JP2001260855A - Different-diameter wheel judging device and brake hydraulic pressure control device using the same - Google Patents
Different-diameter wheel judging device and brake hydraulic pressure control device using the sameInfo
- Publication number
- JP2001260855A JP2001260855A JP2000071568A JP2000071568A JP2001260855A JP 2001260855 A JP2001260855 A JP 2001260855A JP 2000071568 A JP2000071568 A JP 2000071568A JP 2000071568 A JP2000071568 A JP 2000071568A JP 2001260855 A JP2001260855 A JP 2001260855A
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- wheel
- different
- diameter
- wheels
- speed
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】 本発明は、車両における異
径輪を判定する異径輪判定装置および該異径輪判定装置
を用いたブレーキ液圧制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a different-diameter wheel judging device for judging a different-diameter wheel in a vehicle and a brake fluid pressure control device using the different-diameter wheel determining device.
【０００２】[0002]
【従来の技術】 従来、異径輪判定装置としては、例え
ば、特開平８−９９６２６号公報「車両制御装置」に記
載のものが知られている。この従来例は、車両の少なく
とも左右輪を含む３輪以上の回転速度を検出する複数の
車輪速度センサと、該車輪速度センサの検出信号に基づ
いて車輪速度を演算する車輪速度演算手段と、該演算さ
れた車輪速度を用いて前記左右輪を対象として異径タイ
ヤの装着の有無を判別する判別手段と、該判別手段によ
り異径タイヤの装着有りと判別されたとき前記左右輪か
ら異径タイヤを装着している車輪を選別する選別手段
と、該選別手段により選別された車輪の車輪速度を除外
した残りの車輪速度を用いて前輪と後輪のどちらか１方
の車輪速度を基準としこの基準となる車輪速度と他方の
補正対象となる車輪速度との偏差を補正するための補正
係数を算出する補正係数算出手段と、該補正係数算出手
段にて算出された補正係数を用いて前記補正対象となる
車輪速度を補正演算し前後輪の車輪速度偏差を解消する
補正演算手段と、前記選別手段によって選別された車輪
の車輪速度を除外すると共に前記基準となる車輪速度と
前記補正演算された車輪速度とに基づいて車両の推定車
体速度を演算する推定車体速度演算手段と、前記推定車
体速度を用いて車両における被制御対象を制御する制御
手段とを備えたものであった。2. Description of the Related Art Conventionally, as a different-diameter wheel determining device, for example, a device described in Japanese Patent Application Laid-Open No. Hei 8-99626 “Vehicle Control Device” is known. This conventional example includes a plurality of wheel speed sensors for detecting rotation speeds of three or more wheels including at least left and right wheels of a vehicle, wheel speed calculation means for calculating a wheel speed based on a detection signal of the wheel speed sensor, Discriminating means for discriminating the presence or absence of different-diameter tires on the left and right wheels using the calculated wheel speeds; and A selecting means for selecting the wheel on which the wheel is mounted, and using the remaining wheel speed excluding the wheel speed of the wheel selected by the selecting means on the basis of the wheel speed of one of the front wheel and the rear wheel. Correction coefficient calculating means for calculating a correction coefficient for correcting a deviation between a reference wheel speed and the other wheel speed to be corrected, and the correction using the correction coefficient calculated by the correction coefficient calculating means. versus Correction calculating means for correcting the wheel speed to be used to eliminate the wheel speed deviation between the front and rear wheels, and excluding the wheel speed of the wheel selected by the selecting means, and calculating the corrected wheel and the reference wheel speed. An estimated vehicle speed calculating means for calculating an estimated vehicle speed based on the speed and control means for controlling a controlled object in the vehicle using the estimated vehicle speed.
【０００３】[0003]
【発明が解決しようとする課題】 しかしながら、従来
例の異径輪判定装置にあっては、上述のように、左右輪
の車輪速度を対象として車両における異径タイヤの装着
の有無を判別するようにしたものであったため、以下に
述べるような問題点があった。即ち、車両に標準装備さ
れているタイヤより小径の異径タイヤが装着される場合
としては、タイヤがパンクした場合の予備タイヤとして
テンパータイヤ等の異径タイヤが装着される場合の他
に、例えば、前輪側の左右両輪を標準装備タイヤより小
径のタイヤに交換装着する場合があるが、このように左
右両輪が共に小径であると、左右輪の車輪速度を対象と
した異径タイヤ装着の有無判別方法では、異径タイヤの
装着なしと判定されてしまい、その結果、異径タイヤの
車輪速度を含めた誤った推定車体速度が演算され、この
誤った推定車体速度に基づいてブレーキ液圧制御が行わ
れることになる。However, in the conventional different-diameter wheel determination device, as described above, the presence or absence of the mounting of the different-diameter tire in the vehicle is determined based on the wheel speeds of the left and right wheels. Therefore, there are the following problems. In other words, when a different diameter tire having a smaller diameter than the standard tire mounted on the vehicle is mounted, in addition to a case where a different diameter tire such as a tempered tire is mounted as a spare tire when the tire is punctured, for example, In some cases, both the left and right front wheels are replaced with tires with smaller diameters than the standard tires.If both the left and right wheels are small in diameter, whether or not different diameter tires are installed for the wheel speed of the left and right wheels According to the determination method, it is determined that the different-diameter tire is not mounted. As a result, an incorrect estimated vehicle speed including the wheel speed of the different-diameter tire is calculated, and the brake fluid pressure control is performed based on the incorrect estimated vehicle speed. Will be performed.
【０００４】本発明は、上述のような従来の問題点に着
目してなされたもので、左右両輪が共に異径である場合
でも異径輪判定を可能とする異径輪判定装置および該異
径輪判定装置を用いたブレーキ液圧制御装置を提供する
ことを目的とするものである。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and has a different-diameter wheel determining apparatus and a different-diameter wheel determining apparatus capable of determining a different-diameter wheel even when both right and left wheels have different diameters. It is an object of the present invention to provide a brake fluid pressure control device using a diameter wheel determination device.
【０００５】[0005]
【課題を解決するための手段】 上述の目的を達成する
ために本発明請求項１記載の異径輪判定装置では、図５
のクレーム対応図に示すように、前輪側左右輪および後
輪側左右輪の車輪速度をそれぞれ検出する車輪速度検出
手段ａ１、ａ２、ａ３、ａ４と、車両の直進走行状態を
判定する直進走行判定手段ｂと、前記直進走行判定手段
ｂにより直進走行状態と判定された場合に前記各車輪速
度検出手段ａ１、ａ２、ａ３、ａ４で検出された前輪側
左右輪および後輪側左右輪の各々の車輪速度を比較する
車輪速度比較手段ｃと、該車輪速度比較手段ｃによる比
較結果に基づいて車両における異径輪の存在を判定する
異径輪判定手段ｄと、を備えている手段とした。In order to achieve the above-mentioned object, the different-diameter wheel determining apparatus according to the first aspect of the present invention has a structure shown in FIG.
As shown in the claim correspondence diagram, wheel speed detecting means a1, a2, a3, a4 for respectively detecting the wheel speeds of the front left and right wheels and the rear left and right wheels, and straight running judgment for judging the straight running state of the vehicle. Means b and each of the front left and right wheels and the rear left and right wheels detected by the wheel speed detection means a1, a2, a3, and a4 when the straight running determination means b determines that the vehicle is running straight. The wheel speed comparing means c for comparing the wheel speeds, and the different diameter wheel determining means d for determining the presence of the different diameter wheels in the vehicle based on the comparison result by the wheel speed comparing means c.
