JPS60152956A - Wheel slippage detector for automobile - Google Patents
Wheel slippage detector for automobileInfo
- Publication number
- JPS60152956A JPS60152956A JP981684A JP981684A JPS60152956A JP S60152956 A JPS60152956 A JP S60152956A JP 981684 A JP981684 A JP 981684A JP 981684 A JP981684 A JP 981684A JP S60152956 A JPS60152956 A JP S60152956A
- Authority
- JP
- Japan
- Prior art keywords
- acceleration
- rotational speed
- wheels
- driving wheels
- wheel
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- 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
- G01P3/56—Devices characterised by the use of electric or magnetic means for comparing two speeds
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、自動車の駆動輪が空転している状態つまりス
リップ状態を検出する車輪スリップ検出装置に関するも
のである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a wheel slip detection device for detecting a state in which the drive wheels of an automobile are idling, that is, a slip state.
（従来技術）
従来より、この種の自動車の車輪スリップ検出装置とし
て、例えば実開昭５１−４４０４６号公報に開示される
ように、駆動輪および遊動輪の回転′ａ度を回転検出器
で検出し、その両回転速度の差に基づき駆動輪のスリッ
プ状態を検知するようにしたものが知られている。(Prior Art) Conventionally, as a wheel slip detection device for this type of automobile, as disclosed in, for example, Japanese Utility Model Application Publication No. 51-44046, a rotation detector detects the degree of rotation of a driving wheel and an idler wheel. However, a system is known in which the slip state of the driving wheels is detected based on the difference between the two rotational speeds.
ところが、上記従来の車輪スリップ検出装置は、駆動輪
と遊動輪との回転速度の差でもってスリップ状態を検出
するものであるため、個々の回転速度の絶対値を回転検
出器によって正確に検出する必要がある。このため、回
転検出器どしては検出ｌ＆皮の高いものを使用しな【プ
ればならず、また人転舵時には左右の車輪で回転速度が
著しく異なる関係上、４輪金部に対して回転検出器を設
けな【ノればならず、その結果、コスト的に高くつくと
いう不具合があった。However, since the conventional wheel slip detection device described above detects a slip state based on the difference in rotational speed between the driving wheel and the idle wheel, the absolute value of each rotational speed must be accurately detected by a rotation detector. There is a need. For this reason, it is necessary to use a rotation detector with a high detection l and skin.Also, since the rotation speed of the left and right wheels is significantly different when a person turns the wheel, it is necessary to Therefore, a rotation detector had to be installed, which resulted in a problem of high cost.
（発明の目的）
本発明の目的は、従来の如く駆動輪と遊動輪との回転速
度の差でもってスリップ状態を検出する代わりに、これ
らの回転速度の変化率つまり加速度の比較に基づいて検
出することにより、スリップ状態の検出を容易にかつ正
確に行うことができるようになし、コスト的に安価な実
用性に優れた自動車の車輪スリップ検出装置を提供せん
とするものである。(Object of the Invention) The object of the present invention is to detect a slip condition based on a comparison of the rate of change in the rotational speed, that is, the acceleration, instead of detecting the slip condition based on the difference in rotational speed between the driving wheel and the idler wheel as in the conventional method. By doing so, it is possible to easily and accurately detect a slip state, and it is an object of the present invention to provide a wheel slip detection device for an automobile that is inexpensive in cost and excellent in practicality.
（発明の構成）
上記目的を達成するため、本発明は、駆動輪の回転速度
を検出する回転速度検出手段と、該回転″ａ１［検出手
段で検出された回転速度の変化率を演算する演算手段と
、車体の加速度を検出する加速度検出手段と、上記演算
手段と加速度検出手段との両信号の差を算出する比較手
段と、該比較手段によりめられた値が設定値以上である
ことを検出し車輪のスリップ状態を表示する信号を発す
る判定手段とによって構成した：ｂのであり、このこと
により、駆動輪の回転速度の変化率による車体の見掛け
の加速度と加速度検出手段で検出された車体の真の加速
度との比較に基づいて車輪のスリップ状態を検出するよ
うにしたものである。(Structure of the Invention) In order to achieve the above object, the present invention includes a rotational speed detection means for detecting the rotational speed of a driving wheel, and an operation for calculating the rate of change in the rotational speed detected by the rotational speed "a1[detection means"]. means, acceleration detection means for detecting the acceleration of the vehicle body, comparison means for calculating the difference between the signals of the calculation means and the acceleration detection means, and a comparison means for calculating the difference between the signals of the calculation means and the acceleration detection means, and for detecting that the value determined by the comparison means is greater than or equal to a set value. and a determining means for detecting and emitting a signal indicating the slip state of the wheels, thereby determining the apparent acceleration of the vehicle body due to the rate of change in the rotational speed of the driving wheels and the vehicle body detected by the acceleration detecting means. The system detects the slip state of the wheels based on a comparison with the true acceleration of the vehicle.
