WO2005088106A1 - トラクション・コントロール・システム及びそのセンサユニット - Google Patents
トラクション・コントロール・システム及びそのセンサユニット Download PDFInfo
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- WO2005088106A1 WO2005088106A1 PCT/JP2005/004356 JP2005004356W WO2005088106A1 WO 2005088106 A1 WO2005088106 A1 WO 2005088106A1 JP 2005004356 W JP2005004356 W JP 2005004356W WO 2005088106 A1 WO2005088106 A1 WO 2005088106A1
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- acceleration
- rotation
- driving
- traction
- digital
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- 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
- B60T8/1725—Using tyre sensors, e.g. Sidewall Torsion sensors [SWT]
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- 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
- B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/12—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by alteration of electrical resistance
- G01P15/123—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by alteration of electrical resistance by piezo-resistive elements, e.g. semiconductor strain gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- 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
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- 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
- G01P3/488—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 delivered by variable reluctance detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/12—Strain gauge
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
- F02D9/02—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits concerning induction conduits
- F02D2009/0201—Arrangements; Control features; Details thereof
- F02D2009/0272—Two or more throttles disposed in series
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P2015/0805—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration
- G01P2015/0822—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration for defining out-of-plane movement of the mass
- G01P2015/084—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values being provided with a particular type of spring-mass-system for defining the displacement of a seismic mass due to an external acceleration for defining out-of-plane movement of the mass the mass being suspended at more than one of its sides, e.g. membrane-type suspension, so as to permit multi-axis movement of the mass
Definitions
- the present invention relates to a traction control system that detects acceleration applied to wheels during vehicle running and performs appropriate control, and a sensor unit thereof.
- TCS traction control system
- ABS traction control system
- caddy control system a stability control system equipped with a YAW sensor
- the TCS is a system that detects the rotational state of each tire and controls the driving force based on the detection result so as to prevent each tire force S from slipping.
- Patent Document 1 An example of such a control system is disclosed in, for example, an automobile brake device disclosed in Japanese Patent Application Laid-Open No. 05-338528 (hereinafter referred to as Patent Document 1) and Japanese Patent Application Laid-Open No. 2001-018775.
- Brake control device (hereinafter referred to as Patent Document 2), a vehicle control method and device disclosed in Japanese Patent Application Laid-Open No. 2001-182578 (hereinafter referred to as Patent Document 3), and disclosed in Japanese Patent Application Laid-Open No. 2002-137721.
- Patent Document 4 There are known a vehicle motion control device (hereinafter referred to as Patent Document 4), a brake device disclosed in Japanese Patent Application Laid-Open No. 2002-160616 (hereinafter referred to as Patent Document 5), and the like.
- Patent Document 1 a negative pressure is supplied from a vacuum tank to a vacuum booster connected to a brake pedal, and a negative pressure is supplied to the vacuum tank, and the vacuum pump is driven by a pump motor. Acceleration sensor 1 When the state in which the deceleration of the vehicle reaches a predetermined value is detected by (4), the pump motor for operating the vacuum pump is controlled, and the operation feeling during the sudden braking operation and immediately after the braking operation is controlled. A brake device for preventing change is disclosed.
- Patent Document 2 discloses a brake control device including control means for executing ABS control, wherein the control means includes a lateral acceleration estimating means for estimating a lateral acceleration occurring in the vehicle; The estimated lateral acceleration by the estimation means, the estimated lateral acceleration by the vehicle behavior detection means, and the detected lateral acceleration detected by the lateral acceleration sensor included in the vehicle behavior detection means are compared. Comparison determining means for determining that the vehicle is turning normally according to the angle, and determining that the vehicle is turning abnormally if the difference is equal to or greater than a predetermined value; and A brake control device that switches control between when a normal turn is determined is disclosed.
- Patent Document 3 discloses a vehicle control method and apparatus in which a control signal for adjusting deceleration and Z or acceleration of the vehicle is formed by corresponding set values.
- a vehicle control method and apparatus for forming a correction coefficient representing vehicle deceleration and superimposing the correction coefficient on a set value to improve the setting of deceleration and Z or acceleration of the vehicle is disclosed.
- Patent Document 4 discloses that the lateral slip angle change speed 13 'of the center of gravity is acquired as the actual amount of joking motion of a vehicle having a plurality of wheels, and the absolute value of the change speed 13' is set to a set value ⁇ .
- the brake fluid pressure ⁇ is applied to one of the brakes on the left and right rear wheels.
- the yaw moment is generated in the direction to decrease the absolute value of '.', And even during this yaw moment control, it is determined whether the slip control is necessary for the wheels on which the brake fluid pressure ⁇ is applied.
- a vehicle motion control device that performs the slip control that keeps the slip ratio within an appropriate range by suppressing the brake fluid pressure ⁇ ⁇ ⁇ when the determination is continued and the slip control becomes necessary.
- Patent Document 5 discloses at least two of an acceleration sensor that detects acceleration in the vehicle longitudinal direction, a wheel speed sensor that detects a wheel speed of each wheel, and a brake pressure sensor that detects a brake pressure. And target by feedback from at least two sensors The brake pressure is calculated, and based on the calculation result, the specified current is calculated by the specified current calculator, and the specified current is supplied to the brake driving actuator to generate a braking force corresponding to the specified current. Also, a brake device capable of suppressing abnormal output even when disturbance occurs or one sensor fails is disclosed.
- a rotation speed of the tire is detected by a rotor 1 and a pickup sensor 2 which rotate integrally with the wheel carrier. Is common.
- a plurality of irregularities provided at equal intervals on the peripheral surface of the rotor 1 cross the magnetic field generated by the pickup sensor 2 to change the magnetic flux density. Voltage is generated. By detecting this pulse, the rotation speed can be detected.
- One example of the basic principle of this method is disclosed in JP-A-52-109981.
- Patent Document 1 Japanese Patent Application Laid-Open No. 05-338528
- Patent Document 2 Japanese Patent Application Laid-Open No. 2001-018775
- Patent Document 3 JP 2001-182578 A
- Patent document 4 JP 2002-137721 A
- Patent Document 5 JP-A-2002-160616
- Patent Document 6 JP-A-52-109981
- an object of the present invention is to provide a traction control system for controlling the driving of a vehicle by easily detecting, with high accuracy, accelerations generated in the up, down, front, rear, left and right directions of wheels, and a sensor unit thereof. That is.
- the present invention is a vehicle configured to generate a target driving force by driving an engine throttle driving actuator according to a detection result of an accelerator operation state of the vehicle.
- a rotation mechanism provided on the vehicle body side and including a rotating body that fixes the wheels and rotates the wheels, and the wheels, is provided in a direction orthogonal to the rotation axis with the rotation.
- a sensor unit for detecting a first acceleration generated in the rotation direction and a second acceleration generated in the rotation direction, converting the detection result into a digital value, and transmitting digital information including the digital value, and the sensor unit.
- a monitoring device that receives the digital information transmitted from the monitoring device and obtains the detection results of the first acceleration and the second acceleration; Suggest Ru Torakushiyon 'control system and a drive means for driving the engine throttle driving Akuchiyueta based on a detection result of the first acceleration and the second acceleration.
- the sensor unit is provided at a predetermined position of the rotation mechanism, and is generated by the sensor unit in a direction orthogonal to a rotation axis with rotation.
- the detected first acceleration and the second acceleration generated in the rotation direction are detected, the detection result is converted into a digital value, and digital information including the digital value is transmitted.
- the monitoring device receives the digital information transmitted from the sensor unit, obtains the detection results of the first acceleration and the second acceleration, and obtains the first acceleration and the second acceleration obtained by the monitoring device. Based on the detection results of the acceleration and the second acceleration, the driving means drives the engine throttle driving actuator.
- the centrifugal force increases as the rotation speed of the rotation mechanism increases.
- the rotation speed Accordingly, the position of the sensor unit moves and the direction of the gravitational acceleration applied to the sensor unit changes, so that in the sensor unit, the magnitude of the second acceleration fluctuates in a sinusoidal shape with rotation, and this fluctuation occurs. Becomes shorter as the number of rotations increases. Therefore, the speed of the vehicle can be obtained from the detection result of the first acceleration, and the rotation speed of the wheel per unit time can be obtained from the detection result of the second acceleration.
- the sensor unit detects the third acceleration generated in the rotation axis direction, and converts the detection result into a digital value.
- the present invention proposes a traction control system comprising means for driving the engine throttle drive actuator based on the detection results of the second acceleration and the third acceleration.
- the sensor unit detects the third acceleration generated in the rotation axis direction, converts the detection result into a digital value, and converts the digital value into the digital value.