【０００６】請求項２記載の異径輪判定装置では、請求
項１に記載の異径輪判定装置において、前記車輪速度比
較手段ｃが、前輪側左右輪および後輪側左右輪の平均車
輪速度に対する各車輪の車輪速度の比率を演算すること
により前輪側左右輪および後輪側左右輪の各々の車輪速
度を比較するように構成され、前記異径輪判定手段ｄ
が、前記車輪速度比較手段ｃで演算された前記比率が所
定以下である車輪を異径輪と判定するように構成されて
いる手段とした。According to a second aspect of the present invention, in the above-mentioned first and second embodiments, the wheel speed comparing means (c) determines an average wheel speed of the front left and right wheels and the rear left and right wheels. Calculating the ratio of the wheel speed of each wheel to the front wheel side left and right wheels and the rear wheel side left and right wheels by comparing the respective wheel speeds, the different diameter wheel determination means d
However, the wheel whose ratio calculated by the wheel speed comparing means c is equal to or less than a predetermined value is determined as a wheel having a different diameter.
【０００７】請求項３記載の異径輪判定装置では、請求
項１に記載の異径輪判定装置において、前記車輪速度比
較手段ｃが、前輪側左右輪および後輪側左右輪の平均車
輪速度と各車輪の車輪速度との比率を演算する比率演算
手段と、該比率演算手段で演算された比率のうち１番目
に大きい比率と３番目に大きい比率との差分値を演算す
る第１差分値演算手段と、該第１差分値演算手段で演算
された差分値が所定値を越えている時は前記比率演算手
段で演算された比率のうち２番目に大きい比率と３番目
に大きい比率との差分値を演算する第２差分値演算手段
とを備え、前記第１差分値演算手段で演算された差分値
が所定値以下であれば異径輪なしと判定し、所定値を越
えていれば、第２差分値演算手段で演算された差分値が
所定値以下の時は１番目に大きい比率の車輪のみが異径
輪であると判定し、所定値を越えている時は１番目およ
び２番目に大きい比率の車輪の両輪が異径輪であると判
定するように前記異径輪判定手段ｄが構成されている手
段とした。According to a third aspect of the present invention, in the above-mentioned first and second embodiments, the wheel speed comparing means (c) determines an average wheel speed of the front left and right wheels and the rear left and right wheels. Ratio calculating means for calculating a ratio of the wheel speed to the wheel speed of each wheel, and a first difference value for calculating a difference value between a first largest ratio and a third largest ratio among the ratios calculated by the ratio calculating unit. Calculating means for determining, when the difference value calculated by the first difference value calculating means exceeds a predetermined value, a ratio between the second largest ratio and the third largest ratio among the ratios calculated by the ratio calculating unit; A second difference value calculating means for calculating a difference value; if the difference value calculated by the first difference value calculating means is equal to or less than a predetermined value, it is determined that there is no different-diameter wheel; When the difference value calculated by the second difference value calculation means is equal to or less than a predetermined value, Only the wheel having the second largest ratio is determined to be a different-diameter wheel, and when exceeding a predetermined value, both wheels of the first and second largest ratio wheels are determined to be different-diameter wheels. Diameter wheel determination means d is configured as a means.
【０００８】請求項４記載の異径輪判定装置を用いたブ
レーキ液圧制御装置では、前輪側左右輪および後輪側左
右輪の車輪速度をそれぞれ検出する車輪速度検出手段
と、車両の直進走行状態を判定する直進走行判定手段
と、前記直進走行判定手段により直進走行状態と判定さ
れた場合に前記各車輪速度検出手段で検出された前輪側
左右輪および後輪側左右輪の各々の車輪速度を比較する
車輪速度比較手段と、該車輪速度比較手段による比較結
果に基づいて車両における異径輪の存在を判定する異径
輪判定手段と、からなる異径輪判定装置を備え、前記異
径輪判定装置の異径輪判定手段により異径輪の判定がな
された時には、異径輪と判定された車輪の車輪速度を除
外した残りの通常車輪の車輪速度に基づいてスリップ率
の判断基準となる擬似車体速度を演算する擬似車体速度
演算手段と、前記異径輪判定手段による異径輪と判定さ
れた車輪の車輪速度を通常車輪の検出車輪速度値に補正
する補正手段と、を備えている手段とした。According to a fourth aspect of the present invention, there is provided a brake fluid pressure control device using a different-diameter wheel determining device, wherein a wheel speed detecting means for detecting wheel speeds of front left and right wheels and rear left and right wheels, respectively, Straight running judgment means for judging a state, and the respective wheel speeds of the front left and right wheels and the rear left and right wheels detected by the respective wheel speed detecting means when the straight running judgment is made by the straight running judgment means. And a different-diameter wheel determining device for determining the presence of a different-diameter wheel in the vehicle based on the result of comparison by the wheel speed comparing device. When a different-diameter wheel is determined by the different-diameter wheel determining means of the wheel determining device, a slip ratio determination criterion is determined based on the wheel speeds of the remaining normal wheels excluding the wheel speeds of the wheels determined to be the different-diameter wheels. Become pseudo Means comprising pseudo body speed calculating means for calculating body speed, and correcting means for correcting the wheel speed of a wheel determined to be a different diameter wheel by the different diameter wheel determining means to a detected wheel speed value of a normal wheel. And
【０００９】[0009]
【作用】 本発明請求項１に記載の異径輪判定装置で
は、直進走行判定手段により直進走行状態と判定された
場合には、車輪速度比較手段において各車輪速度検出手
段で検出された前輪側左右輪および後輪側左右輪の各々
の車輪速度を比較し、この車輪速度の比較結果に基づい
て異径輪判定手段において異径輪の存在判定が行われ
る。以上のように、前輪側左右輪および後輪側左右輪の
各々の車輪速度の比較結果に基づいて異径車輪の判定を
行うようにしたことで、左右両輪が共に異径である場合
を含めて、異径輪を２輪まで判定することが可能とな
る。また、異径輪の判定に際し、まず、車両が直進走行
状態にあるか否かの判定を行うようにしたことで、車両
旋回時における誤った異径輪の判定を防止することがで
きるようになる。In the different-diameter wheel determining apparatus according to the first aspect of the present invention, when the straight traveling determination unit determines that the vehicle is traveling straight, the wheel speed comparing unit detects the front wheel side detected by each wheel speed detecting unit. The wheel speeds of the left and right wheels and the rear left and right wheels are compared, and based on the result of the comparison of the wheel speeds, the different diameter wheel determination means determines the presence of the different diameter wheels. As described above, by determining the wheels having different diameters based on the comparison results of the wheel speeds of the front left and right wheels and the rear wheel left and right wheels, the case where both the left and right wheels have different diameters is included. Thus, it is possible to determine up to two wheels having different diameters. Also, when determining the different diameter wheels, first, it is determined whether or not the vehicle is in a straight running state, so that an erroneous determination of the different diameter wheels during turning of the vehicle can be prevented. Become.