（発明の効果）
したがって、本発明によれば、駆動輪の回転速度の変化
率による車体の見掛けの加速度と加速度検出手段で検出
された車体の真の加速度との比較に基づいて車輪のスリ
ップ状態を検出するようにしたことにより、このスリッ
プ検出に当り、従来の如く駆動輪の回転速度等の絶対値
までをも正確に検出する必要はなく、その変化率を検出
するだけで十分であり、また該変化率自体は大転舵時で
も左右の車輪で異なることがないので、回転速度検出手
段等としては通常精度のものを１つ用いるだけでもって
スリップ検出を正確に行うことができ、よってコス１へ
的に安価な実用性に優れた自動車の車輪スリップ検出装
置を提供することができるものである。(Effects of the Invention) Therefore, according to the present invention, the slip state of the wheels is determined based on the comparison between the apparent acceleration of the vehicle body due to the rate of change in the rotational speed of the driving wheels and the true acceleration of the vehicle body detected by the acceleration detection means. By detecting the slip, it is not necessary to accurately detect the absolute value of the rotational speed of the drive wheel, etc., as in the past, and it is sufficient to detect the rate of change. In addition, since the rate of change itself does not differ between the left and right wheels even during a large steering turn, slip detection can be performed accurately by using only one rotational speed detection means with normal accuracy. This makes it possible to provide an automobile wheel slip detection device that is inexpensive and highly practical.
（実施例） 以下、本発明の実施例を図面に基づいて説明する。(Example) Embodiments of the present invention will be described below based on the drawings.
第１図は本発明の第１実施例に係る車輪スリップ検出装
置を装備したＦＲ（フロントエンジン・リヤドライブ〉
型自動車の概略構成を示し、１は車体、２は車体１の前
部に配設されたエンジン、３は該エンジン１の後部に連
設されたトランスミッションであって、該トランスミッ
ション３は推進軸４．差動ＩＪＩ ５および後車軸６を
介して後輪（駆動輪）７．７に動力伝達可能に接続され
ている。FIG. 1 shows an FR (front engine/rear drive) equipped with a wheel slip detection device according to a first embodiment of the present invention.
The schematic structure of a type automobile is shown in which 1 is a car body, 2 is an engine disposed at the front of the car body 1, and 3 is a transmission connected to the rear of the engine 1. The transmission 3 is connected to a propulsion shaft 4. ．． It is connected to rear wheels (driving wheels) 7.7 via a differential IJI 5 and a rear axle 6 so that power can be transmitted thereto.