- the information is transmitted while being included in the digital information.
- the detection result of the third acceleration is acquired by the monitoring device, and the driving means drives the engine throttle based on the detection results of the first acceleration, the second acceleration, and the third acceleration.
- the actuator is driven.
- the third acceleration is a lateral movement or a lateral movement of the rotating mechanism, for example, the lateral movement of the rotating body or the wheel or the lateral movement of the rotating body or the wheel due to the operation of the steering wheel. Varies by. Therefore, it is possible to detect the lateral movement of the rotation mechanism ⁇ the left-right movement from the detection result of the third acceleration.
- the sensor unit may include a unit configured to detect a change in the second acceleration and a unit time based on the change in the second acceleration.
- Digital value of rotation speed Receiving means wherein the driving means drives the engine throttle driving actuator based on the first acceleration, the second acceleration, the detection result of the third acceleration, and the detection result of the rotation speed.
- the sensor unit detects the change in the second acceleration and, based on the change in the second acceleration, determines the number of rotations per unit time. Is detected, the detected rotation speed is converted into a digital value, and the digital value is included in the digital information and transmitted to the monitor device. Therefore, the monitoring device does not need to perform the rotation speed detection process based on the change in the second acceleration.
- the sensor unit is configured to detect a change in the first acceleration, and to detect the change in the first acceleration based on the change in the first acceleration.
- a traction control system including means for driving the actuator for driving the engine throttle is proposed.
- the sensor unit detects a change in the first acceleration, and detects a traveling speed based on the change in the first acceleration.
- the detected traveling speed is converted into a digital value, is included in the digital information, and is transmitted to the monitor device. Therefore, it is not necessary for the monitor device to perform the detection processing of the traveling speed based on the change of the second acceleration.
- each drive actuator of the engine throttle / drive torque distribution mechanism is driven in accordance with a detection result of the accelerator operation state of the vehicle, and
- a vehicle traction 'control' system configured to generate a driving force
- a plurality of rotating mechanisms each including a rotating body for rotating the wheel and the wheel, and a rotating mechanism that is generated in a direction orthogonal to the rotation axis with the rotation.
- the present invention also proposes a traction 'control' system including control means for controlling the driving of a predetermined driving actuator among the driving actuators.
- the plurality of sensor units are provided at predetermined positions of the plurality of rotation mechanism units, respectively, and the plurality of sensor units are rotated by the plurality of sensor units with rotation.
- a first acceleration generated in a direction orthogonal to the axis and a second acceleration generated in the rotation direction are detected, the detection result is converted into a digital value, and digital information including the digital value is transmitted.
- the monitor device receives the digital information transmitted from the sensor unit, obtains the detection results of the first acceleration and the second acceleration, and obtains the first acceleration and the second acceleration obtained by the monitor device.
- the control means controls the driving of a predetermined driving actuator among the driving actuators based on the detection results of the acceleration and the second acceleration.
- the drive torque of the vehicle is controlled by driving the engine throttle drive actuator, and the drive torque of the vehicle is distributed to each wheel by driving the drive torque distribution mechanism drive actuator.
- the centrifugal force increases as the rotation speed of the rotation mechanism increases.
- the magnitude of the second acceleration fluctuates in a sine wave shape with the rotation in the sensor unit.
- the cycle of this fluctuation becomes shorter as the number of rotations increases. Therefore, the speed of the vehicle can be obtained from the detection result of the first acceleration, and the number of rotations of the wheel per unit time can be obtained from the detection result of the second acceleration.
- the driving torque distribution mechanism transmits a driving torque generated by driving the engine throttle to at least one of the plurality of wheels.
- the drive torque distribution mechanism distributes a drive torque generated by driving the engine throttle to at least one of the plurality of wheels.
- the driving torque distribution mechanism includes means for changing a ratio of the driving torque to a continuous value from 0 to 100.
- the drive torque distribution mechanism changes the ratio of the drive torque to a continuous value from 0 to 100. Accordingly, the drive torque of the plurality of wheels is distributed to the wheels in a continuous value.
- the sensor unit detects the third acceleration generated in the rotation axis direction, and converts the detection result into a digital value.
- the sensor unit detects the third acceleration generated in the rotation axis direction, converts the detection result into a digital value, and converts the digital value into the digital value.
- the information is transmitted while being included in the digital information.
- the detection result of the third acceleration is obtained by the monitor device, and the control unit controls the driving of each of the driving units based on the detection results of the first acceleration, the second acceleration, and the third acceleration.
- the driving of a predetermined driving actuator among the actuators is controlled. It is.
- the third acceleration is a lateral movement or a lateral movement of the rotating mechanism, for example, a lateral movement of the rotating body or the wheel or a lateral movement of the rotating body or the wheel due to the operation of the steering wheel. Varies by. Therefore, it is possible to detect the lateral movement of the rotation mechanism ⁇ the left-right movement from the detection result of the third acceleration.
- the sensor unit may include a unit configured to detect a change in the second acceleration and a unit time based on the change in the second acceleration.
- the present invention proposes a traction control system including means for controlling the driving of a predetermined driving actuator among the driving actuators.
- the sensor unit detects the change in the second acceleration and, based on the change in the second acceleration, determines the number of rotations per unit time. Is detected, the detected rotation speed is converted into a digital value, and the digital value is included in the digital information and transmitted to the monitor device. Therefore, the monitoring device does not need to perform the rotation speed detection process based on the change in the second acceleration.
- the sensor unit in the traction 'control' system having the above-described configuration, includes a unit configured to detect a change in the first acceleration and a unit configured to detect a change in the first acceleration.
- a traction control comprising means for controlling the driving of a predetermined driving actuator among the driving actuators. We propose a 'roll' system.
- the sensor unit detects a change in the first acceleration, and detects a traveling speed based on the change in the first acceleration.
- the detected traveling speed is converted into a digital value, is included in the digital information, and is transmitted to the monitor device. Therefore, it is not necessary for the monitor device to perform the detection processing of the traveling speed based on the change of the second acceleration.
- the control means may be configured to control the rotation speed detected by two or more predetermined sensor units among the plurality of sensor units.
- a traction control system for controlling the driving of a predetermined driving actuator among the driving actuators so that the difference between the rotation speeds is equal to or less than the predetermined value is proposed.
- the control means detects a difference between the rotational speeds detected by two or more predetermined sensor units among the plurality of sensor units.
- the driving of a predetermined driving actuator among the driving actuators is controlled so as to be equal to or less than a predetermined value. Therefore, the difference in the number of rotations is reduced by controlling the magnitude and distribution of the driving torque of the vehicle.
- the control means may be configured to control the travel speed detected by two or more predetermined sensor units among the plurality of sensor units.
- a traction control system for controlling the driving of a predetermined driving actuator among the driving actuators so that the difference in the traveling speed is equal to or less than the predetermined value is proposed. I do.
- the control means detects a difference between the traveling speeds detected by two or more predetermined sensor units among the plurality of sensor units.
- the driving of the predetermined driving actuator among the driving actuators is controlled so as to be equal to or less than the predetermined value. Therefore, the difference in the traveling speed is reduced by controlling the magnitude and distribution of the driving torque of the vehicle.
- the present invention also relates to a traction "control" system having the above-described configuration.
- the sensor unit proposes a traction 'control' system provided on the rotating body.
- the sensor unit is provided not on the wheel but on the rotating body provided on the vehicle body side for mounting the wheel. It is possible to exchange freely.
- the present invention provides a traction 'control' system having the above-mentioned configuration, wherein said sensor unit comprises means for receiving an electromagnetic wave of a first frequency, and energy of said received electromagnetic wave of a first frequency. Means for converting the digital information into electric energy for driving; and means for operating with the electric energy and transmitting the digital information using electromagnetic waves of a second frequency, wherein the monitor device is configured to transmit the electromagnetic waves of the first frequency. , A means for receiving the electromagnetic wave of the second frequency, and a means for extracting the digital information of the received electromagnetic wave of the second frequency. .
- the sensor unit when an electromagnetic wave of the first frequency is radiated toward the sensor unit, the sensor unit that has received the electromagnetic wave of the first frequency receives the electromagnetic wave of the first frequency. Converts the energy of the waved first frequency electromagnetic wave into electric energy. Further, the sensor unit operates by the electric energy, detects each acceleration, converts the detection result into a digital value, and transmits digital information including the digital value using the electromagnetic wave of the second frequency.
- the electromagnetic wave of the second frequency transmitted from the sensor unit is received by the monitoring device, and the received electromagnetic wave force of the second frequency is extracted as a digital value of the detection result of each acceleration. Therefore, there is no need to provide a power supply for the sensor unit.
