JPS59210369A - Wheel speed arithmetic device - Google Patents
Wheel speed arithmetic deviceInfo
- Publication number
- JPS59210369A JPS59210369A JP8408383A JP8408383A JPS59210369A JP S59210369 A JPS59210369 A JP S59210369A JP 8408383 A JP8408383 A JP 8408383A JP 8408383 A JP8408383 A JP 8408383A JP S59210369 A JPS59210369 A JP S59210369A
- Authority
- JP
- Japan
- Prior art keywords
- wheel speed
- memory
- calculated
- abnormality
- current
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
- G01P3/489—Digital circuits therefor
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、車輪速センサから出力されるセンサパルスに
基づいて車輪速を順次演算する車輪速演算装置に関する
。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a wheel speed calculating device that sequentially calculates wheel speeds based on sensor pulses output from wheel speed sensors.
車輪速データに基づいて車両搭載装置の自動制御を行な
う、例えばアンチスキッド制御等の車両用制御装置にお
ける車輪速演算装置としては、一般に車輪速センサから
のセンサパルスに基づいてマイクロコンピュータによ）
その車輪速を高速演算するようにしたものが、演算速度
及び精度の点から有用である。A wheel speed calculation device in a vehicle control device such as anti-skid control that automatically controls vehicle-mounted devices based on wheel speed data is generally a microcomputer based on sensor pulses from a wheel speed sensor.
A system that calculates the wheel speed at high speed is useful in terms of calculation speed and accuracy.
このようにマイクロコンピュータを利用して高速演算処
理を行なうようにした車輪速演算装置として、従来例え
ば、特開昭５５−１５９１５９号に示すようなものが知
られている。これは、マイクロコンピュータによって一
定時間内Ｔに車輪速センサから出力されるセンサパルス
の数Ｐを計数し、次式
％式％
に従って車輪速Ｖｗを順次演算するようにしだものであ
る。As a wheel speed calculation device that performs high-speed calculation processing using a microcomputer, for example, the one shown in Japanese Patent Application Laid-open No. 159159/1983 is known. This is because a microcomputer counts the number P of sensor pulses output from the wheel speed sensor within a certain period T, and sequentially calculates the wheel speed Vw according to the following formula %.
ところで、このような車輪速演算装置では、検出スるセ
ンサパルス列にノイズが割り込んだす、センサパルスの
検出ミス、いわゆるパルス抜けが生じたりすると、その
演算周期における車輪速か異常値に激変してしまうとい
う問題があった。By the way, in such a wheel speed calculation device, if noise interrupts the detected sensor pulse train, or if a sensor pulse is detected incorrectly or a so-called pulse omission occurs, the wheel speed in that calculation cycle will drastically change to an abnormal value. There was a problem.
しかも、ノイズ等の原因で発生する異常は単発的なもの
や同じ値が連続するというものには限られず、例えば第
１図に示すように時刻ｔｎで異常になった値が柚々に変
動する場合がある。Moreover, anomalies that occur due to noise or other causes are not limited to one-off occurrences or consecutive same values; for example, as shown in Figure 1, the value that becomes abnormal at time tn fluctuates over time. There are cases.
本発明は上記に鑑みてなされたもので、車輪速の異常が
種々に変化しても適正な車輪速に補正できるようにする
ことを目的とし、この目的を達成するため、本発明は、
車輪速に比例した周波数を有する車輪速センサの出力を
パルス信号に波形整形し、該パルス信号に基づいて順次
車輪速を演算して出力する車輪速演算装置において、現
時点の演算した車輪速の異常を判別し、この異常判別時
に現時点の演算した車輪速を補正してその補正車輪速を
出力する一方、現時点の車輪速パルスに基づいて演算し
た車輪速と、前回出力した車輪速との差を演算し、該差
が予め定めた基準値以上の時に上記現時点の演算した車
輪速の異常を判別するようにしたものである。The present invention has been made in view of the above, and an object of the present invention is to make it possible to correct the wheel speed to an appropriate wheel speed even if the wheel speed abnormality changes in various ways.