また、８は推進軸４の回転数検出により駆動軸７．７の
回転速度を検出する回転速度検出手段、９は車体１に設
けられて車体１の加′Ｓ度を振子の原理に基づいて検出
する加速度検出手段であって、該各検出手段８．９はス
リップ判定をするための電子判定回路１０に信号の授受
可能に接続されている。該電子判定回路１０は、回転速
１食検出手段８の信号を周波数−電圧変換器１１および
フィルタ１２を介して受け、駆動軸７，７の回転速度を
微分してその変化率７ｎを演算する微分回路よりなる演
算手段１３と、該演算手段１３からの信号と加速度検出
手段９からの信号を増幅器１４により増幅した信号とを
受けて、駆動輪７，７の回転速度の変化率′）ｎと車体
の加速度’ｔｓとの差１牙ｎ−牙Ｓ１を婢出する減算器
よりなる比較手段１５と、該比較手段１５からの上記差
ｌ Ｉｎ −５ｒｓ１に応じた信号を駆動軸７．７のス
リップ状態に相当する基準値設定器１６からの設定値２
０と大小比較して差１７ｎ−ＳＳＩが設定値’Ｉｏ以上
であることを検出し、車輪のスリップ状態を表示するｒ
ｌ−ＩＪ倍信号発する比較器よりなる判定手段１７とを
備えている。以上によって、駆動輪７．７の回転速度の
変化率による車体１の見掛けの加速度と加速度検出手段
９で検出された車体１の真の加速度との比較に基づいて
車輪のスリップ状態を検出するようにした本発明の車輪
スリップ検出装置へが構成されている。Reference numeral 8 denotes a rotational speed detection means for detecting the rotational speed of the drive shaft 7.7 by detecting the rotational speed of the propulsion shaft 4; Each of the detection means 8.9 is connected to an electronic determination circuit 10 for determining slippage so as to be able to send and receive signals. The electronic determination circuit 10 receives the signal from the rotational speed one meal detection means 8 via the frequency-voltage converter 11 and the filter 12, differentiates the rotational speed of the drive shafts 7, 7, and calculates the rate of change 7n. A calculating means 13 consisting of a differentiating circuit receives a signal from the calculating means 13 and a signal obtained by amplifying the signal from the acceleration detecting means 9 by an amplifier 14, and calculates the rate of change in the rotational speed of the driving wheels 7, 7. and the acceleration 'ts of the vehicle body, and a comparison means 15 consisting of a subtracter that extracts the difference 1fn - s1 between the acceleration 'ts and the acceleration of the vehicle body, and a signal corresponding to the above-mentioned difference lIn-5rs1 from the comparison means 15 is sent to the drive shaft 7.7. Set value 2 from the reference value setter 16 corresponding to the slip state of
0 and detects that the difference 17n-SSI is greater than the set value 'Io, and displays the wheel slip condition.
The determination means 17 is comprised of a comparator that generates a signal multiplied by l-IJ. As described above, the slip state of the wheels is detected based on the comparison between the apparent acceleration of the vehicle body 1 due to the rate of change in the rotational speed of the drive wheels 7.7 and the true acceleration of the vehicle body 1 detected by the acceleration detection means 9. The wheel slip detection device of the present invention is configured as follows.
尚、上記車輪スリップ検出装ＭＡにより車輪のスリップ
状態が検出されたときく電子判定回路１００判定判定１
７から「ト１」信号が発せられたとき）、そのスリップ
対策としては、検出信号たる「ＨＪ ４ｍ号により警報
ブザーを鳴らして運転者に注意を促したり、あるいはス
リップを抑制するようにサスペンションの支持剛性やエ
ンジンの出力等を変えたりすることが採られるものであ
る。Incidentally, when the wheel slip state is detected by the wheel slip detection device MA, the electronic judgment circuit 100 makes a judgment judgment 1.
7), countermeasures against the slip include sounding a warning buzzer using the detection signal HJ 4m to alert the driver, or adjusting the suspension to suppress the slip. This involves changing support rigidity, engine output, etc.
次に、上記実施例の作動について説明するに、路面の摩
擦抵抗係数が比較的高い一般道路を普通に走行する場合
には、駆動輪７，７は路面上をスリップせずに転勤し、
該駆動輪７．７の回転速度の変化率と車体１の加速度と
は比例関係に保たれている。Next, to explain the operation of the above embodiment, when driving normally on a general road where the coefficient of frictional resistance of the road surface is relatively high, the driving wheels 7, 7 shift without slipping on the road surface.
The rate of change in the rotational speed of the drive wheels 7.7 and the acceleration of the vehicle body 1 are maintained in a proportional relationship.
この際、本発明の車輪スリップ検出装置へにおいては、
電子判定回路１０の判定手段１７で駆動輪７，７の回転
速度の変化率２ｎと車体１の加速度′）Ｓとの差１牙ｎ
−？Ｓ１が基準値設定器１６の設定値Ｓ）Ｏより小さい
と判定されるので、該判定手段１７からは車輪のスリッ
プ状態を表示する「１」」信号は発せられない。At this time, in the wheel slip detection device of the present invention,
The determination means 17 of the electronic determination circuit 10 determines the difference 1n between the rate of change 2n of the rotational speed of the drive wheels 7, 7 and the acceleration ')S of the vehicle body 1.
−? Since it is determined that S1 is smaller than the set value S)O of the reference value setter 16, the determination means 17 does not issue a "1" signal indicating the slip state of the wheel.