【００１０】請求項２記載の異径輪判定装置では、請求
項１に記載の異径輪判定装置において、異径輪判定手段
では、車輪速度比較手段より演算された前輪側左右輪お
よび後輪側左右輪の平均車輪速度と各車輪の車輪速度と
の比率が所定以下である車輪を異径輪と判定するように
したことで、異径輪を確実に判定することができるよう
になる。According to a second aspect of the present invention, there is provided a different-diameter wheel judging apparatus according to the first aspect, wherein the different-diameter wheel judging means calculates the front left and right wheels and the rear wheels calculated by the wheel speed comparing means. Since the wheels having a ratio of the average wheel speed of the left and right wheels to the wheel speed of each wheel being equal to or less than a predetermined value are determined as the different-diameter wheels, the different-diameter wheels can be reliably determined.
【００１１】請求項３記載の異径輪判定装置では、請求
項１に記載の異径輪判定装置において、直進走行判定手
段により直進走行状態と判定され、車輪速度比較手段に
おいて各車輪速度検出手段で検出された前輪側左右輪お
よび後輪側左右輪の各々の車輪速度を比較する場合、ま
ず、比率演算手段で前輪側左右輪および後輪側左右輪の
平均車輪速度と各車輪の車輪速度との比率が演算され
る、そして、第１差分値演算手段で演算された前記比率
のうち１番目に大きい比率と３番目に大きい比率との差
分値が所定値以下である時は異径輪なしと判定し、所定
値を越えている時は１つまたは２つの異径輪が存在する
可能性があるため、次いで、第２差分値演算手段におい
て前記比率演算手段で演算された比率のうち２番目に大
きい比率と３番目に大きい比率との差分値を演算し、該
差分値が所定値以下の時は１番目に大きい比率の車輪の
みが異径輪であると判定し、所定値を越えている時は１
番目および２番目に大きい比率の車輪の両輪が異径輪で
あるとの判定がなされる。従って、２輪までの異径輪を
精度よく判定することができるようになる。According to a third aspect of the present invention, in the different-diameter wheel determining apparatus according to the first aspect, the traveling state is determined by the straight traveling determining means, and each wheel speed detecting means is determined by the wheel speed comparing means. When comparing the wheel speeds of the front left and right wheels and the rear wheel left and right wheels detected in the above, first, the average wheel speeds of the front wheel left and right wheels and the rear wheel left and right wheels and the wheel speed of each wheel are calculated by the ratio calculating means. If the difference between the first and third ratios calculated by the first difference value calculation means is equal to or smaller than a predetermined value, the different diameter wheel is calculated. If it is determined that there is no value, and if the value exceeds the predetermined value, there is a possibility that one or two different diameter wheels exist, and then the second difference value calculation means sets the ratio calculated by the ratio calculation means. The second largest ratio and the third The difference value between the listening ratio, when said difference value is when more than a predetermined value only wheels of large proportions in the first is determined to be a different-diameter ring, exceeds the predetermined value 1
A determination is made that both wheels of the second and second largest ratio wheels are different diameter wheels. Therefore, different diameter wheels up to two wheels can be accurately determined.
【００１２】請求項４記載の異径輪判定装置を用いたブ
レーキ液圧制御装置では、直進走行判定手段により直進
走行状態と判定された場合には、車輪速度比較手段にお
いて各車輪速度検出手段で検出された前輪側左右輪およ
び後輪側左右輪の各々の車輪速度を比較し、この車輪速
度の比較結果に基づいて異径輪判定手段において異径輪
の存在判定が行われる。そして、前記異径輪判定手段に
より異径輪の判定がなされると、擬似車体速度演算手段
において、異径輪と判定された車輪の車輪速度を除外し
た残りの通常車輪の車輪速度に基づいてスリップ率の判
断基準となる擬似車体速度の演算が行われると共に、補
正手段において、異径輪と判定された車輪の車輪速度を
通常車輪の検出車輪速度値に補正する補正処理が行われ
る。従って、左右両輪が共に異径である場合を含めて、
異径輪を２輪まで判定することが可能になると共に、異
径輪の車輪速度が通常車輪の車輪速度に補正された状態
で制御に用いられるため、異径輪を含めた適切なブレー
キ液圧制御が行えるようになる。In the brake fluid pressure control device using the different-diameter wheel determining device according to the present invention, when the vehicle is determined to be in the straight traveling state by the straight traveling determining device, the wheel speed comparing device determines each wheel speed detecting device. The detected wheel speeds of the front left and right wheels and the rear left and right wheels are compared, and based on the comparison result of the wheel speeds, the different diameter wheel determining means determines the presence of the different diameter wheels. When the different-diameter wheels are determined by the different-diameter wheels determining means, the pseudo-vehicle-speed calculating means calculates the pseudo-vehicle speed based on the wheel speeds of the remaining normal wheels excluding the wheel speeds of the wheels determined to be different diameter wheels. The calculation of the pseudo vehicle speed, which is a criterion for determining the slip ratio, is performed, and the correcting means corrects the wheel speed of the wheel determined to be a different diameter wheel to the detected wheel speed value of the normal wheel. Therefore, including the case where both the left and right wheels have different diameters,
Since it is possible to determine up to two wheels of different diameters, and because the wheel speed of the different diameter wheels is used for control in a state where the wheel speed is corrected to the wheel speed of the normal wheels, the appropriate brake fluid including the wheels with different diameters is used. Pressure control can be performed.
【００１３】[0013]
【発明の実施の形態】 以下、本発明の実施の形態を図
面により詳述する。図１は本発明の実施の形態の異径輪
判定装置を用いたブレーキ液圧制御装置を示す構成図で
あり、図において、１は車両、２（２FL（前輪左）、２
FR（前輪右）、２RL（後輪左）、２RR（後輪右））は車
輪、３は車輪速センサ、４は前後加速度センサ、５は横
加速度センサ、ＥＣＵはコントロールユニットを示す。Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a configuration diagram showing a brake fluid pressure control device using a different-diameter wheel determination device according to an embodiment of the present invention. In the drawing, reference numeral 1 denotes a vehicle, 2 (2FL (front wheel left), 2
FR (front wheel right), 2RL (rear wheel left), 2RR (rear wheel right)) are wheels, 3 is a wheel speed sensor, 4 is a longitudinal acceleration sensor, 5 is a lateral acceleration sensor, and ECU is a control unit.
【００１４】図２は、ブレーキ液圧制御装置のコントロ
ールユニットの制御作動のうち、異径輪の車輪速度補正
処理を開始するか否かの判定制御の概要を示すフローチ
ャートを示すものであり、まず、ステップ１０１では、
車両が直進かつ一定速走行状態にあるか否かを判定（異
径輪判別開始条件判定）し、ＹＥＳである時はステップ
１０２に進み、ＮＯである時はステップ１０１に戻る。
そして、ステップ１０２では、異径輪が存在するか否か
を判定（異径輪判定）し、ＹＥＳである時は異径輪の車
輪速度補正を行い、これで一回のフローを終了し、ＮＯ
である時はステップ１０１に戻る。FIG. 2 is a flow chart showing an outline of a control for judging whether or not to start the wheel speed correction processing of the different diameter wheels in the control operation of the control unit of the brake fluid pressure control device. , In step 101,
It is determined whether or not the vehicle is traveling straight and traveling at a constant speed (determination of conditions for determining the different diameter wheels). If the determination is YES, the process proceeds to step 102;
Then, in step 102, it is determined whether or not a different-diameter wheel exists (a different-diameter wheel determination). If YES, the wheel speed of the different-diameter wheel is corrected. NO
If it is, the process returns to step 101.
