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DE69735321D1 - Einrichtung zur Schätzung des Haftwertgradienten, Antiblockierregler und Verfahren zur Bestimmung des Regelbeginns - Google Patents

Einrichtung zur Schätzung des Haftwertgradienten, Antiblockierregler und Verfahren zur Bestimmung des Regelbeginns

Info

Publication number
DE69735321D1
DE69735321D1 DE69735321T DE69735321T DE69735321D1 DE 69735321 D1 DE69735321 D1 DE 69735321D1 DE 69735321 T DE69735321 T DE 69735321T DE 69735321 T DE69735321 T DE 69735321T DE 69735321 D1 DE69735321 D1 DE 69735321D1
Authority
DE
Germany
Prior art keywords
antilock
estimating
regulator
rule
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69735321T
Other languages
English (en)
Other versions
DE69735321T2 (de
Inventor
Eiichi Ono
Katsuhiro Asano
Takaji Umeno
Hiroyuki Yamaguchi
Masaru Sugai
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Central R&D Labs Inc
Original Assignee
Toyota Central R&D Labs Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP23107596A external-priority patent/JP3454032B2/ja
Priority claimed from JP8315282A external-priority patent/JPH10152038A/ja
Priority claimed from JP16480097A external-priority patent/JP3454086B2/ja
Priority claimed from JP18160697A external-priority patent/JP3454090B2/ja
Application filed by Toyota Central R&D Labs Inc filed Critical Toyota Central R&D Labs Inc
Publication of DE69735321D1 publication Critical patent/DE69735321D1/de
Application granted granted Critical
Publication of DE69735321T2 publication Critical patent/DE69735321T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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
    • 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
    • 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
    • B60T8/17636—Microprocessor-based systems
    • 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
    • B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
    • B60T8/44—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 having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems
    • B60T8/445—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 having a fluid pressure regulator responsive to a speed condition co-operating with a power-assist booster means associated with a master cylinder for controlling the release and reapplication of brake pressure through an interaction with the power assist device, i.e. open systems replenishing the released brake fluid volume into the brake piping
    • 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
    • B60T8/34—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 having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—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 having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4845—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems using a booster or a master cylinder for traction control
    • 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
    • B60T2210/12—Friction

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Regulating Braking Force (AREA)
DE69735321T 1996-08-20 1997-08-14 Einrichtung zur Schätzung des Haftwertgradienten, Antiblockierregler und Verfahren zur Bestimmung des Regelbeginns Expired - Fee Related DE69735321T2 (de)

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
JP21882896 1996-08-20
JP21882896 1996-08-20
JP23107596 1996-08-30
JP23107596A JP3454032B2 (ja) 1996-08-30 1996-08-30 制御開始判定方法
JP31528296 1996-11-26
JP8315282A JPH10152038A (ja) 1996-11-26 1996-11-26 アンチロックブレーキ制御装置
JP16480097A JP3454086B2 (ja) 1997-06-20 1997-06-20 車輪挙動量サーボ制御装置及び限界判定装置
JP16480097 1997-06-20
JP18160697A JP3454090B2 (ja) 1996-08-20 1997-07-07 アンチロックブレーキ制御装置、トルク勾配推定装置及び制動トルク勾配推定装置
JP18160697 1997-07-07

Publications (2)

Publication Number Publication Date
DE69735321D1 true DE69735321D1 (de) 2006-04-27
DE69735321T2 DE69735321T2 (de) 2006-11-30

Family

ID=27528352

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69735321T Expired - Fee Related DE69735321T2 (de) 1996-08-20 1997-08-14 Einrichtung zur Schätzung des Haftwertgradienten, Antiblockierregler und Verfahren zur Bestimmung des Regelbeginns

Country Status (6)

Country Link
US (1) US6122585A (de)
EP (2) EP0825080B1 (de)
KR (1) KR100262231B1 (de)
CN (1) CN1184047A (de)
DE (1) DE69735321T2 (de)
TW (1) TW338756B (de)