一方、路面の摩擦抵抗係数が濡れや凍結等により小さく
なっている道路で急加速または急減速走行する場合には
、駆動輪７．７が路面上をスリップして車体１の加速度
が駆動輪７，７の回転速度の変化率に追従しなくなり、
このことにより、両者の間の比例関係は崩れ、その間に
大きな差が生じる。尚、第３図は、低摩擦抵抗係数路で
の急フを遂時における駆動輪および遊動輪の回転速度検
出よりめた車体の見掛けの速度および真の速度の変化特
性を示したものであり、また第４図は同様に車体の見掛
けの加速度および真の加速度の変化特性を示したもので
ある。この両図より、発進直後には駆動輪のスリップに
基因して車体の真の速度が見掛けの速度よりもかなり小
さくなるとともに、車体の見掛けの加速度と真の加速度
との間で比例関係が完全に崩れることが判る。On the other hand, when driving suddenly on a road where the coefficient of frictional resistance of the road surface is reduced due to wetness, freezing, etc., the driving wheels 7.7 slip on the road surface and the acceleration of the vehicle body 1 is reduced by the driving wheels 7. , 7 no longer follows the rate of change in rotational speed,
This breaks down the proportional relationship between the two and creates a large difference between them. Furthermore, Figure 3 shows the change characteristics of the apparent speed and true speed of the vehicle body determined from the detection of the rotational speed of the driving wheels and idler wheels when completing a steep turn on a road with a low coefficient of frictional resistance. , and FIG. 4 similarly shows the change characteristics of the apparent acceleration and true acceleration of the vehicle body. These two figures show that immediately after starting, the true speed of the vehicle becomes much smaller than the apparent speed due to the slip of the drive wheels, and the proportional relationship between the apparent acceleration and true acceleration of the vehicle is perfect. It turns out that it collapses.
この際、車輪スリップ検出装置へにおいては、電子判定
回路１０の判定１段１７で駆動輪７，７の回転速度の変
化率７ｎと車体１の加速度２Ｓとの差１ｔｎ−４ｓｌが
設定値２０以上であることが検出され、該判定手段１７
から車輪のスリップ状態を表示するｒＨＪ信号が発せら
れることになる。At this time, in the wheel slip detection device, the difference 1tn-4sl between the rate of change 7n of the rotational speed of the drive wheels 7, 7 and the acceleration 2S of the vehicle body 1 is greater than or equal to the set value 20 in the first stage 17 of the electronic judgment circuit 10. is detected, and the determining means 17
The rHJ signal indicating the slip condition of the wheels will be emitted from the vehicle.
このにうに、本発明の中輪スリップ検出装置△における
スリップ検出は、駆動輪７，７の回転速度の変化率２ｎ
と車体の加速度２ｓとの差ｌｓ？ｎ−＞Ｓ ｌが設定値
９０以上であるか否かに基づくものであるため、駆動輪
７．７の回転速度を検出する回転速度検出手段８として
は、従来の駆動輪と遊動輪との回転速度の差が設定値以
上であるか否かに基づく場合の如く回転速度の絶対値を
正確に検出できる高精度のものを使用する必要はなく、
回転速度の変化率？ｎをめ得るに足りる通常精度のもの
を使用することができる。また、このことは、車体１の
加速度を検出する加速度検出手段９においても同様であ
る。In this way, the slip detection in the middle wheel slip detection device Δ of the present invention is performed at a rate of change of 2n in the rotational speed of the drive wheels 7, 7.
The difference between ls and the vehicle body acceleration 2s? Since n->S l is based on whether or not the set value is 90 or more, the rotational speed detection means 8 for detecting the rotational speed of the driving wheels 7. It is not necessary to use a highly accurate device that can accurately detect the absolute value of the rotation speed, as is the case when it is based on whether the difference in rotation speed is greater than or equal to a set value.
Rate of change in rotational speed? It is possible to use a normal precision that is sufficient to obtain n. Further, this also applies to the acceleration detection means 9 that detects the acceleration of the vehicle body 1.