【００１５】次に、前記図２のステップ１０１における
直進一定走行状態判定（異径輪判別開始条件判定）制御
の内容を、図３のフローチャートに基づいて説明する。
ステップ２０１では、前記各車輪速センサ３からの検出
パルス信号に基づき、各車輪２（２FL（前輪左）、２FR
（前輪右）、２RL（後輪左）、２RR（後輪右））の車輪
速度ＶＷ（ＶＷFL（前輪左）、ＶＷFR（前輪右）、ＶＷ
RL（後輪左）、ＶＷRR（後輪右））を算出し、これらの
車輪速ＶＷが一定であるか否かを判定し、ＹＥＳである
時は、ステップ２０２に進み、ＮＯである時はこれでフ
ローを終了する。即ち、車両の車速が一定でなく車輪速
度が変化している状態では、異径輪の判定が正確に行え
ないため、そのような場合は異径輪判定制御を開始させ
ない。Next, the contents of the control for determining the straight traveling constant traveling state (determining the conditions for starting the different diameter wheel discrimination) in step 101 of FIG. 2 will be described with reference to the flowchart of FIG.
In step 201, based on the detection pulse signal from each wheel speed sensor 3, each wheel 2 (2FL (front wheel left), 2FR
(Front wheel right), 2RL (rear wheel left), 2RR (rear wheel right) wheel speed VW (VWFL (front wheel left), VWFR (front wheel right), VW
RL (rear wheel left), VWRR (rear wheel right)), and determines whether or not these wheel speeds VW are constant. If YES, proceed to step 202; if NO, proceed to step 202. This ends the flow. That is, in a state where the vehicle speed of the vehicle is not constant and the wheel speed is changing, the determination of the different diameter wheel cannot be performed accurately. In such a case, the different diameter wheel determination control is not started.
【００１６】ステップ２０２では、前記各車輪速ＶＷの
加減速度の絶対値が所定のしきい値α１未満であるか否
かを判定し、ＹＥＳである時は、ステップ２０３に進
み、ＮＯである時はこれでフローを終了する。即ち、悪
路走行中等のように車輪速変化量が大きな状態では、異
径輪の判定が正確に行えないため、そのような場合は異
径輪判定制御を開始させない。In step 202, it is determined whether or not the absolute value of the acceleration / deceleration of each of the wheel speeds VW is less than a predetermined threshold value α1, and if YES, proceed to step 203, and if NO, Ends the flow. That is, when the amount of change in the wheel speed is large, such as when the vehicle is traveling on a rough road, the determination of the different-diameter wheel cannot be performed accurately. In such a case, the different-diameter wheel determination control is not started.
【００１７】ステップ２０３では、前記前後加速度セン
サ４で検出された車両の前後加速度の絶対値が所定のし
きい値α２未満であるか否かを判定し、ＹＥＳである時
は、ステップ２０４に進み、ＮＯである時はこれでフロ
ーを終了する。即ち、車両の加速時や制動時等のように
車輪速変化量が大きな状態では、異径輪の判定が正確に
行えないため、そのような場合は異径輪判定制御を開始
させない。In step 203, it is determined whether or not the absolute value of the longitudinal acceleration of the vehicle detected by the longitudinal acceleration sensor 4 is less than a predetermined threshold value α2. , NO, this ends the flow. That is, when the amount of change in the wheel speed is large, such as when the vehicle is accelerating or braking, the determination of the different-diameter wheel cannot be performed accurately. In such a case, the different-diameter wheel determination control is not started.
【００１８】ステップ２０４では、前記横加速度センサ
５で検出された車両の横方向加速度の絶対値が所定のし
きい値α３未満であるか否かを判定することにより、車
両が直進走行状態にあるか否かを判定し、ＹＥＳ（直進
走行時）である時は、ステップ２０５に進み、ＮＯ（旋
回走行時）である時はこれでフローを終了する。即ち、
車両が旋回走行中である時は、特に左右車輪の車輪速度
に差異が生じ、異径輪の判定が正確に行えないため、そ
のような場合は異径輪判定制御を開始させない。In step 204, it is determined whether or not the absolute value of the lateral acceleration of the vehicle detected by the lateral acceleration sensor 5 is less than a predetermined threshold value α3, so that the vehicle is running straight. If YES (during straight running), the process proceeds to step 205, and if NO (during turning), the flow is ended here. That is,
When the vehicle is turning, there is a difference in the wheel speeds of the left and right wheels, and it is not possible to accurately determine the different-diameter wheels. In such a case, the different-diameter wheel determination control is not started.
【００１９】ステップ２０５では、擬似車体速度ＶＩ
（前記各車輪２の車輪速度ＶＷ（ＶＷFL（前輪左）、Ｖ
ＷFR（前輪右）、ＶＷRL（後輪左）、ＶＷRR（後輪右）
のセレクトハイ車速にフィルタをかけた値）が、一定で
あるか否かを判定し、ＹＥＳである時は、ステップ２０
６に進み、ＮＯである時はこれでフローを終了する。即
ち、擬似車体速度ＶＩが安定する前の段階では、異径輪
の判定が正確に行えないため、そのような場合は異径輪
判定制御を開始させない。In step 205, the pseudo vehicle speed VI
(The wheel speed VW (VWFL (front wheel left), V
WFR (front wheel right), VWRL (rear wheel left), VWRR (rear wheel right)
It is determined whether or not the value obtained by filtering the select high vehicle speed is constant.
Then, if NO, the flow is terminated. That is, at the stage before the pseudo vehicle body speed VI is stabilized, the determination of the different-diameter wheels cannot be performed accurately. In such a case, the different-diameter wheels determination control is not started.
【００２０】ステップ２０６では、前記擬似車体速度Ｖ
Ｉが所定のしきい値α４を越えているか否かを判定し、
ＹＥＳである時は、ステップ２０７に進み、ＮＯである
時はこれでフローを終了する。即ち、擬似車体速度ＶＩ
から推定される車両の車速が低速（例えば、２０Ｋｍ／
ｈ以下）である時は、ノイズの影響で異径輪の判定が正
確に行えないため、そのような場合は異径輪判定制御を
開始させない。In step 206, the pseudo vehicle speed V
It is determined whether or not I exceeds a predetermined threshold value α4,
If the determination is YES, the process proceeds to step 207. If the determination is NO, the flow ends. That is, the pseudo vehicle speed VI
Is low (for example, 20 km /
h), the determination of the different-diameter wheel cannot be accurately performed due to the influence of noise. In such a case, the different-diameter wheel determination control is not started.
【００２１】ステップ２０７では、所定時間（例えば、
０．２sec ）経過した否かを判定し、所定時間経過した
時点でステップ２０８に進み、異径輪判定制御が開始さ
れる。In step 207, a predetermined time (for example,
It is determined whether or not 0.2 seconds has elapsed. When a predetermined time has elapsed, the routine proceeds to step 208, where the different diameter wheel determination control is started.
【００２２】次に、前記図２のステップ１０２、１０３
における異径輪判定・補正処理制御の内容を、図４のフ
ローチャートに基づいて説明する。ステップ３０１で
は、各車輪２FL、２FR、２RL、２RRの車輪速度ＶＷFL、
ＶＷFR、ＶＷRL、ＶＷRRの平均値ＶＷAVE を算出し、続
くステップ３０２では、前記車輪速度の平均値ＶＷAVE
を基準とし、各車輪２FL、２FR、２RL、２RRの異径率Ｉ
ＫFL、ＩＫFR、ＩＫRL、ＩＫRRを算出し、続くステップ
３０３では、前記各車輪の異径率を大きい順にその順番
付け（異径率１ｓｔ、異径率２ｓｔ、異径率３ｓｔ、異
径率４ｓｔ）を行った後、ステップ３０４に進む。Next, steps 102 and 103 in FIG.