- the present invention also proposes a traction "control" system having the above configuration, wherein the first frequency and the second frequency are the same frequency.
- the same frequency is used as the first frequency and the second frequency, and transmission and reception are performed in a time-division manner.
- the present invention relates to a traction "control" system having the above-described configuration.
- the sensor unit includes storage means for storing identification information unique to the sensor unit, and means for transmitting the identification information included in the digital information, and the monitor device performs the rotation based on the identification information.
- the identification information unique to the sensor unit stored in the storage means of each sensor unit is transmitted from the sensor unit together with the detection result. Based on the identification information received from the sensor unit, it is possible to determine which of the rotation mechanism units is the digital information transmitted from the sensor unit. Thus, digital information transmitted from each of the plurality of sensor units can be determined by one monitor device.
- the present invention provides the traction 'control' system having the above configuration, wherein the sensor unit includes a semiconductor acceleration sensor having a silicon piezo type diaphragm for detecting accelerations in directions orthogonal to each other. Proposal of a 'Traction' control system.
- the sensor unit includes a semiconductor acceleration sensor having a silicon piezo-type diaphragm, and detects the accelerations in directions orthogonal to each other by the semiconductor acceleration sensor.
- the present invention provides the traction 'control' system having the above-described configuration, wherein the first rotational speed per unit time associated with the rotation of the wheel is detected in the rotation mechanism, and the detection result is obtained.
- a sensor for detecting a change in the second acceleration and a sensor for detecting a change in the second acceleration per unit time based on the change in the second acceleration.
- Judgment Suggest Torakushiyon 'control' system which is equipped with a stage.
- the rotation speed detecting mechanism is used. Then, the first number of revolutions per unit time is detected, and the detection result is transmitted to the monitor device. A change in the second acceleration is detected by the sensor unit, a second rotation speed per unit time is detected based on the change in the second acceleration, and the detected second rotation speed is a digital value. And transmitted to the monitor device after being included in the digital information. Therefore, the monitoring device does not need to perform the second rotation speed detection process based on the change in the second acceleration.
- the present invention provides the traction 'control' system having the above configuration, wherein the rotation speed detecting mechanism is provided on the rotating body and has a circumferential surface having a plurality of irregularities at regular intervals; And a means for generating a magnetic field and detecting a voltage associated with the change in the magnetic field.
- the first traveling speed per unit time can be calculated by counting the number of pulse-like voltages detected in the unit time.
- the present invention provides the traction control system having the above configuration, wherein the rotation speed detection mechanism has a means for converting the detection result of the first rotation speed into a digital signal, and the monitor
- the apparatus includes a conversion unit that converts the digital value of the second rotation speed into a digital signal, and the determination unit determines the digital value of the second rotation speed based on the digital signal of the first rotation speed and the digital signal of the second rotation speed.
- a traction control system including means for determining whether the first rotation speed and the second rotation speed are the same is proposed.
- the detection result of the first rotation speed is converted into a digital signal by the rotation speed detection mechanism, and the detection result of the second rotation speed is converted by the monitor device.
- the digital value is converted into a digital signal, and based on the digital signal of the first rotation speed and the digital signal of the second rotation speed, It is determined whether the first rotation speed and the second rotation speed are the same. Therefore, the digital signals can be compared with each other, and the determination can be facilitated.
- the conversion means multiplies the digital value of the second rotation speed by a predetermined value, and sets a cycle of a reciprocal of the multiplied value.
- the conversion means multiplies the digital value of the second rotational speed by a predetermined numerical value, and outputs a digital signal having a cycle of a reciprocal of the multiplied number. Is converted to Therefore, the digital signal of the second rotational speed generates a predetermined numerical vibration per one rotation of the wheel.
- the determination means may determine that the vibration of the digital signal of the second rotational speed is a predetermined period of the period of the digital signal of the first rotational speed.
- a means for determining that the first rotation speed and the second rotation speed are the same when an error occurs for each multiple is proposed.
- the determining means causes the vibration of the digital signal of the second rotational speed to be changed every predetermined multiple of the cycle of the digital signal of the first rotational speed. When it occurs, it is determined that the first rotation speed and the second rotation speed are the same. Therefore, it is possible to guarantee the reliability of the digital information that is the basis of the second rotation speed transmitted by the sensor unit.
- the present invention provides the traction 'control' system having the above configuration, wherein the first traveling speed per unit time associated with the rotation of the wheel is detected in the rotation mechanism, and the detection result is obtained.
- Means for receiving the detection result of the first traveling speed, and detection result of the second traveling speed from the sensor unit The present invention proposes a traction 'control' system comprising: means for receiving the first travel speed; and determination means for determining whether the first travel speed is equal to the second travel speed.
- the first traveling speed per unit time is detected by the rotation speed detection mechanism, and the detection result is transmitted to the monitor device.
- a change in the first acceleration is detected by the sensor unit, a second travel speed per unit time is detected based on the change in the first acceleration, and the detected second travel speed is digitally converted. It is converted into a value, included in the digital information, and transmitted to the monitor device. Therefore, the monitoring device does not need to perform the detection processing of the second traveling speed based on the change in the first acceleration.
- the present invention provides the traction 'control' system having the above-mentioned configuration, wherein the rotation number detecting mechanism is provided on the rotating body, and has a circumferential surface having a plurality of irregularities at regular intervals; And a means for generating a magnetic field and detecting a voltage associated with the change in the magnetic field.
- the digital signal of the first traveling speed and the digital value of the second traveling speed are received by the monitor device, and the first traveling speed and the second traveling speed are the same. It is determined whether or not there is force. Therefore, it is possible to confirm the reliability of the digital information that is the basis of the second traveling speed transmitted by the sensor unit.
- the rotation speed detecting mechanism includes means for converting the detection result of the first traveling speed into a digital signal
- the monitor device Has conversion means for converting the digital value of the second travel speed into a digital signal
- the determination means determines the second value based on the digital signal of the first travel speed and the digital signal of the second travel speed.
- the present invention proposes a traction control system including means for determining whether the first traveling speed and the second traveling speed are the same. According to the traction 'control' system having the above-described configuration, the detection result of the first traveling speed is converted into a digital signal by the rotation speed detecting mechanism, and the second traveling speed is converted by the motor device.
- the digital value of the speed is converted into a digital signal, and based on the digital signal of the first traveling speed and the digital signal of the second traveling speed, it is determined whether the first traveling speed and the second traveling speed have the same force. Is determined. Therefore, the digital signals can be compared with each other, and the determination becomes easy.
- the conversion means multiplies the digital value of the second traveling speed by a predetermined value, and calculates a reciprocal cycle of the multiplied value.
- the present invention proposes a traction control system having means for converting digital signals into digital signals.
- the conversion means multiplies the digital value of the second traveling speed by a predetermined value, and has a digital period having a reciprocal of the multiplication number. Converted to a signal. Therefore, the digital signal of the second traveling speed generates a predetermined value of vibration per wheel rotation.
- the present invention provides the traction 'control' system having the above-mentioned configuration, wherein said determination means is configured to determine that the oscillation of the digital signal of the second traveling speed is a predetermined multiple of the period of the digital signal of the first traveling speed.
- the present invention proposes a traction 'control' system including means for determining that the first traveling speed is the same as the second traveling speed when it occurs every time.
- the determination means causes the vibration of the digital signal of the second traveling speed to be changed by a predetermined multiple of the period of the digital signal of the first traveling speed. Is determined, it is determined that the first traveling speed and the second traveling speed are the same. Therefore, it is possible to guarantee the reliability of digital information that is the basis of the second traveling speed transmitted by the sensor unit.
- the present invention is configured to generate a target driving force by driving an engine throttle driving actuator according to a detection result of an accelerator operation state of a vehicle.
- a rotating body provided on the vehicle body side and fixed to wheels for rotating the wheels, and a rotating machine including the wheels
- a sensor unit provided in a structure for detecting acceleration generated by rotation, comprising: a first acceleration generated in a direction orthogonal to a rotation axis with rotation; and a second acceleration generated in a rotation direction.
- a sensor comprising: means for detecting acceleration; means for converting the detection result of the first acceleration and the detection result of the second acceleration into digital values; and means for transmitting digital information including the digital values. Suggest a unit.
- the first acceleration generated in the direction orthogonal to the rotation axis with the rotation and the second acceleration generated in the rotation direction are detected, and the detection result is obtained. Is converted into a digital value, and digital information including the digital value is transmitted.
- the centrifugal force increases as the rotation speed of the rotation mechanism increases.
- the magnitude of the second acceleration fluctuates in a sine wave shape with the rotation in the sensor unit.