In a wheel speed calculation device that waveforms the output of a wheel speed sensor having a frequency proportional to the wheel speed into a pulse signal, and sequentially calculates and outputs the wheel speed based on the pulse signal, an abnormality in the currently calculated wheel speed is detected. When determining this abnormality, the currently calculated wheel speed is corrected and the corrected wheel speed is output, while the difference between the wheel speed calculated based on the current wheel speed pulse and the previously output wheel speed is calculated. When the difference is greater than or equal to a predetermined reference value, an abnormality in the currently calculated wheel speed is determined.
以下本発明の実施例を図面に基づいて説明する。Embodiments of the present invention will be described below based on the drawings.
第２図は本発明の一実施例を示すブロック図である。FIG. 2 is a block diagram showing one embodiment of the present invention.
まず構成を説明すると、車輪速パルスＰのパルス周期に
基づき車輪速全演算する車輪速演算部３１と、現時点の
演算した車輪速を順次記憶する第１の車輪速メモリ３４
とはマイクロコンピュータ３内に構成されている。First, to explain the configuration, there is a wheel speed calculation unit 31 that calculates all wheel speeds based on the pulse period of the wheel speed pulse P, and a first wheel speed memory 34 that sequentially stores the calculated wheel speeds at the current time.
is configured within the microcomputer 3.
５０は本装置から出力する車輪速を記憶する第２の車輪
速メモリ、５１は第１の車輪速メモリ３４に記憶した車
輪速（Ｖｗ）ｎと第２の車輪速メモリ５０に記憶した前
回の出力車輪速（Ｖｗ）ｎ−１とを入力し、その車輪速
の差を演算して該差が予め定めた基準値２７以上の時に
異常判別信号を出力する車輪速異常判別部、５２は第１
の車輪速メモリ３４に記憶した現時点の演算した車輪速
（Ｖｗ）ｎ全出力する正常モードＩと第２の車輪速メモ
リ５０に記憶した前回の出力車輪速（Ｖｗ）ｎ−１を出
力する異常モード１１とが切換可能となる補正用切換ス
イッチであシ、車輪速異常判別部５１からの異常判別信
号によって補正用切換スイッチ５２が異常モード■に切
換わるようになっている。50 is a second wheel speed memory that stores the wheel speed output from this device; 51 is the wheel speed (Vw) n stored in the first wheel speed memory 34 and the previous wheel speed stored in the second wheel speed memory 50; 52 is a wheel speed abnormality determination unit that inputs the output wheel speed (Vw) n-1, calculates the difference between the wheel speeds, and outputs an abnormality determination signal when the difference is equal to or higher than a predetermined reference value 27; 1
Normal mode I outputs the current calculated wheel speed (Vw) n stored in the wheel speed memory 34 of the vehicle, and abnormal mode I outputs the previous output wheel speed (Vw) n-1 stored in the second wheel speed memory 50. The correction changeover switch 52 is configured to be able to switch between the mode 11 and the abnormality mode (2) in response to an abnormality determination signal from the wheel speed abnormality determination section 51.
次に作動を第３図に示す本装置から出力される車輪速の
状態の一例を示すグラフ図に従って説明する。Next, the operation will be explained with reference to the graph shown in FIG. 3 which shows an example of the state of the wheel speed output from this device.
第１の車輪速メモリ３４に記憶する現時点、例えば時刻
ｔｎで演算した車輪速（Ｖｗ）ｎと第２の車輪速メモリ
５０に記憶する前回、すなわち時刻ｔｎ−１で出力した
車輪速（Ｖｗ）ｎ−１の差が第３図のように基準値３７
以上の場合には、車輪速異常判別部５１から異常信号が
出力し、この異常信号によって補正用切換スイッチ５２
が異常モード１１に切換わシ、現時点（時刻ｔｎ）の車
輪速として第２の車輪速メモリ５０に記憶した車輪速（
Ｖｗ）ｎ−１が出力すると共にこの出力車輪速（Ｖｗ）
ｎ−１が再び第２の車輪速メモリ５０に記憶される。次
に時刻ｔｎ＋ｚで第１の車輪速メモリ３４に記憶される
車輪速（Ｖｗ）ｎ＋＋と第２の車輪速メモリ５０に記憶
する前回、すなわち時刻ｔｎで出力した車輪速（Ｖｗ）
ｎ−ｉとの差が再び第３図のように基準値２７以上の場
合は、前記同様力２の車輪速メモリ５０に記憶した車輪
速（Ｖｗ）ｎ−１ｆｃ比出力る。以下第３図において同
様に時刻ｔｎ＋２． ｔｎ＋３でもその時点で演算した
車輪速が車輪速（Ｖｗ）ｎ−１に補正される。The wheel speed (Vw) n calculated at the current time, for example, time tn, stored in the first wheel speed memory 34 and the wheel speed (Vw) outputted at the previous time, i.e., time tn-1, stored in the second wheel speed memory 50. The difference of n-1 is the reference value 37 as shown in Figure 3.