The details of the control of the different-diameter wheel determination / correction processing in will be described based on the flowchart of FIG. In step 301, the wheel speed VWFL of each wheel 2FL, 2FR, 2RL, 2RR,
The average value VWAVE of VWFR, VWRL, VWRR is calculated, and in the subsequent step 302, the average value VWAVE of the wheel speed is calculated.
Different diameter ratio I of each wheel 2FL, 2FR, 2RL, 2RR
KFL, IKFR, IKRL, IKRR are calculated, and in the following step 303, the different diameter ratios of the respective wheels are arranged in descending order (different diameter ratio 1st, different diameter ratio 2st, different diameter ratio 3st, different diameter ratio 4st). After that, the process proceeds to step 304.
【００２３】ステップ３０４では、前記異径率が１番目
に大きい異径率１ｓｔと３番目に大きい異径率３ｓｔと
の差分値が所定のしきい値β１を越えているか否かを判
定し、ＹＥＳである時は、１つまたは２つの異径輪が存
在する可能性があるため、ステップ３０６に進み、ＮＯ
である時はステップ３０５に進んで異径輪なしとの判定
がなされた後、これでフローを終了する。In step 304, it is determined whether or not a difference value between the first and second different diameter ratios 1st and 3st exceeds a predetermined threshold value β1. When the answer is YES, there is a possibility that one or two different diameter wheels exist, so the process proceeds to step 306 and NO
If, the routine proceeds to step 305, where it is determined that there is no different-diameter wheel, and then the flow is terminated.
【００２４】ステップ３０５では、前記異径率が２番目
に大きい異径率２ｓｔと３番目に大きい異径率３ｓｔと
の差分値が所定のしきい値β２を越えているか否かを判
定し、ＹＥＳである時は、１番目に大きい異径率１ｓｔ
と２番目に大きい異径率２ｓｔの両輪が異径であるとの
判定がなされ、ステップ３０８に進んで２輪異径補正制
御が行われ、また、ＮＯである時は、１番目に大きい異
径率１ｓｔの１輪のみが異径であるとの判定がなされ、
ステップ３０７に進んで１輪異径補正制御が行われる。In step 305, it is determined whether or not the difference value between the second largest diameter ratio 2st and the third largest diameter ratio 3st exceeds a predetermined threshold value β2. When YES, the first largest different diameter ratio 1st
It is determined that the two wheels having the second largest different diameter ratio 2st have different diameters, and the routine proceeds to step 308, where the two-wheel different diameter correction control is performed. It is determined that only one wheel having a diameter ratio of 1st has a different diameter,
Proceeding to step 307, one-wheel different diameter correction control is performed.
【００２５】即ち、前記ステップ３０７における１輪異
径輪補正制御では、次式により補正率１がめられ、異径
輪の車輪速度ＶＷに前記補正率１をかけることにより、
異径により速くなった車輪速度を標準の車輪速度に合わ
せる補正が行われる。補正率１＝異径率１ｓｔ−異径率
２ｓｔThat is, in the one-wheel different-diameter wheel correction control in step 307, a correction rate of 1 is obtained by the following equation.
A correction is made to match the wheel speed increased by the different diameter to the standard wheel speed. Correction rate 1 = Different diameter ratio 1st-Different diameter ratio 2st
【００２６】また、前記ステップ３０８における２輪異
径輪補正制御では、次式により補正率２−１、補正率２
−２が求められる。 補正率２−１＝異径率１ｓｔ−異径率３ｓｔ 補正率２−２＝異径率２ｓｔ−異径率３ｓｔIn the two-wheel different diameter wheel correction control in step 308, the correction rate 2-1 and the correction rate 2
-2 is required. Correction rate 2-1 = Different diameter rate 1st-Different diameter rate 3st Correction rate 2-2 = Different diameter rate 2st-Different diameter rate 3st
【００２７】そして、１番目に大きい異径率１ｓｔの異
径輪の車輪速度ＶＷに前記補正率２−１をかけ、また、
２番目に大きい異径率２ｓｔの異径輪の車輪速度ＶＷに
前記補正率２−２をかけることにより、異径により速く
なった車輪速度を標準の車輪速度にそれぞれ合わせる補
正が行われる。Then, the correction rate 2-1 is multiplied by the wheel speed VW of the different diameter wheel having the first largest diameter difference rate 1st, and
By multiplying the wheel speed VW of the different diameter wheel having the second largest different diameter ratio 2st by the correction rate 2-2, a correction is made to adjust the wheel speed increased by the different diameter to the standard wheel speed.
【００２８】異径輪がある場合においては、以上のよう
に異径輪の車輪速度補正が行われると共に、異径輪と判
定された車輪２の車輪速度ＶＷを除外した残りの通常車
輪２の車輪速度ＶＷに基づいて擬似車体速度ＶＩの演算
が行われ、この擬似車体速度ＶＩと、前記車輪速度補正
が行われた車輪２を含め、各車輪２の車輪速度ＶＷに基
づいて、各車輪２のスリップ率Ｓを演算する一方、減圧
しきい値λの演算処理が行われ、各車輪２のスリップ率
Ｓと減圧しきい値λとの比較結果に基づいて、各車輪２
のブレーキ液圧制御（減圧・保持・再増圧制御）が行わ
れることになる。When there is a different-diameter wheel, the wheel speed of the different-diameter wheel is corrected as described above, and the wheel speed VW of the wheel 2 determined to be the different-diameter wheel is excluded. The calculation of the pseudo vehicle speed VI is performed on the basis of the wheel speed VW, and each wheel 2 is calculated based on the pseudo vehicle speed VI and the wheel speed VW of each wheel 2 including the wheel 2 whose wheel speed has been corrected. Is calculated while calculating the pressure reduction threshold value λ. Based on the result of comparison between the slip rate S of each wheel 2 and the pressure reduction threshold value λ, each wheel 2
Brake pressure control (pressure reduction / holding / re-pressure increase control) is performed.
【００２９】以上詳細に説明してきたように、この発明
の実施の形態では、以下に述べるような効果が得られ
る。即ち、前輪側左右輪２FL、２FRおよび後輪側左右輪
２RL、２RRの各々の車輪速度ＶＷの比較結果に基づいて
異径車輪の判定を行うようにしたことで、左右両輪が共
に異径である場合を含めて、異径輪を２輪まで判定する
ことが可能になる。As described in detail above, the embodiment of the present invention has the following effects. That is, by determining the different diameter wheels based on the comparison result of the respective wheel speeds VW of the front left and right wheels 2FL, 2FR and the rear left and right wheels 2RL, 2RR, both the left and right wheels have different diameters. In some cases, it is possible to determine up to two wheels having different diameters.
【００３０】また、前輪側左右輪２FL、２FRおよび後輪
側左右輪２RL、２RRの各々の車輪速度ＶＷFL、ＶＷFR、
ＶＷRL、ＶＷRRの平均値ＶＷAVE を基準とし、この平均
値ＶＷAVE と各車輪速度との比較により求められる異径
率が他の車輪の異径率より大きい車輪を異径輪と判定す
るようにしたことで、異径輪を確実に判定することがで
きるようになる。Further, the wheel speeds VWFL, VWFR, VWFL, VWFR of the front left and right wheels 2FL, 2FR and the rear left and right wheels 2RL, 2RR
Based on the average value VWAVE of VWRL and VWRR as a reference, a wheel having a different diameter ratio obtained by comparing the average value VWAVE with each wheel speed is larger than the different diameter ratio of the other wheels is determined as a different diameter wheel. Thus, the different-diameter wheel can be reliably determined.