- the cycle of this fluctuation becomes shorter as the number of rotations increases. Therefore, the speed of the vehicle can be obtained from the detection result of the first acceleration, and the rotation speed of the wheel per unit time can be obtained from the detection result of the second acceleration.
- the traction 'control' system of the present invention it is possible to detect accelerations in three directions orthogonal to each other due to rotation of wheels or the like in the rotation mechanism, and use the accelerations for driving control of the vehicle. This makes it possible to perform control based on highly accurate information in a short time.
- the amount of tire distortion, the side slip of the vehicle body, the slip of the wheels, and the like can be estimated from the acceleration, more advanced control can be performed by using them for drive control of the vehicle.
- the reliability of the acceleration can be assured by confirming the rotation speed and the running speed based on the above-mentioned caro speed using a conventional rotation speed detection mechanism.
- the sensor unit of the present invention only by providing the sensor unit at a predetermined position of a rim, a wheel, a wheel such as a tire body, or a rotating body such as an axle, rotation of the wheel causes It is possible to easily detect the vertical, front, rear, left and right accelerations that occur.
- FIG. 1 is a schematic configuration diagram showing a drive control device for a vehicle in a traction control system according to a first embodiment of the present invention.
- FIG. 2 is a view for explaining a mounted state of a sensor unit and a monitor device according to the first embodiment of the present invention.
- FIG. 3 is a view for explaining a mounted state of a sensor unit according to the first embodiment of the present invention.
- FIG. 4 is a diagram illustrating another mounting state of the sensor unit according to the first embodiment of the present invention.
- FIG. 5 is a configuration diagram showing an electric circuit of a sensor unit according to the first embodiment of the present invention.
- FIG. 6 is an external perspective view showing a semiconductor acceleration sensor according to the first embodiment of the present invention.
- FIG. 7 is a sectional view taken along line BB in FIG. 6;
- FIG. 8 is a sectional view taken along line CC in FIG. 6.
- FIG. 9 is an exploded perspective view showing the semiconductor acceleration sensor according to the first embodiment of the present invention.
- FIG. 10 is a configuration diagram showing an electric circuit of the semiconductor acceleration sensor according to the first embodiment of the present invention.
- FIG. 11 is a diagram showing a bridge circuit for detecting acceleration in the X-axis direction using the semiconductor acceleration sensor according to the first embodiment of the present invention.
- FIG. 12 is a diagram showing a bridge circuit for detecting acceleration in the Y-axis direction using the semiconductor acceleration sensor according to the first embodiment of the present invention.
- FIG. 13 is a diagram showing a bridge circuit for detecting acceleration in the Z-axis direction using the semiconductor acceleration sensor according to the first embodiment of the present invention.
- FIG. 14 is a diagram illustrating the operation of the semiconductor acceleration sensor according to the first embodiment of the present invention.
- FIG. 15 is a diagram illustrating the operation of the semiconductor acceleration sensor according to the first embodiment of the present invention.
- FIG. 16 is a diagram for describing accelerations in the X, Y, and Z-axis directions detected by the acceleration sensor of the sensor unit according to the first embodiment of the present invention.
- FIG. 17 is a configuration diagram showing an electric circuit of the monitor device according to the first embodiment of the present invention.
- FIG. 18 is a schematic configuration diagram showing another drive control device according to the first embodiment of the present invention.
- FIG. 19 is a configuration diagram showing an electric circuit of the monitor device according to the first embodiment of the present invention.
- FIG. 20 is a diagram showing the measurement results of the acceleration in the Z-axis direction in the first embodiment of the present invention.
- FIG. 21 is a diagram showing the measurement results of the acceleration in the Z-axis direction in the first embodiment of the present invention.
- FIG. 22 is a diagram showing the measurement results of the acceleration in the Z-axis direction in the first embodiment of the present invention.
- FIG. 23 is a diagram showing the measurement results of the acceleration in the X-axis direction in the first embodiment of the present invention.
- FIG. 24 is a diagram showing an actual measurement result of the acceleration in the X-axis direction in the first embodiment of the present invention.
- FIG. 25 is a diagram showing the measurement results of the acceleration in the X-axis direction in the first embodiment of the present invention.
- FIG. 26 is a diagram showing the measurement results of the acceleration in the Y-axis direction in the first embodiment of the present invention.
- FIG. 27 is a diagram showing the measurement results of the acceleration in the Y-axis direction in the first embodiment of the present invention.
- FIG. 28 is a flowchart for eliminating a slip of the two-wheel drive vehicle in the first embodiment of the present invention.
- FIG. 29 is a flowchart for eliminating a slip of the four-wheel drive vehicle in the first embodiment of the present invention.
- FIG. 30 is a schematic configuration diagram showing a drive torque distribution mechanism according to the first embodiment of the present invention.
- FIG. 31 is a conceptual diagram illustrating a time constant in vehicle management.
- FIG. 32 is a view for explaining a wheel rotation speed detecting mechanism in a conventional example.
- FIG. 33 is a view for explaining a wheel rotation speed detecting mechanism in a conventional example.
- FIG. 34 is a diagram showing the relationship between the first rotation speed and the pulse number in the second embodiment of the present invention.
- FIG. 35 is a schematic configuration diagram showing a vehicle drive control device according to the second embodiment of the present invention.
- FIG. 36 is a configuration diagram showing an electric circuit of a monitor device according to the second embodiment of the present invention.
- FIG. 37 is a view showing the relationship between the second rotation speed and the output voltage in the second embodiment of the present invention.
- FIG. 38 is a diagram showing the relationship between the output voltage and the number of pulses in the second embodiment of the present invention.
- FIG. 39 is a diagram illustrating the relationship between the pulse signal of the first rotation speed and the pulse signal of the second rotation speed in the second embodiment of the present invention.
- FIG. 40 is a diagram illustrating the relationship between the pulse signal of the first rotation speed and the pulse signal of the second rotation speed in the second embodiment of the present invention.
- FIG. 41 is a diagram illustrating the relationship between the pulse signal of the first rotation speed and the pulse signal of the second rotation speed in the second embodiment of the present invention.
- FIG. 42 is a diagram showing a relationship between the first traveling speed and the number of pulses in the third embodiment of the present invention.
- Fig. 43 is a schematic configuration showing a vehicle drive control device according to a third embodiment of the present invention.
- FIG. 43 is a schematic configuration showing a vehicle drive control device according to a third embodiment of the present invention.
- FIG. 44 is a configuration diagram showing an electric circuit of a monitor device according to the third embodiment of the present invention.
- FIG. 45 is a diagram showing a relationship between the second traveling speed and the output voltage in the third embodiment of the present invention.
- FIG. 46 is a diagram showing the relationship between the output voltage and the number of pulses in the third embodiment of the present invention.
- Main throttle position sensor 414 ... Sub throttle position sensor, 500 ... Rotation mechanism, 510 ... Axle, 520 ... Brake disc, 530 ... Wheel carrier, 600 ... Transfer , 601 piston, 602 multi-plate clutch, 603 chain, 610 front propshaft, 620 rear propshaft, 630 transmission, 640 transfer actuator, 650 ⁇ Front differential, 660 ⁇ Rear differential, 700 ⁇ Stability control unit, 10... Semiconductor acceleration sensor, 11... Pedestal, 12... Silicon substrate 12a: Wafer outer peripheral frame, 13: Diaphragm, 13a-13d: Diaphragm piece, 14: Thick film part, 15: Weight, 18A, 18B: Support, 181: Outer frame part, 182: Post , 183: Beam, 184: Projection, 184a: Tip of projection, 191: Electrode, 31A-31C: Voltage detector, 32A—32C: DC power supply, Rxl—Rx4, Ryl—Ry4, Rzl—R
- FIG. 1 is a schematic configuration diagram showing a drive control device for a four-wheel vehicle in a traction control system according to a first embodiment of the present invention.
- 100 is a sensor unit
- 200 is a monitoring device
- 300 is a tire
- 410 is an engine
- 411 is an accelerator pedal
- 412 is a sub throttle actuator
- 413 is a main throttle position sensor
- 414 is a sub throttle position sensor
- 416 is a sub throttle
- 500 is a rotation mechanism
- 510 is an axle
- 520 is a brake disk
- 700 is a drive control unit.
- the tire state detecting device of the present invention is composed of the plurality of sensor cuts 100 and the monitoring device 200.
- a sensor unit 100 is fixed in each tire 300 of the vehicle, and a monitor device 200 is fixed in a tire house 400 of each tire 300.
- the rotation mechanism 500 includes a brake disk 520 that rotates together with the axle 510, a wheel carrier 530 for fixing the wheel of the tire 300, and a tire body and a rim of the tire 300. Including the rotating body.