さらに、上記回転速度検出手段８および加速度検出手段
９は、その設置位置等によって転舵の影響を受けること
がないので、各々１個ずつでもってその検出機能を十分
に発揮できる。この結果、上述の如く雨検出手段８．９
に高精度のものを使用する必要がないことと相俟ってコ
ストダウン化を大１１Ｊに図ることができ、実施上非常
に有利である。Furthermore, since the rotational speed detection means 8 and the acceleration detection means 9 are not affected by steering depending on their installation positions, each of them can sufficiently perform its detection function. As a result, as mentioned above, the rain detection means 8.9
Coupled with the fact that there is no need to use a highly accurate one, it is possible to reduce costs by as much as 11J, which is very advantageous in terms of implementation.
第２図は、本発明の第２実施例として、上記第１実施例
での電子判定回路１０に代えてマイクロコンピュータを
用いて構成した場合における該マイクロコンピュータで
のスリップ判定フローを示したものである。このフロー
について説明するに、スター１〜として先ず、ステップ
ＳＡにおいて所定時間毎の８１測タイミングか否かを判
定し、計測タイミングを持ってステップＳａにおいて回
転速度検出手段８の信号に基づき駆動輪７．７の今回の
回転速度と前回の回転速度との差からその変化率′）ｎ
を演算するとともに、ステップＳｃにおいて加速度検出
手段９の信号に基づき車体１の加速度）Ｓを読み出す。FIG. 2 shows a slip determination flow in a microcomputer in a second embodiment of the present invention in which a microcomputer is used in place of the electronic determination circuit 10 in the first embodiment. be. To explain this flow, starting from star 1, first, in step SA, it is determined whether or not it is the 81st measurement timing every predetermined time, and at the measurement timing, in step Sa, the driving wheel 7 is From the difference between the current rotational speed and the previous rotational speed of .7, the rate of change')n
At the same time, in step Sc, the acceleration) S of the vehicle body 1 is read out based on the signal from the acceleration detection means 9.
そして、ステップＳＤにおいて駆動輪７，７の回転速度
の変化率７ｎと車体の加速１衰２Ｓとの差Ｉ牙０−牙ｓ
１を演痺したのち、ステップＳＥにおいτ」−２差１７
ｎ−ｃｊｓｌを駆動輪７，７のスリップ状態に相当する
設定値′）。Then, in step SD, the difference between the rate of change 7n of the rotational speed of the driving wheels 7, 7 and the acceleration 1 decrement 2S of the vehicle body is
After performing 1, in step SE τ'-2 difference 17
n-cjsl is a set value corresponding to the slip state of the drive wheels 7, 7.
と大小比較し、設定値２０未満のＮＯのとぎにはステッ
プＳＦにおいてスリップ判定フラグを「０」とする一方
、設定値２０以上のＹＥＳの場合にはステップＳｃにＪ
３いてスリップ判定フラグを「１」にしてスタートに戻
り、以後上記動作を繰返＝ｌ。When the set value is less than 20 and the result is NO, the slip determination flag is set to "0" in step SF, while when the set value is 20 or more and YES, the slip judgment flag is set to "0" in step Sc.
3, set the slip judgment flag to "1", return to the start, and repeat the above operation =l.
尚、本発明は上記実施例に限定されるものではなく、そ
の他種々の変形例を包含するものである。It should be noted that the present invention is not limited to the above embodiments, but includes various other modifications.
例えば、上記実施例では、車体１の加速度を検出する加
速度検出手段９として、振子の原理に基づいた、いわゆ
るＧ ｔンサを用いたが、これに代えて、車体の加速度
と比例関係にあるａ動輪（上記実施例の場合前輪）の回
転加速度を検出し、該回転加速度によりΦ体１の加速度
を検出するものとしてもよい。この場合、遊動輪の回転
加速度は大転舵時でも左右の車輪で異なることがないの
で、加速度検出手段は１個段けるだけで済み、−Ｖ記実
施例の場合と同様にコメ１〜ダウン効果を奏する。For example, in the above embodiment, a so-called Gt sensor based on the principle of a pendulum was used as the acceleration detection means 9 for detecting the acceleration of the vehicle body 1, but instead of this, a The rotational acceleration of the driving wheels (front wheels in the above embodiment) may be detected, and the acceleration of the Φ body 1 may be detected based on the rotational acceleration. In this case, since the rotational acceleration of the idle wheels does not differ between the left and right wheels even during a large steering turn, only one stage of acceleration detection means is required. be effective.