【００３１】また、異径輪の判定に際し、まず、前記異
径率が１番目に大きい異径率１ｓｔと３番目に大きい異
径率３ｓｔとの差分値が所定のしきい値β１を越えてい
るか否かで、１つまたは２つの異径輪が存在する可能性
があるか否かを判断した後、前記異径率が２番目に大き
い異径率２ｓｔと３番目に大きい異径率３ｓｔとの差分
値が所定のしきい値β２を越えているか否かで、異径輪
が１つか２つかの判定を行うようにしたことで、２輪ま
での異径輪を精度よく判定することができるようにな
る。In determining a different diameter wheel, first, a difference value between the first different diameter ratio 1st and the third largest different diameter ratio 3st exceeding the predetermined threshold value β1. After determining whether or not there is a possibility that one or two different diameter rings exist, the different diameter ratio is the second largest diameter ratio 2st and the third largest different diameter ratio 3st. By determining whether one or two different diameter wheels are present depending on whether or not the difference value from the difference exceeds a predetermined threshold value β2, it is possible to accurately determine different diameter wheels up to two wheels. Will be able to
【００３２】また、異径輪の判定に際し、まず、車両が
直進かつ一定速走行状態にあるか否かの判定（異径輪判
別開始条件判定）を行うようにしたことで、誤った異径
輪の判定を防止することができるようになり、これによ
り、ブレーキ液圧制御の誤作動を防止し、かつ、信頼性
を高めることができるようになる。In determining the different-diameter wheels, first, a determination is made as to whether the vehicle is traveling straight and is traveling at a constant speed (determination of a different-diameter wheel discrimination start condition). This makes it possible to prevent wheel determination, thereby preventing malfunction of brake fluid pressure control and improving reliability.
【００３３】また、この発明の実施の形態のブレーキ液
圧制御装置では、上述のように異径輪の判定がなされる
と、異径輪と判定された車輪２の車輪速度ＶＷを除外し
た残りの通常車輪の車輪速度ＶＷに基づいてスリップ率
Ｓの判断基準となる擬似車体速度ＶＩの演算が行われる
と共に、異径輪と判定された車輪２の車輪速度ＶＷを通
常車輪の検出車輪速度値に補正する補正処理が行われる
ことで、左右両輪が共に異径である場合を含めて、異径
輪を２輪まで判定することが可能になると共に、異径輪
の車輪速度が通常車輪の車輪速度に補正された状態で制
御に用いられるため、異径輪を含めた適切なブレーキ液
圧制御が行えるようになる。Further, in the brake fluid pressure control device according to the embodiment of the present invention, when the different-diameter wheels are determined as described above, the remaining wheel speeds VW of the wheels 2 determined as the different-diameter wheels are excluded. Is calculated based on the wheel speed VW of the normal wheel of the vehicle, and the wheel speed VW of the wheel 2 determined to be a different-diameter wheel is determined as the detected wheel speed value of the normal wheel. Is performed, it is possible to determine up to two wheels of different diameters, including the case where both the left and right wheels have different diameters, and the wheel speed of the different diameter wheels is Since it is used for the control in a state corrected to the wheel speed, it is possible to perform appropriate brake fluid pressure control including a wheel having a different diameter.
【００３４】以上、本発明の実施の形態を図面により詳
述してきたが、具体的な構成はこれらの発明の実施の形
態に限られるものではなく、本発明の要旨を逸脱しない
範囲における設計変更等があっても本発明に含まれる。
例えば、発明の実施の形態では、直進走行判定手段とし
て、横加速度センサを用いた例を示したが、ステアリン
グセンサを用いることができる。Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to these embodiments, and design changes may be made without departing from the scope of the present invention. The present invention is also included in the present invention.
For example, in the embodiment of the present invention, the example in which the lateral acceleration sensor is used as the straight traveling determination means has been described, but a steering sensor can be used.
【００３５】[0035]
【発明の効果】 以上説明したように、本発明請求項１
に記載の異径輪判定装置にあっては、前輪側左右輪およ
び後輪側左右輪の車輪速度をそれぞれ検出する車輪速度
検出手段と、車両の直進走行状態を判定する直進走行判
定手段と、前記直進走行判定手段により直進走行状態と
判定された場合に前記各車輪速度検出手段で検出された
前輪側左右輪および後輪側左右輪の各々の車輪速度を比
較する車輪速度比較手段と、該車輪速度比較手段による
比較結果に基づいて車両における異径輪の存在を判定す
る異径輪判定手段と、備えている手段としたことで、左
右両輪が共に異径である場合を含めて、異径輪を２輪ま
で判定することが可能になるという効果が得られる。ま
た、異径輪の判定に際し、まず、車両が直進走行状態に
あるか否かの判定を行うようにしたことで、車両旋回時
における誤った異径輪の判定を防止することができるよ
うになる。As described above, according to the first aspect of the present invention,
In the different diameter wheel determination device described in the, wheel speed detection means for detecting the wheel speed of the front wheel left and right wheels and the rear wheel side left and right wheels, respectively, straight traveling determination means for determining the straight traveling state of the vehicle, Wheel speed comparing means for comparing each wheel speed of the front left and right wheels and rear wheel left and right wheels detected by each of the wheel speed detecting means when the straight running determining means determines that the vehicle is running straight; Different diameter wheel determining means for determining the presence of different diameter wheels in the vehicle based on the result of comparison by the wheel speed comparing means, and means provided for different diameter wheels including both right and left wheels having different diameters. The effect that it is possible to determine up to two diameter wheels is obtained. Also, when determining the different diameter wheels, first, it is determined whether or not the vehicle is in a straight running state, so that an erroneous determination of the different diameter wheels during turning of the vehicle can be prevented. Become.
【００３６】請求項２記載の異径輪判定装置では、請求
項１に記載の異径輪判定装置において、前記車輪速度比
較手段が、前輪側左右輪および後輪側左右輪の平均車輪
速度に対する各車輪の車輪速度の比率を演算することに
より前輪側左右輪および後輪側左右輪の各々の車輪速度
を比較するように構成され、前記異径輪判定手段が、前
記車輪速度比較手段で演算された前記比率が所定以下で
ある車輪を異径輪と判定するように構成されている手段
としたことで、異径輪を確実に判定することができるよ
うになる。According to a second aspect of the present invention, in the different-diameter wheel determining apparatus according to the first aspect, the wheel speed comparing means determines an average wheel speed of the front left and right wheels and the rear right and left wheels. The front wheel side left and right wheels and the rear wheel side left and right wheels are configured to compare the respective wheel speeds by calculating the ratio of the wheel speeds of the respective wheels, and the different diameter wheel determination means is calculated by the wheel speed comparison means. By adopting means configured to determine a wheel whose ratio is equal to or less than a predetermined value as a different-diameter wheel, it is possible to reliably determine a different-diameter wheel.