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JP3680216B2 (ja) * 1999-06-08 2005-08-10 トヨタ自動車株式会社 車輌用トラクション制御装置
EP1792799A3 (de) * 1999-07-01 2008-10-22 Hitachi, Ltd. Vorrichtung zur Steuerung der Bremsung und der Antriebskraft eines Fahrzeugs
US6341826B2 (en) * 1999-12-21 2002-01-29 Denso Corporation Antiskid brake control system for automotive vehicles
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JP4427856B2 (ja) * 2000-02-24 2010-03-10 アイシン精機株式会社 車両用制動制御装置
DE10116353B4 (de) * 2000-04-03 2006-03-30 Aisin Seiki K.K., Kariya Bremskraftverteilungssteuervorrichtung
US6854550B2 (en) * 2000-10-17 2005-02-15 Continental Teves Ag & Co., Ohg Method of improving the control response of an automatic slip control system
JP3458839B2 (ja) * 2000-11-20 2003-10-20 トヨタ自動車株式会社 路面の最大摩擦係数推定装置
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JP4090726B2 (ja) * 2001-11-26 2008-05-28 横浜ゴム株式会社 ブレーキ制御装置、ブレーキ制御方法および記録媒体
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JP2004233331A (ja) * 2002-12-04 2004-08-19 Sumitomo Rubber Ind Ltd 車輪力検出装置及び車輪力検出方法
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JP4268019B2 (ja) * 2003-11-14 2009-05-27 株式会社豊田中央研究所 車体運動実現方法及び装置
NO320851B1 (no) * 2004-04-15 2006-02-06 Oddvard Johnsen Kontrollerfunksjoner for brems basert pa en styring etter variasjoner i akselerasjonsverdier i hjulets horisontale plan
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US7677095B1 (en) 2006-12-11 2010-03-16 Kelsey-Hayes Company Method for providing enhanced stability of a vehicle with a deflated tire
FR2910417B1 (fr) * 2006-12-21 2012-07-06 Messier Bugatti Procede de commande adaptatif de freinage pour vehicule.
JP4967878B2 (ja) * 2007-07-18 2012-07-04 株式会社アドヴィックス 路面勾配推定装置
JP4737179B2 (ja) * 2007-11-02 2011-07-27 トヨタ自動車株式会社 車両制御装置及び車両制御方法
CN103693039B (zh) * 2008-12-26 2016-04-13 株式会社小松制作所 牵引力控制装置
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JP5421222B2 (ja) * 2010-11-08 2014-02-19 トヨタ自動車株式会社 制動力制御装置
JP5411832B2 (ja) * 2010-11-12 2014-02-12 トヨタ自動車株式会社 車両用制動制御システム
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JP5882484B2 (ja) * 2012-09-20 2016-03-09 パイオニア株式会社 スリップ率推定装置及びスリップ率推定方法
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ITUB20153706A1 (it) 2015-09-17 2017-03-17 Itt Italia Srl Dispositivo frenante per veicolo pesante e metodo di prevenzione del surriscaldamento dei freni in un veicolo pesante
ITUB20153709A1 (it) 2015-09-17 2017-03-17 Itt Italia Srl Dispositivo di analisi e gestione dei dati generati da un sistema frenante sensorizzato per veicoli
WO2017103933A1 (en) * 2015-12-17 2017-06-22 Srur Yossi Car brake anti-jolt method and apparatus
ITUA20161336A1 (it) * 2016-03-03 2017-09-03 Itt Italia Srl Dispositivo e metodo per il miglioramento delle prestazioni di un sistema antibloccaggio e antiscivolamento di un veicolo
IT201600077944A1 (it) 2016-07-25 2018-01-25 Itt Italia Srl Dispositivo per il rilevamento della coppia residua di frenatura in un veicolo equipaggiato con freni a disco
JP6516336B2 (ja) * 2017-07-18 2019-05-22 株式会社Ｓｕｂａｒｕ 運転支援装置
US10807579B2 (en) 2018-01-19 2020-10-20 Goodrich Corporation System for maintaining near-peak friction of a braking wheel
CN108248584B (zh) * 2018-01-30 2020-06-09 哈尔滨工业大学 基于扰动观测器的线控制动车辆防抱死系统的控制方法
TWI687329B (zh) * 2018-12-19 2020-03-11 宏碁股份有限公司 剎車控制方法、剎車系統及車輛
IT201900015839A1 (it) 2019-09-06 2021-03-06 Itt Italia Srl Pastiglia freno per veicoli e suo processo di produzione
US11084471B2 (en) * 2019-11-22 2021-08-10 Automotive Research & Testing Center Braking control method according to friction of road surface
TWI767429B (zh) * 2020-11-30 2022-06-11 六和機械股份有限公司 防鎖死制動系統及其控制方法
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Also Published As

Publication number Publication date
EP0825080A2 (de) 1998-02-25
EP0825080B1 (de) 2006-03-01
TW338756B (en) 1998-08-21
EP1167145A2 (de) 2002-01-02
US6122585A (en) 2000-09-19
KR100262231B1 (ko) 2000-07-15
KR19980018964A (ko) 1998-06-05
EP1167145A3 (de) 2002-09-25
EP0825080A3 (de) 1998-11-04
DE69735321T2 (de) 2006-11-30
CN1184047A (zh) 1998-06-10

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