図面は本発明の実施例を示すもので、第１図は第１実施
例を示す概略構成図、第２図は第２実施例において用い
たマイクロコンピュータでのスリップ判定フローを示し
たフローチャート図である。
第３図および第４図は低摩擦抵抗係数路での急発進テス
ト結果を示すもので、第３図は車体の見掛けの速度およ
び真の速度の変化特性を示した図であり、第４図は車体
の見掛けの加速度および真の加速度の変化特性を示した
図である。
Ａ・・・車輪スリップ検出装置、１・・・車体、７・・
・後輪（駆動輪）、８・・・回転速度検出手段、９・・
・加速度検出手段、１３・・・演綽手段、１５・・・比
較手段、１７・・・判定手段。The drawings show embodiments of the present invention; FIG. 1 is a schematic configuration diagram showing the first embodiment, and FIG. 2 is a flowchart showing the slip judgment flow in the microcomputer used in the second embodiment. be. Figures 3 and 4 show the results of a sudden start test on a road with a low coefficient of friction and drag. Figure 3 shows the change characteristics of the apparent speed and true speed of the car body, and Figure 4 shows the change characteristics of the apparent speed and true speed of the vehicle body. is a diagram showing the change characteristics of the apparent acceleration and true acceleration of the vehicle body. A...Wheel slip detection device, 1...Vehicle body, 7...
・Rear wheel (drive wheel), 8...Rotational speed detection means, 9...
- Acceleration detection means, 13... calculation means, 15... comparison means, 17... determination means.
Claims (1)
、該回転速度検出手段で検出された回転速度の変化率を
演算する演算手段と、車体の加速度を検出Ｊ゛る加速度
検出手段と、上記演算手段と加速度検出手段との両信号
の差を算出する比較手段と、該比較手段によりめられた
値が設定値以上であることを検出し車輪のスリップ状態
を表示する信号を発する判定手段とからなることを特徴
とする自動６車の車輪スリップ検出装置。(1) A rotational speed detection means for detecting the rotational speed of the driving wheels, a calculation means for calculating the rate of change of the rotational speed detected by the rotational speed detection means, and an acceleration detection means for detecting the acceleration of the vehicle body. , a comparison means for calculating the difference between the signals from the calculation means and the acceleration detection means, and a determination for detecting that the value determined by the comparison means is greater than a set value and emitting a signal indicating the slip state of the wheel. A wheel slip detection device for a six-vehicle motor vehicle, characterized in that it comprises means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP981684A JPS60152956A (en) | 1984-01-23 | 1984-01-23 | Wheel slippage detector for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP981684A JPS60152956A (en) | 1984-01-23 | 1984-01-23 | Wheel slippage detector for automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60152956A true JPS60152956A (en) | 1985-08-12 |
| JPH0458576B2 JPH0458576B2 (en) | 1992-09-17 |
Family
ID=11730673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP981684A Granted JPS60152956A (en) | 1984-01-23 | 1984-01-23 | Wheel slippage detector for automobile |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60152956A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6456263A (en) * | 1987-08-25 | 1989-03-03 | Nippon Denso Co | Propulsion controller for vehicle |
| JPH01113668A (en) * | 1987-10-27 | 1989-05-02 | Fuji Heavy Ind Ltd | Detecting apparatus of slip |
| JPH01113669A (en) * | 1987-10-27 | 1989-05-02 | Fuji Heavy Ind Ltd | Detecting apparatus of slip |
| CN106347256A (en) * | 2015-07-16 | 2017-01-25 | 丰田自动车株式会社 | Road surface submergence estimation device |
-
1984
- 1984-01-23 JP JP981684A patent/JPS60152956A/en active Granted
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6456263A (en) * | 1987-08-25 | 1989-03-03 | Nippon Denso Co | Propulsion controller for vehicle |
| JPH01113668A (en) * | 1987-10-27 | 1989-05-02 | Fuji Heavy Ind Ltd | Detecting apparatus of slip |
| JPH01113669A (en) * | 1987-10-27 | 1989-05-02 | Fuji Heavy Ind Ltd | Detecting apparatus of slip |
| CN106347256A (en) * | 2015-07-16 | 2017-01-25 | 丰田自动车株式会社 | Road surface submergence estimation device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0458576B2 (en) | 1992-09-17 |
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