【００３７】請求項３記載の異径輪判定装置では、請求
項１に記載の異径輪判定装置において、前記車輪速度比
較手段が、前輪側左右輪および後輪側左右輪の平均車輪
速度と各車輪の車輪速度との比率を演算する比率演算手
段と、該比率演算手段で演算された比率のうち１番目に
大きい比率と３番目に大きい比率との差分値を演算する
第１差分値演算手段と、該第１差分値演算手段で演算さ
れた差分値が所定値を越えている時は前記比率演算手段
で演算された比率のうち２番目に大きい比率と３番目に
大きい比率との差分値を演算する第２差分値演算手段と
を備え、前記第１差分値演算手段で演算された差分値が
所定値以下であれば異径輪なしと判定し、所定値を越え
ていれば、第２差分値演算手段で演算された差分値が所
定値以下の時は１番目に大きい比率の車輪のみが異径輪
であると判定し、所定値を越えている時は１番目および
２番目に大きい比率の車輪の両輪が異径輪であると判定
するように前記異径輪判定手段が構成されている手段と
したことで、２輪までの異径輪を精度よく判定すること
ができるようになる。According to a third aspect of the present invention, in the different-diameter wheel determining apparatus according to the first aspect, the wheel speed comparing means determines an average wheel speed of the front left and right wheels and the rear right and left wheels. Ratio calculating means for calculating the ratio of each wheel to the wheel speed, and first difference value calculation for calculating the difference between the first and third largest ratios among the ratios calculated by the ratio calculating means. Means, and when the difference value calculated by the first difference value calculation means exceeds a predetermined value, the difference between the second largest ratio and the third largest ratio among the ratios calculated by the ratio calculation means. A second difference value calculating means for calculating a value, if the difference value calculated by the first difference value calculating means is equal to or less than a predetermined value, it is determined that there is no different-diameter wheel, and if the difference value exceeds the predetermined value, 1 when the difference value calculated by the second difference value calculation means is equal to or less than a predetermined value. It is determined that only the wheels having a large ratio to the eyes are different-diameter wheels, and when the value exceeds a predetermined value, both wheels of the first and second largest ratio wheels are determined to be different-diameter wheels. By adopting the means that constitutes the diameter wheel determination means, it is possible to accurately determine up to two different diameter wheels.
【００３８】請求項４記載の異径輪判定装置を用いたブ
レーキ液圧制御装置では、前輪側左右輪および後輪側左
右輪の車輪速度をそれぞれ検出する車輪速度検出手段
と、車両の直進走行状態を判定する直進走行判定手段
と、前記直進走行判定手段により直進走行状態と判定さ
れた場合に前記各車輪速度検出手段で検出された前輪側
左右輪および後輪側左右輪の各々の車輪速度を比較する
車輪速度比較手段と、該車輪速度比較手段による比較結
果に基づいて車両における異径輪の存在を判定する異径
輪判定手段と、からなる異径輪判定装置を備え、前記異
径輪判定装置の異径輪判定手段により異径輪の判定がな
された時には、異径輪と判定された車輪の車輪速度を除
外した残りの通常車輪の車輪速度に基づいてスリップ率
の判断基準となる擬似車体速度を演算する擬似車体速度
演算手段と、前記異径輪判定手段による異径輪と判定さ
れた車輪の車輪速度を通常車輪の検出車輪速度値に補正
する補正手段と、を備えている手段としたことで、左右
両輪が共に異径である場合を含めて、異径輪を２輪まで
判定することが可能になると共に、異径輪の車輪速度が
通常車輪の車輪速度に補正された状態で制御に用いられ
るため、異径輪を含めた適切なブレーキ液圧制御が行え
るようになるという効果が得られる。According to a fourth aspect of the present invention, there is provided a brake fluid pressure control device using the different-diameter wheel determination device, wherein wheel speed detection means for detecting wheel speeds of the front left and right wheels and the rear left and right wheels, respectively, Straight running judgment means for judging a state, and the respective wheel speeds of the front left and right wheels and the rear left and right wheels detected by the respective wheel speed detecting means when the straight running judgment is made by the straight running judgment means. And a different-diameter wheel determining device for determining the presence of a different-diameter wheel in the vehicle based on the result of comparison by the wheel speed comparing device. When a different-diameter wheel is determined by the different-diameter wheel determining means of the wheel determining device, a slip ratio determination criterion is determined based on the wheel speeds of the remaining normal wheels excluding the wheel speeds of the wheels determined to be the different-diameter wheels. Become pseudo Means comprising pseudo body speed calculating means for calculating body speed, and correcting means for correcting the wheel speed of a wheel determined to be a different diameter wheel by the different diameter wheel determining means to a detected wheel speed value of a normal wheel. As a result, it is possible to determine up to two wheels having different diameters, including the case where both the left and right wheels have different diameters, and the wheel speeds of the different diameter wheels are corrected to the wheel speeds of the normal wheels. Since it is used for control in the state, it is possible to obtain an effect that appropriate brake fluid pressure control including wheels of different diameters can be performed.
【図１】本発明の実施の形態の異径輪判定装置を用いた
ブレーキ液圧制御装置を示す構成図である。FIG. 1 is a configuration diagram showing a brake fluid pressure control device using a different-diameter wheel determination device according to an embodiment of the present invention.
【図２】同ブレーキ液圧制御装置のコントロールユニッ
トの制御作動のうち、異径輪の車輪速度補正処理を開始
するか否かの判定制御の概要を示すフローチャートであ
る。FIG. 2 is a flowchart showing an outline of a determination control as to whether or not to start a wheel speed correction process for different-diameter wheels in a control operation of a control unit of the brake fluid pressure control device.
【図３】同ブレーキ液圧制御装置のコントロールユニッ
トの制御作動のうち異径輪判別開始条件判定制御の内容
を示すフローチャートである。FIG. 3 is a flowchart showing the content of a different diameter wheel discrimination start condition determination control in the control operation of a control unit of the brake fluid pressure control device.
【図４】同ブレーキ液圧制御装置のコントロールユニッ
トの制御作動のうち異径輪判定・補正処理制御の内容を
示すフローチャートである。FIG. 4 is a flowchart showing the content of a different diameter wheel determination / correction process control among control operations of a control unit of the brake fluid pressure control device.
【図５】クレーム対応図である。FIG. 5 is a diagram corresponding to claims.
１ 車両 ２ 車輪 ３ 車輪速センサ ４ 前後加速度センサ ５ 横加速度センサ ＥＣＵ コントロールユニット Reference Signs List 1 vehicle 2 wheel 3 wheel speed sensor 4 longitudinal acceleration sensor 5 lateral acceleration sensor ECU control unit
Claims (4)
度をそれぞれ検出する車輪速度検出手段と、 車両の直進走行状態を判定する直進走行判定手段と、 前記直進走行判定手段により直進走行状態と判定された
場合に前記各車輪速度検出手段で検出された前輪側左右
輪および後輪側左右輪の各々の車輪速度を比較する車輪
速度比較手段と、 該車輪速度比較手段による比較結果に基づいて車両にお
ける異径輪の存在を判定する異径輪判定手段と、を備え
ていることを特徴とする異径輪判定装置。A vehicle speed detecting means for detecting wheel speeds of front left and right wheels and a rear wheel left and right wheels; a straight running judgment device for judging a straight running state of the vehicle; A wheel speed comparison means for comparing each wheel speed of the front wheel left and right wheels and a rear wheel left and right wheel detected by the wheel speed detection means when determined to be in a state; A different-diameter wheel determining device that determines the presence of a different-diameter wheel in a vehicle based on the different-diameter wheel determining device.