- the drive control unit 700 includes a control circuit having a well-known CPU, and performs drive control by receiving detection results output from the throttle position sensors 413 and 414 and the monitor device 200.
- the drive control unit 700 determines the detection result of the main throttle position sensor 413 and By electrically driving the sub-throttle 416 based on the detection result output from the monitor device 200, the tire 300 is automatically controlled so that the tire 300 does not slip.
- the sensor unit 100 is fixed to a predetermined position of a brake disk 520 that rotates together with the tire 300, for example, as shown in Figs.
- An acceleration sensor described later detects accelerations in three directions orthogonal to each other caused by the rotation of the tire 300, and converts the detected accelerations into digital values. Further, it generates and transmits digital information including a digital value of the acceleration as a detection result.
- a tire 300 is, for example, a well-known tubeless radial tire, and includes a wheel and a rim in the present embodiment.
- the tire 300 includes a tire main body 305, a rim 306, and wheels (not shown).
- the tire main body 305 includes a well-known cap tread 301, an undertread 302, belts 303A and 303B, a carcass 304, and the like.
- each rotation mechanism section 500 is not limited to one, and two or more sensor units may be provided for auxiliary use.
- the sensor unit 100 includes an antenna 110, an antenna switch 120, a rectifier circuit 130, a central processing unit 140, a detection unit 150, a transmission unit 160, and a sensor unit 170. I have.
- the antenna 110 is used for communication with the monitor device 200 using electromagnetic waves, and is matched to a predetermined frequency (first frequency) in the 2.4 GHz band, for example.
- the antenna switching unit 120 is constituted by, for example, an electronic switch, and controls the central processing unit 140 to connect the antenna 110 to the rectifying circuit 130 and the detecting unit 150, and to connect the antenna 110 to the transmitting unit 160. And switch.
- the rectifier circuit 130 includes diodes 131 and 132, a capacitor 133, and a resistor 134, and forms a well-known full-wave rectifier circuit.
- An antenna 110 is connected to an input side of the rectifier circuit 130 via an antenna switch 120.
- the rectifier circuit 130 rectifies a high-frequency current induced in the antenna 110 and converts the rectified current into a DC current, which is output as a drive power source for the central processing unit 140, the detection unit 150, the transmission unit 160, and the sensor unit 170.
- the central processing unit 140 includes a well-known CPU 141, a digital Z-analog (hereinafter, referred to as DZA) conversion circuit 142, and a storage unit 143.
- the CPU 141 operates based on a program stored in the semiconductor memory of the storage unit 143, and when driven by supply of electric energy, a digital value of an acceleration detection result acquired from the sensor unit 170 and a value to be described later. A process of generating digital information including identification information and transmitting the digital information to the monitor device 200 is performed.
- the storage unit 143 stores the identification information unique to the sensor unit 100 in advance.
- the storage unit 143 includes a ROM in which a program for operating the CPU 141 is recorded and a non-volatile semiconductor memory such as an electrically erasable programmable read-only memory (EEPROM). That is, the identification information unique to each sensor unit 100 is stored in advance in an area of the storage unit 143 that is designated as non-rewritable at the time of manufacture.
- EEPROM electrically erasable programmable read-only memory
- the detector 150 includes a diode 151 and an AZD converter 152.
- the anode of the diode 151 is connected to the antenna 110, and the power source is connected to the CPU 141 of the central processing unit 140 via the AZD converter 152. I have.
- the electromagnetic wave received by antenna 110 is detected by detector 150, and the signal obtained by the detection is converted to a digital signal and input to CPU 141.
- the transmission section 160 is composed of an oscillation circuit 161, a modulation circuit 162, and a high-frequency amplification circuit 163.
- the transmission section 160 is configured using a known PLL circuit or the like and oscillated by the oscillation circuit 161. Is modulated by the modulation circuit 162 based on the information signal input from the central processing unit 140, and is modulated through the high-frequency amplifier circuit 163 and the antenna switch 120 to the high frequency of the 2.45 GHz band (second frequency).
- the current is supplied to the antenna 110.
- the first frequency and the second frequency are set to the same frequency, but the first frequency and the second frequency may be different.
- the sensor section 170 includes the acceleration sensor 10 and an AZD conversion circuit 171.
- the acceleration sensor 10 is configured by a semiconductor acceleration sensor as shown in FIGS.
- FIG. 6 is an external perspective view showing the semiconductor acceleration sensor according to the first embodiment of the present invention
- FIG. 7 is a sectional view taken along line BB in FIG. 6
- FIG. 8 is a view taken along line CC in FIG.
- a cross-sectional view and FIG. 9 are exploded perspective views.
- reference numeral 10 denotes a semiconductor acceleration sensor, which includes a pedestal 11, a silicon substrate 12, and a support.
- the pedestal 11 has a rectangular frame shape, and a silicon substrate (silicon wafer)
- outer frame portions 181 of the supports 18A and 18B are fixed to the outer peripheral portion of the pedestal 11.
- a silicon substrate 12 is provided in the opening of the pedestal 11, and a cross-shaped thin film diaphragm 13 is formed in the center of the wafer outer peripheral frame 12a, and the upper surface of each of the diaphragm pieces 13a-13d is formed.
- Piezoresistors (diffusion resistors) Rxl-Rx4, Ryl-Ry4, Rzl-Rz4 are formed.
- the piezoresistors Rxl, Rx2, Rzl, Rz2 are formed on one of the diaphragm pieces 13a, 13b arranged on a straight line, and the other diaphragm piece 13b is formed on the other diaphragm piece 13b.
- Piezoresistors Rx3, Rx4, Rz3, Rz4 are formed.
- Piezoresistors Ryl and Ry2 are formed on one of the diaphragm pieces 13c and 13d arranged on a straight line perpendicular to the diaphragm pieces 13a and 13b, and the piezoresistor Ryl and Ry2 are formed on the other diaphragm piece 13d.
- Resistors Ry3 and Ry4 are formed.
- piezoresistors Rxl—Rx4, Ryl—Ry4, Rzl—Rz4 are designed so that a resistance bridge circuit can be configured to detect the acceleration in the X, Y, and Z directions orthogonal to each other. 10 and connected to a connection electrode 191 provided on the outer peripheral surface of the silicon substrate 12.
- a thick film portion 14 is formed on one surface side of the central portion of the diaphragm 13.
- a weight 15 having a shape is attached.
- the supports 18A and 18B connect the outer frame part 181 having a rectangular frame shape, the four pillars 182 erected at the four corners of the fixed part, and the tip of each pillar. And a conical projection 184 provided at the central intersection of the beam 183.
- the outer frame portion 181 is fitted and fixed to the outer peripheral portion of the pedestal 11 such that the projection portion 184 is located on the other surface side of the diaphragm 13, that is, on the side where the weight 15 does not exist.
- the tip 184a of 184 is set to be at a distance Dl from the surface of the diaphragm 13 or the weight 15.
- This distance D1 is such that even when acceleration occurs in a direction perpendicular to the surface of the diaphragm 13 and a force exceeding a predetermined value is applied to both surfaces of the diaphragm 13 due to this acceleration, the diaphragm pieces 13a to 13d are The displacement is set to a value that can be limited by the protrusion 184 so as not to extend completely.
- FIGS. When the semiconductor acceleration sensor 10 having the above configuration is used, three resistance bridge circuits are configured as shown in FIGS. That is, as shown in FIG. 11, a positive electrode of the DC power supply 32A is connected to a connection point between one end of the piezoresistor Rxl and one end of the piezoresistor Rx2 as a prism circuit for detecting acceleration in the X-axis direction. And connect the negative electrode of the DC power supply 32A to the connection point between one end of the piezoresistor Rx3 and one end of the piezoresistor Rx4.
- a bridge circuit for detecting the acceleration in the Y-axis direction includes a DC power supply 32B at a connection point between one end of the piezoresistor Ry1 and one end of the piezoresistor Ry2. Connect the positive electrode, and connect the negative electrode of DC power supply 32B to the connection point between one end of piezoresistor Ry3 and one end of piezoresistor Ry4. Furthermore, one end of the voltage detector 31B is connected to the connection point between the other end of the piezoresistor Ryl and the other end of the piezoresistor Ry4, and the other end of the piezoresistor Ry2 and the other end of the piezoresistor Ry3 are connected. Is connected to the other end of the voltage detector 31B.