In the above case, an abnormality signal is output from the wheel speed abnormality determination section 51, and this abnormality signal causes the correction changeover switch 52 to
is switched to the abnormal mode 11, and the wheel speed (
Vw)n-1 outputs and this output wheel speed (Vw)
n-1 is again stored in the second wheel speed memory 50. Next, the wheel speed (Vw) n++ stored in the first wheel speed memory 34 at time tn+z and the wheel speed (Vw) outputted last time, that is, at time tn, stored in the second wheel speed memory 50.
If the difference from n-i is again equal to or greater than the reference value 27 as shown in FIG. 3, the wheel speed (Vw) n-1fc ratio stored in the wheel speed memory 50 of force 2 is output as described above. Similarly in FIG. 3, time tn+2. Even at tn+3, the wheel speed calculated at that time is corrected to wheel speed (Vw)n-1.
このような車輪速演算装置によれば、常に適正な値とし
て出力される車輪速と現時点の演算しノζ車輪速と全比
較し、その差が異常の場合に補正車輪速を出力するよう
にしているので、車輪速の異常が種々に変化しても適正
な車輪速に補正できるようになる。According to such a wheel speed calculation device, the wheel speed that is always output as an appropriate value is compared with the currently calculated wheel speed, and if the difference is abnormal, a corrected wheel speed is output. Therefore, even if the wheel speed abnormality changes in various ways, it can be corrected to an appropriate wheel speed.
尚、本実施例では、補正値が前回出力した車輪速となる
ような装置となっているが、本発明は、それに限られる
ことなく、例えば、前回出力した車輪速とアンチスキッ
ド制御システム中でこの車輪速と対応して演算される車
輪加減速とに基づいて現時点の補正値を新たに演算する
ような車輪速検出装置にも適用できる。In this embodiment, the correction value is the previously outputted wheel speed, but the present invention is not limited to this, and for example, the previously outputted wheel speed and the anti-skid control system can be used as the correction value. The present invention can also be applied to a wheel speed detection device that newly calculates a current correction value based on wheel acceleration and deceleration calculated in correspondence with this wheel speed.
以上説明してきたように本発明によれば、その構成を、
車輪速に比例した周波数を有する車輪速センサの出力全
パルス４ｇ号に成形歪形し、該パルス信号に基づいて順
次車輪速全演算して出力する車輪速演算装置におめで、
現時点の演算した車輪速の異常を判別し、この異常判別
時に現時点の演算した車輪速を補正してその補正車輪速
を出力する一方、現時点の車輪速パルスに基づいて演算
した車輪速と前回出力した車輪速との差を演算し、該差
が予め定めた基準値以上の時に上記現時点の演算した車
輪速の異常全判別するようにしたため、車輪速の異常が
種々に変化しても適正な車輪速に補正できるようになシ
、この車輪速データに基づく車両搭載装置の自動制御例
えばアンチスキンド制御が更に旨棺度で実行できるとい
う効果が得られる。As explained above, according to the present invention, the configuration is
Congratulations on the wheel speed calculation device that shapes and distorts the output of the wheel speed sensor into a No. 4g signal having a frequency proportional to the wheel speed, and sequentially calculates and outputs the total wheel speed based on the pulse signal,
An abnormality in the currently calculated wheel speed is determined, and when this abnormality is determined, the currently calculated wheel speed is corrected and the corrected wheel speed is output, while the wheel speed calculated based on the current wheel speed pulse and the previous output are output. The difference between the calculated wheel speed and the calculated wheel speed is calculated, and when the difference is greater than a predetermined reference value, any abnormalities in the wheel speed calculated at the current time are determined. By being able to correct the wheel speed, automatic control of vehicle-mounted devices based on this wheel speed data, such as anti-skin control, can be executed more efficiently.