よび後輪側左右輪の平均車輪速度に対する各車輪の車輪
速度の比率を演算することにより前輪側左右輪および後
輪側左右輪の各々の車輪速度を比較するように構成さ
れ、 前記異径輪判定手段が、前記車輪速度比較手段で演算さ
れた前記比率が所定以下である車輪を異径輪と判定する
ように構成されていることを特徴とする請求項１に記載
の異径輪判定装置。2. The wheel speed comparison means calculates the ratio of the wheel speed of each wheel to the average wheel speed of the front left and right wheels and the rear wheel left and right wheels, so that the front wheel left and right wheels and the rear wheel left and right wheels are calculated. Each of the wheel speeds is configured to be compared, and the different-diameter wheel determination unit is configured to determine a wheel whose ratio calculated by the wheel speed comparison unit is equal to or less than a predetermined wheel as a different-diameter wheel. The different-diameter wheel determination device according to claim 1, wherein:
よび後輪側左右輪の平均車輪速度と各車輪の車輪速度と
の比率を演算する比率演算手段と、該比率演算手段で演
算された比率のうち１番目に大きい比率と３番目に大き
い比率との差分値を演算する第１差分値演算手段と、該
第１差分値演算手段で演算された差分値が所定値を越え
ている時は前記比率演算手段で演算された比率のうち２
番目に大きい比率と３番目に大きい比率との差分値を演
算する第２差分値演算手段とを備え、 前記第１差分値演算手段で演算された差分値が所定値以
下であれば異径輪なしと判定し、所定値を越えていれ
ば、第２差分値演算手段で演算された差分値が所定値以
下の時は１番目に大きい比率の車輪のみが異径輪である
と判定し、所定値を越えている時は１番目および２番目
に大きい比率の車輪の両輪が異径輪であると判定するよ
うに前記異径輪判定手段が構成されていることを特徴と
する請求項１に記載の異径輪判定装置。3. The wheel speed comparison means calculates a ratio between an average wheel speed of the front left and right wheels and a rear wheel left and right wheel and a wheel speed of each wheel. First difference value calculating means for calculating a difference value between the first largest ratio and the third largest ratio among the calculated ratios, and the difference value calculated by the first difference value calculating means exceeds a predetermined value The time is 2 of the ratios calculated by the ratio calculation means.
Second difference value calculating means for calculating a difference value between the third largest ratio and the third largest ratio, and if the difference value calculated by the first difference value calculating means is equal to or less than a predetermined value, the different diameter wheel It is determined that there is no wheel, and if the difference value exceeds the predetermined value, when the difference value calculated by the second difference value calculation means is equal to or less than the predetermined value, it is determined that only the wheel having the first largest ratio is a different diameter wheel, 2. The different-diameter wheel determining means is configured to determine that both wheels of the first and second largest ratios are different-diameter wheels when a predetermined value is exceeded. The different-diameter wheel determination device according to any one of the above.
度をそれぞれ検出する車輪速度検出手段と、 車両の直進走行状態を判定する直進走行判定手段と、 前記直進走行判定手段により直進走行状態と判定された
場合に前記各車輪速度検出手段で検出された前輪側左右
輪および後輪側左右輪の各々の車輪速度を比較する車輪
速度比較手段と、 該車輪速度比較手段による比較結果に基づいて車両にお
ける異径輪の存在を判定する異径輪判定手段と、からな
る異径輪判定装置を備え、 前記異径輪判定装置の異径輪判定手段により異径輪の判
定がなされた時には、異径輪と判定された車輪の車輪速
度を除外した残りの通常車輪の車輪速度に基づいてスリ
ップ率の判断基準となる擬似車体速度を演算する擬似車
体速度演算手段と、 前記異径輪判定手段による異径輪と判定された車輪の車
輪速度を通常車輪の検出車輪速度値に補正する補正手段
と、を備えていることを特徴とするブレーキ液圧制御装
置。4. A straight travel determination means for detecting the wheel speeds of the front left and right wheels and the rear left and right wheels, a straight travel determination means for determining a straight travel state of the vehicle, and a straight travel by the straight travel determination means. A wheel speed comparison means for comparing each wheel speed of the front wheel left and right wheels and a rear wheel left and right wheel detected by the wheel speed detection means when determined to be in a state; And a different-diameter wheel determining device that determines the presence of a different-diameter wheel in the vehicle based on the different-diameter wheel determination device. A pseudo vehicle speed calculating means for calculating a pseudo vehicle speed serving as a criterion for determining a slip ratio based on the wheel speeds of the remaining normal wheels excluding the wheel speeds of the wheels determined to be the different diameter wheels; Judge Brake fluid pressure control device, characterized in that by being and a correcting means for correcting the detected wheel speed values of the normal wheel wheel speed of the wheel it is determined that different-diameter ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000071568A JP2001260855A (en) | 2000-03-15 | 2000-03-15 | Different-diameter wheel judging device and brake hydraulic pressure control device using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000071568A JP2001260855A (en) | 2000-03-15 | 2000-03-15 | Different-diameter wheel judging device and brake hydraulic pressure control device using the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2001260855A true JP2001260855A (en) | 2001-09-26 |
Family
ID=18590134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000071568A Pending JP2001260855A (en) | 2000-03-15 | 2000-03-15 | Different-diameter wheel judging device and brake hydraulic pressure control device using the same |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2001260855A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007030749A (en) * | 2005-07-28 | 2007-02-08 | Nissin Kogyo Co Ltd | Differential diameter rate calculating method for wheel, and differential diameter rate calculating device |
| JP2008143205A (en) * | 2006-12-06 | 2008-06-26 | Nissin Kogyo Co Ltd | Different diameter wheel determining method and determining device |
| JP2010500538A (en) * | 2006-08-10 | 2010-01-07 | コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツング | Method and apparatus for operating a vehicle |
| CN108621788A (en) * | 2017-03-16 | 2018-10-09 | 株式会社斯巴鲁 | The control device of vehicle |
| JP7439812B2 (en) | 2021-12-01 | 2024-02-28 | トヨタ自動車株式会社 | Air pressure abnormality determination system and air pressure abnormality determination method |
-
2000
- 2000-03-15 JP JP2000071568A patent/JP2001260855A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007030749A (en) * | 2005-07-28 | 2007-02-08 | Nissin Kogyo Co Ltd | Differential diameter rate calculating method for wheel, and differential diameter rate calculating device |
| JP4580302B2 (en) * | 2005-07-28 | 2010-11-10 | 日信工業株式会社 | Wheel different diameter ratio calculation method and different diameter ratio calculation apparatus |
| JP2010500538A (en) * | 2006-08-10 | 2010-01-07 | コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツング | Method and apparatus for operating a vehicle |
| US8280587B2 (en) | 2006-08-10 | 2012-10-02 | Continental Automotive Gmbh | Method and apparatus for operating a vehicle |
| JP2008143205A (en) * | 2006-12-06 | 2008-06-26 | Nissin Kogyo Co Ltd | Different diameter wheel determining method and determining device |
| CN108621788A (en) * | 2017-03-16 | 2018-10-09 | 株式会社斯巴鲁 | The control device of vehicle |
| JP7439812B2 (en) | 2021-12-01 | 2024-02-28 | トヨタ自動車株式会社 | Air pressure abnormality determination system and air pressure abnormality determination method |
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