- a bridge circuit for detecting acceleration in the Z-axis direction includes a positive electrode of DC power supply 32C connected to a connection point between one end of piezoresistor Rzl and one end of piezoresistor Rz2. And the negative electrode of the DC power supply 32C is connected to the connection point between one end of the piezoresistor Rz3 and one end of the piezoresistor Rz4. Further, one end of the voltage detector 31C is connected to a connection point between the other end of the piezo resistor Rzl and the other end of the piezo resistor Rz3, and the other end of the piezo resistor Rz2 and the other end of the piezo resistor Rz4 are connected. The other end of the voltage detector 31C is connected to the connection point of.
- the semiconductor acceleration sensor 10 having the above-described configuration, when the force generated due to the acceleration applied to the sensor 10 is applied to the weight 15, the diaphragm pieces 13a to 13d are distorted, thereby causing the piezoelectric
- the resistance value of the resistor Rxl—Rx4, Ryl—Ry4, Rzl—Rz4 changes. Therefore
- piezoresistors Rxl—Rx4, Ryl—Ry4, Rzl—Rz4 provided on each of the diaphragm pieces 13a-13d, accelerations in the X-axis, Y-axis, and Z-axis directions perpendicular to each other are formed. Can be detected.
- the sensor unit 100 is provided such that the X axis corresponds to the rotation direction of the tire 300, the Y axis corresponds to the rotation axis direction, and the Z axis corresponds to the direction orthogonal to the rotation axis. Therefore, acceleration due to rotation can be detected with high accuracy without being affected by suspension or the like unlike a sensor provided on the vehicle body side.
- the AZD conversion circuit 171 converts an analog electric signal output from the acceleration sensor 10 into a digital signal and outputs the digital signal to the CPU 141.
- This digital signal corresponds to the value of the acceleration in the X, ⁇ , and Z axis directions.
- the accelerations generated in the X, ⁇ , and Z axis directions include a positive acceleration and a negative acceleration. In the present embodiment, both accelerations can be detected.
- the frequency in the 2.45 GHz band is changed to the first and second frequencies.
- the influence of the belts 303A and 303B in which the metal wires for reinforcing the tire 300 are woven is hardly affected, so that stable communication can be performed even when the sensor unit 100 is fixed to the rim 306. it can.
- the sensor unit 100 can be embedded in the tire 300 when the tire 300 is manufactured.
- the IC chip or other components are configured to sufficiently withstand the heat during vulcanization. Needless to say that the parts are designed! / ,.
- the monitor device 200 is fixed to each tire house 400 as shown in FIGS. 1 and 2, and each monitor device 200 is connected to the drive control unit 700 by a cable as shown in FIG. It operates by the electric energy sent from the drive control unit 700.
- the electric system circuit of the monitor device 200 includes a radiation unit 210, a reception unit 220, a control unit 230, and a calculation unit 240.
- the control unit 230 and the arithmetic unit 240 are configured with a well-known CPU, a ROM in which a program for operating this CPU is stored, and a memory circuit such as a RAM necessary for performing arithmetic processing. ⁇
- the radiation unit 210 is composed of an antenna 211 for radiating an electromagnetic wave of a predetermined frequency (the first frequency described above) in the 2.45 GHz band and a transmitter 212, and based on an instruction from the controller 230. Then, the electromagnetic wave of the first frequency is radiated from the antenna 211.
- a predetermined frequency the first frequency described above
- the transmitting unit 212 similarly to the transmitting unit 160 of the sensor unit 100, a configuration including an oscillation circuit 161, a modulation circuit 162, and a high-frequency amplifier circuit 163 can be given. As a result, an electromagnetic wave of 2.45 GHz is radiated from the antenna 211.
- the high-frequency power output from the transmitting unit 212 is set to a value at which electric energy can be supplied to the sensor unit 100 from the electromagnetic wave radiation antenna 211 of the monitor device 200. As a result, the acceleration of each tire 300 can be detected for each monitor device 200.
- the receiving unit 220 is composed of an antenna 221 for receiving an electromagnetic wave of a predetermined frequency (the second frequency) in the 2.45 GHz band and a detecting unit 222, and based on an instruction from the control unit 230. And detects and detects the electromagnetic wave of the second frequency received by the antenna 221. The obtained signal is converted into a digital signal and output to the arithmetic unit 240.
- the detection unit 222 a circuit similar to the detection unit 150 of the sensor unit 100 may be used.
- the control unit 230 drives the transmitting unit 212 to emit electromagnetic waves for a predetermined time tl when electric power is supplied to the drive control unit 700 and starts operation, and thereafter, for a predetermined time t2,
- the detection unit 222 is driven, and a digital signal is output from the detection unit 222 to the calculation unit 240.
- the arithmetic unit 240 calculates the acceleration based on the digital signal and outputs the acceleration to the drive control unit 700. Thereafter, control unit 230 repeats the same processing as described above.
- the radiation time tl and the reception time t2 of the monitor device 200 are set to 0.15 ms and 0.30 ms, respectively.
- a voltage of 3 V or more can be stored as electric energy sufficient to drive the sensor unit 100. Therefore, as will be described later, the monitor device 200 can receive more digital information at a time interval of 10 msec or less necessary for performing vehicle motion analysis and driving control as described later.
- FIGS. 18 and 19 As another configuration of the sensor unit 100 and the monitor device 200, as shown in FIGS. 18 and 19, one monitor device 200 and the sensor unit 100 provided in each rotation mechanism 500 are used. Constitute.
- the sensor unit 100 detects each acceleration when receiving an information request instruction including its own identification information from the monitor device 200, and controls the CPU 141 to transmit the detection result together with its own identification information as digital information.
- the program is set.
- the monitoring device 200 is provided with an operation unit 250 for storing identification information of the sensor unit 100 provided in each tire 300 in the control unit 230 in advance. Then, the program of the control unit 230 transmits the information request instruction including the identification information of the sensor unit 100 to the sensor units 100 of all the tires 300 in a predetermined order or at random. Is set. In addition, when outputting the detection result to drive control unit 700, it outputs, together with the detection result, detection position information indicating which position of rotation mechanism unit 500 of the vehicle is the detection result.
- the drive control unit 700 stores in advance distortion characteristic information indicating the relationship between the acceleration in the X, ⁇ , and Z-axis directions obtained from the monitor device 200 and the amount of distortion of the tire 300 by actual measurement such as an experiment. Is sought and memorized. Further, drive control unit 700 estimates the amount of distortion of each tire 300 based on the acceleration detection result and the distortion characteristic information, and controls sub-throttle actuator 412 based on the estimated amount of distortion of tire 300. Control and drive the subthrottle 416.
- FIGS. 20 to 22 show the measurement results of the acceleration in the Z-axis direction
- FIGS. 23 to 25 show the measurement results of the acceleration in the X-axis direction
- FIGS. 26 and 27 show the measurement results of the acceleration in the Y-axis direction, respectively.
- Fig. 20 shows the measured values of the acceleration in the Z-axis direction when traveling at a speed of 2.5 km / h
- Fig. 21 shows the measured values of the acceleration in the Z-axis direction when traveling at a speed of 20 km / h
- Figure 22 shows the measured values of acceleration in the Z-axis direction when traveling at a speed of 40 km / h.
- the acceleration in the Z-axis direction also increases because the centrifugal force of the wheels increases as the traveling speed increases. Therefore, it is possible to determine the traveling speed also from the acceleration force in the Z-axis direction.
- the measured value has a sine wave shape because it is affected by the gravitational acceleration.
- FIG. 23 is a measured value of the acceleration in the X-axis direction when traveling at 2.5 km / h
- FIG. 24 is a measured value of the acceleration in the X-axis direction when traveling at a speed of 20 km / h
- Figure 25 shows the measured values of acceleration in the X-axis direction when traveling at 40 km / h.
- the measured value has a sine wave shape because it is affected by the gravitational acceleration in the same manner as described above.
- FIG. 26 shows actual measured values of the acceleration in the Y-axis direction when the steering wheel is turned to the right during running
- FIG. 27 shows actual measured values of the acceleration in the Y-axis direction when the steering wheel is turned to the left during running.
- the drive control unit 700 based on the detection results of the acceleration in the X, ⁇ , and Z axes directions and the number of rotations of the wheel per unit time for each rotation mechanism 500 output from the monitor device 200, the drive control unit 700 The operation for eliminating the S slip will be described with reference to FIGS.
- the average of the detection results of the rotation mechanism 500 at the front right of the vehicle and the rotation mechanism 500 at the front left of the vehicle is the average of the driven wheels
- the rotation mechanism 500 at the rear right of the vehicle is the average of the detection results of the four wheels.
- the average of the detection results of the front and rear right rotation mechanism 500 and the rear left rotation mechanism 500 is represented as rear wheel.
