両のスキッド検知装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201180035303.1A CN103003084B (zh) | 2010-07-20 | 2011-07-19 | 车辆的打滑检测装置 |
EP11809629.6A EP2596974B1 (en) | 2010-07-20 | 2011-07-19 | Vehicle skid detection device |
US13/806,061 US8744715B2 (en) | 2010-07-20 | 2011-07-19 | Skid detection apparatus for vehicle |
JP2012525393A JP5476473B2 (ja) | 2010-07-20 | 2011-07-19 | 車両のスキッド検知装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2010-162662 | 2010-07-20 | ||
JP2010162662 | 2010-07-20 |
Publications (1)
Publication Number | Publication Date |
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WO2012011459A1 true WO2012011459A1 (ja) | 2012-01-26 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2011/066318 WO2012011459A1 (ja) | 2010-07-20 | 2011-07-19 | 車両のスキッド検知装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8744715B2 (ja) |
EP (1) | EP2596974B1 (ja) |
JP (1) | JP5476473B2 (ja) |
CN (1) | CN103003084B (ja) |
WO (1) | WO2012011459A1 (ja) |
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US20130073157A1 (en) * | 2011-09-19 | 2013-03-21 | Hb Performance Systems, Inc. | Enhanced torque model for vehicle having a cvt |
US9156465B1 (en) * | 2013-03-21 | 2015-10-13 | Eaton Corporation | Brake-assist-steering system |
DE102014207117B4 (de) * | 2014-04-14 | 2019-05-16 | Zf Friedrichshafen Ag | Verfahren zum Freisetzen eines festgefahrenen Fahrzeugs |
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US8744715B2 (en) | 2014-06-03 |
CN103003084B (zh) | 2016-03-09 |
JPWO2012011459A1 (ja) | 2013-09-09 |
EP2596974A1 (en) | 2013-05-29 |
EP2596974B1 (en) | 2015-09-09 |
JP5476473B2 (ja) | 2014-04-23 |
EP2596974A4 (en) | 2014-04-02 |
CN103003084A (zh) | 2013-03-27 |
US20130110317A1 (en) | 2013-05-02 |
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