第１図は車輪速演算装置から出力される車輪速の状態の
一例を示すグラフ図、第２図は本発明の一実施例を示す
ブロック図、第３図は、第２図に示す車輪速演算装置か
ら出力される車輪速の状態の一例を示すグラフ図である
。
３・・・マイクロコンピュータ
３１・・・車＠速演算部 ３４・・・第１の車輪速メ
モ１ノ５０・・・第２の車輪速メモリ
５２・・・補正用切換スイッチ ５１・・・車輪速異常
判別部特許出願人 日産自動車株式会社
代１人 弁理士 土 Ｉ訪 皓、、２；づ、
ｊ七・−゛FIG. 1 is a graph diagram showing an example of the state of the wheel speed output from the wheel speed calculation device, FIG. 2 is a block diagram showing an embodiment of the present invention, and FIG. 3 is a graph showing the wheel speed shown in FIG. FIG. 2 is a graph diagram showing an example of a wheel speed state output from a calculation device. 3...Microcomputer 31...Vehicle@speed calculation unit 34...First wheel speed memo 1-50...Second wheel speed memory 52...Correction changeover switch 51...Wheel Speed Abnormality Discrimination Department Patent Applicant: 1 person from Nissan Motor Co., Ltd. Patent Attorney: Sat.
j7・−゛
Claims (1)
パルス信号に波形整形し、該パルス信号に基づいて順次
車輪速を演算して出力する車輪速演算装置において、現
時点の演算した車輪速の異常を判別し、この異常判別時
に現時点の演算した車輪速を補正してその補正値全出力
するようにし、現時点の車輪速パルスに基づいて演算し
た車輪速を記憶する第１の車輪速メモリと、前回出力さ
れた車輪速を記憶する第２の車輪速メモリと、第１の車
輪速メモリと第２の車輪速メモリに記憶した車輪速の差
を演算し、該差が予め定めた基準値以上の時に上記現時
点で演算した車輪速の異常を判別して補正全指令する車
輪速異常判別手段とを有することを特徴とする車輪速演
算装置。In a wheel speed calculation device that waveforms the output of a wheel speed sensor having a frequency proportional to the wheel speed into a pulse signal, and sequentially calculates and outputs the wheel speed based on the pulse signal, an abnormality in the currently calculated wheel speed is detected. a first wheel speed memory for storing the calculated wheel speed based on the current wheel speed pulse; A second wheel speed memory that stores the previously output wheel speed, and a difference between the wheel speeds stored in the first wheel speed memory and the second wheel speed memory are calculated, and the difference is greater than or equal to a predetermined reference value. A wheel speed calculation device characterized by comprising a wheel speed abnormality determining means that determines an abnormality in the wheel speed calculated at the current time and issues a complete correction command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8408383A JPS59210369A (en) | 1983-05-16 | 1983-05-16 | Wheel speed arithmetic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8408383A JPS59210369A (en) | 1983-05-16 | 1983-05-16 | Wheel speed arithmetic device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59210369A true JPS59210369A (en) | 1984-11-29 |
Family
ID=13820591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8408383A Pending JPS59210369A (en) | 1983-05-16 | 1983-05-16 | Wheel speed arithmetic device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59210369A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4969695A (en) * | 1985-02-25 | 1990-11-13 | Nippondenso Co., Ltd. | Detection of abnormality for rotational speed sensor |
| US5400268A (en) * | 1991-10-25 | 1995-03-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle speed determining device having means for accurate determination of zeroing of vehicle speed |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54132915A (en) * | 1978-04-07 | 1979-10-16 | Hitachi Ltd | Speed rationality checking circuit |
| JPS55115101A (en) * | 1979-02-26 | 1980-09-04 | Nissan Motor Co Ltd | Data processor |
-
1983
- 1983-05-16 JP JP8408383A patent/JPS59210369A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54132915A (en) * | 1978-04-07 | 1979-10-16 | Hitachi Ltd | Speed rationality checking circuit |
| JPS55115101A (en) * | 1979-02-26 | 1980-09-04 | Nissan Motor Co Ltd | Data processor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4969695A (en) * | 1985-02-25 | 1990-11-13 | Nippondenso Co., Ltd. | Detection of abnormality for rotational speed sensor |
| US5400268A (en) * | 1991-10-25 | 1995-03-21 | Toyota Jidosha Kabushiki Kaisha | Vehicle speed determining device having means for accurate determination of zeroing of vehicle speed |
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