- the drive control unit 700 of the two-wheel drive vehicle obtains the detection result from each monitor device 200 (S10), the drive control unit 700 determines the drive wheel The slip is detected (S20). If the difference between the rotation speeds is larger than the threshold value (r), the opening of the sub-throttle 416 is closed by a predetermined angle (d) to reduce the output of the engine 410 (S30), and the difference between the rotation speeds is large. And S10 to S30 are repeated until the value becomes equal to or less than the value (r).
- a driving torque can be generated in accordance with the frictional force generated between the tire and the road surface, and slip can be eliminated.
- the predetermined angle in S30 is made smaller than usual, and the sub throttle 416 is closed gently to prevent sudden start.
- the drive control unit 700 can perform highly accurate control.
- the force that closes the sub-throttle 416 may be replaced by a fuel force-to-brake control, or a combination thereof. Similar drive control can also be performed when slip is detected from the difference between the traveling speed of the driven wheel and the driven wheel, using the traveling speed based on the acceleration in the Z-axis direction instead of the rotation speed.
- the drive control unit 700 of the four-wheel drive vehicle obtains the detection result from each monitor device 200 (S10), and then calculates the front wheel based on the difference between the absolute values of the rotation speeds of the front wheel and the rear wheel. Alternatively, the rear wheel slip is detected (S21). [0151] However, since a four-wheel drive vehicle is driven by four wheels in front, rear, left and right, slip may not be able to be eliminated simply by reducing the driving torque. Therefore, the driving torque of the slipping wheel is distributed to the other wheels to eliminate the slip and provide an appropriate driving force.
- a driving torque distribution mechanism as shown in Fig. 30 is given.
- a transfer 600 is composed of a piston 601, a multi-plate clutch 602 and a chain 603, and the multi-plate clutch 602 has a rear propeller shaft 620 on the outside and a chain 603 on the inside.
- the front propeller shaft 610 transmits driving torque to the front wheels via the chain 603, and the rear propeller shaft 620 is directly connected to the transmission 630 and transmits driving torque to the rear wheels.
- the control unit 700 drives the transfer actuator 640 to control the pressing force of the multi-plate clutch 602 to distribute the driving torque to the front wheels and the rear wheels. Further, the drive torque of the front wheels and the rear wheels is distributed to the left and right wheels by controlling the front differential 650 and the rear differential 660. With this mechanism, the ratio of the driving torque of the front, rear, left and right wheels can be changed to a continuous value from 0 to 100.
- Steps S10 to S51 are repeated until the difference between the front and rear rotation speeds and the difference between the left and right rotation speeds becomes equal to or less than the threshold value (rl, r2). Therefore, the driving torque corresponding to the frictional force generated between each of the four tires and the road surface can be distributed, and the slip can be eliminated. Also, taking into account the detection results of the acceleration in the Y-axis direction, when the lateral acceleration is large, such as during cornering, the turning (rotation) is increased by distributing the drive torque of the inner wheel that slips smoothly to the outer wheel.
- the sub-throttle 416 may be controlled at the same time when the drive torque is distributed back and forth in S31 or when the drive torque is distributed left and right in S51. Further, the drive torque distribution may be programmed in the CPU of the drive control unit 700 so as to change the ratio in which the drive torque is stored in advance, for example, the ratio before and after, from 30:70 to 60:40. Further, in a two-wheel drive vehicle provided with a drive torque distribution mechanism, the drive torque may be distributed to left and right.
- a conventional general drive control device detects the rotation speed of the tire 300 mounted on the vehicle.
- the sub-throttle actuator 412 is controlled by taking in the detection result output from the sensor that performs the control.
- the above-described sensor unit 100 is provided, and X, ⁇ for each of the rotation mechanism units 500 output from the monitor device 200 are provided. Since the detection results of each acceleration in the Z-axis direction, the number of rotations of the wheels per unit time, and the traveling speed are taken into the drive control unit 700 as digital values, drive control can be performed based on more information with high accuracy. it can.
- the sensor unit 100 receives the electromagnetic wave radiated from the monitor device 200 and transmits the detection result when obtaining the electric energy.
- the above effect can be obtained even without providing.
- a program or the like is set so that when the self-identification information is received from the monitor device 200, the sensor unit 100 also transmits the detection result, so that the external device is configured. Since the detection result is not transmitted due to unnecessary noise from the unit, unnecessary radiation of electromagnetic waves can be prevented.
- the distortion characteristic information indicating the relationship between the acceleration obtained from the monitor device 200 and the amount of distortion of the tire 300 is stored in the drive control unit 700, and the drive control unit 700 compares the acceleration detection result with the acceleration detection result. Based on the strain characteristic information, the strain amount of the tire 300 was estimated. However, the strain characteristic information was stored in the monitor device 200, and the monitor device 200 estimated the strain amount of the tire 300. Output this estimation result to the drive control unit 700. Based on this, the drive control unit 700 may control the sub-throttle actuator 412 to drive the sub-throttle 416.
- the transfer of digital information between the sensor unit 100 and the monitor device 200 may be performed by electromagnetic induction coupling using a coil, or a brush used for a motor or the like may be used. You may use it.
- FIG. 31 is a conceptual diagram illustrating a time constant in vehicle management
- FIG. 32 is a diagram illustrating a wheel rotation speed detection mechanism in a conventional example
- FIG. 33 is a diagram illustrating a wheel rotation speed detection mechanism in a conventional example
- FIG. 34 is a diagram showing the relationship between the first rotation speed and the pulse number in the second embodiment of the present invention.
- FIG. 35 is a schematic configuration diagram showing a vehicle drive control device in the second embodiment of the present invention. Is a configuration diagram showing an electric circuit of a monitor device according to the second embodiment of the present invention
- FIG. 37 is a diagram showing a relationship between a second rotation speed and an output voltage in the second embodiment of the present invention
- FIG. 9 is a diagram showing a relationship between an output voltage and the number of pulses in the second embodiment.
- the same components as those in the first embodiment described above are denoted by the same reference numerals, and description thereof will be omitted.
- the time constant required in vehicle management differs depending on the object of motion analysis. As shown in Fig. 31, navigation, vehicle trajectory, vehicle motion, and detector Z actuator become shorter in this order. .
- the body control device In order for the body control device to drive each detector Z actuator (sensor Z actuator) to perform appropriate vehicle control, the steering device (steering), braking device (brake), suspension device (suspension), power device Information notification is required at intervals of 10 msec from electrical devices.
- digital information is transmitted and received at a time interval of 10 msec or less by the above-described configuration in which the time accuracy is not limited by the number of irregularities as in the conventional wheel rotation speed detection mechanism. ! /
- digital information is transmitted and received, and means for confirming the reliability of digital information is required.
- each rotating mechanism 500 This means that the first rotational speed was detected by using the pickup sensor 2 provided in the camera, and that the acceleration force in the X-axis direction was also the same as the calculated second rotational speed.
- the pickup sensor 2 provided in the vicinity of the rotor 1 is a conventional wheel rotation speed detecting mechanism as shown in Figs. 32 and 33, and includes a plurality of irregularities provided at equal intervals on the peripheral surface of the rotor 1.
- the magnetic flux density changes by crossing the magnetic field generated by the pickup sensor 2, and a pulse-like voltage is generated in the coil of the pickup sensor 2.
- the pickup sensor 2 converts the voltage into a pulse signal and transmits it to the monitor device 200A connected by a cable.
- the number of protrusions and recesses of the rotor 1 is set to 64, a pulse signal of 64 pulses is output per rotation as shown in FIG. Therefore, the first number of revolutions per unit time can be calculated by counting the number of pulses per unit time.
- wireless communication may be performed using a force electromagnetic wave transmitting a pulse signal using a cable, or a pulse-like voltage may be transmitted as it is, and the monitoring device 200A may convert the pulse-like voltage into a pulse signal. Is also good.
- the pickup sensor 2 provided near the rotor 1 is shown.
- the present invention is not limited to this. I just need.
- the monitor device 200A has the same configuration as the monitor device 200 of the first embodiment, and is different from the monitor device 200 of the first embodiment in that the second unit per unit time output from the arithmetic unit 240 is different.
- a conversion unit 260 for converting the rotation speed into a pulse signal and a determination unit 270 for comparing the pulse signal of the first rotation speed and the pulse signal of the second rotation speed transmitted from the pickup sensor 2 are provided. Te /!
- conversion section 260 includes a frequency Z voltage (hereinafter, referred to as F / V) conversion circuit 261 and a voltage control transmission circuit 262.
- the voltage control transmission circuit 262 is composed of a well-known VCO (voltage-controlled oscillator), etc.
- the signal is converted into a number of pulse signals corresponding to the voltage output from the path 261.
- the above configuration may be provided in the central processing unit 140 of the sensor unit 100, converted into a pulse signal of the second rotation speed, and the data may be transmitted while being included in the digital information.
- the determination unit 270 includes a well-known CPU, a ROM in which a program for operating the CPU is stored, and a memory circuit such as a RAM necessary for performing arithmetic processing.
- the determination unit 270 receives the pulse signal of the first rotation speed transmitted from the pickup sensor 2 and the pulse signal of the second rotation speed output from the FZV conversion circuit 261, and determines the first rotation speed based on the pulse signal. And the second rotation speed are the same or not, and outputs the determination result to the drive control unit 700 together with the detection result of each acceleration.
- the rotation period based on the first rotation speed is T3
- the pulse signal period based on the first rotation speed is t3
- the rotation period based on the second rotation speed is T4
- the pulse signal period based on the second rotation speed is T3. Is t 4.
- the pulse signal of the second rotation speed has 16 pulses per cycle of the pulse signal of the first rotation speed.
- T3 16 X t4
- N-th pulse N is an integer of 1 or more
- N— 1 the pulse signal of the first rotation and the second rotation Number of pulse signals 16 (N— 1) + The first pulse occurs simultaneously.
- the determination unit 270 determines that the period of the pulse signal of the first rotation speed per unit time is t3 and the period of the pulse signal of the second rotation speed is t3Zl6. And the second
- the period of the pulse signal generated per unit time is measured and the judgment is performed.
- the first rotation speed is obtained. It may be determined whether or not the second rotation speed and the second rotation speed are the same.
- the first rotation speed is detected using pickup sensor 2 provided for each rotation mechanism section 500, and monitor device 200A is calculated from the acceleration in the X-axis direction.
- the reliability of the digital information including the acceleration in the X-axis direction received from the sensor unit 100 can be guaranteed, and the detection result whose reliability is guaranteed can be obtained. Based on this, the same effect as in the first embodiment can be obtained.
- the cycle of the pulse signal of the second rotation speed is not a predetermined multiple of the pulse signal of the first rotation speed (t4 ⁇ t3 / 16)
- the first rotation speed It is highly probable that the two revolutions are not the same (T3 ⁇ T4), and it is considered that there is an error in the digital information that is the basis of the second revolution.
- the period of the specific pulse is shifted or missing in the pulse signal of the second rotation speed, but the other periods are fixed multiples of the period of the pulse signal of the first rotation speed.
- the braking control is performed based on the detection result of each acceleration output from each monitoring device 200 #, and the digital control is performed. If the state in which the information is considered to be incorrect continues for a certain period of time, it is desirable to add safety functions such as preventing malfunction due to the detection result of each acceleration and reporting a failure of each sensor unit 100. Better ,.
- FIG. 42 is a diagram showing the relationship between the first traveling speed and the number of pulses in the third embodiment of the present invention.
- FIG. 43 is a schematic configuration diagram showing a vehicle drive control device in the third embodiment of the present invention.
- 44 is a configuration diagram showing an electric circuit of the monitor device according to the third embodiment of the present invention
- FIG. 45 is a diagram showing a relationship between the second traveling speed and the output voltage in the third embodiment of the present invention
- FIG. FIG. 11 is a diagram showing the relationship between the output voltage and the number of pulses in the third embodiment.
- the same components as those in the above-described second embodiment are denoted by the same reference numerals, and description thereof will be omitted.
- the difference between the third embodiment and the second embodiment is that, in the third embodiment, the first traveling speed is detected using the pickup sensor 2, and is calculated from the acceleration in the Z-axis direction. It was confirmed that the speed was the same as the second running speed.
- the length per tire rotation is set to 2.2 [m]
- the rotation speed is about 8 [KmZh] per rotation per second, as shown in FIG.
- the rotor 2 outputs a pulse signal of 64 pulses. Therefore, the first traveling speed can be calculated by counting the number of pulses per second.
- the monitoring device 200B has the same configuration as the monitoring device 200A of the second embodiment, and differs from the monitoring device 200A of the second embodiment in that the second traveling speed output from the arithmetic section 240 is different from that of the second embodiment.
- the FZV conversion circuit 261 is unnecessary in the conversion section 260 for converting into a pulse signal.
- a voltage corresponding to the acceleration in the Z-axis direction detected by the semiconductor acceleration sensor 10 is included in the digital information and transmitted, and the control unit 240 calculates the second traveling speed from the acceleration in the Z-axis direction. At the same time, the voltage of the acceleration in the Z-axis direction is output to the voltage control transmission circuit 262.
- the second running speed is calculated from the acceleration in the Z-axis direction, and the second rotation speed per unit time is calculated from the second running speed, whereby a configuration similar to that of the second embodiment is obtained. You may.
- the pickup sensor 2 provided in each rotation mechanism section 500 is used.
- the first traveling speed is detected, and the monitoring device 200B confirms that the second traveling speed is the same as the second traveling speed calculated from the acceleration in the Z-axis direction.
- the reliability of the digital information including the information can be guaranteed, and the same effect as in the first embodiment can be obtained based on the detection result whose reliability is guaranteed.
- both the first and second frequencies are set to 2.45 GHz.
- the present invention is not limited to this.
- the influence of the reflection or cutoff of the electromagnetic wave by the metal can be extremely reduced, and the detection data by the sensor unit 100 can be obtained with high accuracy.
- These first and second frequencies may be different frequencies. It is preferable that these first and second frequencies are appropriately set at the time of design.
- a sensor unit provided at a predetermined position of each rotating mechanism section of the vehicle body detects accelerations in three directions orthogonal to each other with high accuracy, and based on the detected accelerations, a! Since the controller controls the timer, it is possible to perform appropriate control during the traveling of the vehicle, and it can be used for driving control of the vehicle.
- the present invention can be applied to a vehicle in which drive control is individually performed for each vehicle, and an application in which a drive torque is generated and distributed according to a frictional force generated between a tire and a road surface.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05720627A EP1734238A4 (en) | 2004-03-15 | 2005-03-11 | DRIVE SLIP CONTROL AND SENSOR UNIT THEREFOR |
US10/593,167 US20080065305A1 (en) | 2005-03-11 | 2005-03-11 | Traction Control System and Sensor Unit Thereof |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004072586A JP2005256798A (ja) | 2004-03-15 | 2004-03-15 | トラクション・コントロール・システム及びそのセンサユニット |
JP2004-072586 | 2004-03-15 |
Publications (1)
Publication Number | Publication Date |
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WO2005088106A1 true WO2005088106A1 (ja) | 2005-09-22 |
Family
ID=34975645
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2005/004356 WO2005088106A1 (ja) | 2004-03-15 | 2005-03-11 | トラクション・コントロール・システム及びそのセンサユニット |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1734238A4 (ja) |
JP (1) | JP2005256798A (ja) |
KR (1) | KR20060130255A (ja) |
WO (1) | WO2005088106A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100748827B1 (ko) * | 2006-09-08 | 2007-08-13 | 주식회사 만도 | 차량 제어 장치 및 그 제어 방법 |
US11390130B2 (en) * | 2017-01-19 | 2022-07-19 | Sony Corporation | Vehicle posture control apparatus based on acceleration detection signals |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2006131116A (ja) * | 2004-11-05 | 2006-05-25 | Yokohama Rubber Co Ltd:The | 車両駆動制御システム及びセンサユニット並びにタイヤ |
JP2008100610A (ja) * | 2006-10-19 | 2008-05-01 | Yokohama Rubber Co Ltd:The | 走行路面状態検出システム及びそのセンサユニット |
JP4895043B2 (ja) * | 2007-08-31 | 2012-03-14 | 三菱自動車工業株式会社 | 車両の駆動力制御装置 |
JP4930356B2 (ja) * | 2007-12-14 | 2012-05-16 | 横浜ゴム株式会社 | 回転数検出システム |
KR101627655B1 (ko) * | 2010-12-22 | 2016-06-07 | 콘티넨탈 오토모티브 시스템 주식회사 | 4륜 구동차량의 제어 장치 |
KR101449112B1 (ko) | 2012-08-10 | 2014-10-08 | 현대자동차주식회사 | 전기 자동차의 모터 토크 제어를 이용한 노면 요철 통과 시 발생하는 파워 트레인의 진동 저감 |
US11243531B2 (en) * | 2018-08-09 | 2022-02-08 | Caterpillar Paving Products Inc. | Navigation system for a machine |
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Also Published As
Publication number | Publication date |
---|---|
JP2005256798A (ja) | 2005-09-22 |
EP1734238A4 (en) | 2010-06-09 |
EP1734238A1 (en) | 2006-12-20 |
KR20060130255A (ko) | 2006-12-18 |
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