公开(公告)号：EP0825080A3

公开(公告)日：1998-11-04

申请号：EP97114089.2

申请日：1997-08-14

申请人： KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO

发明人： Ono, Eiichi, c/o Toyota Chuo Kenkyusho ,  Asano, Katsuhiro, c/o Toyota Chuo Kenkyusho ,  Umeno, Takaji, c/o Toyota Chuo Kenkyusho ,  Yamaguchi, Hiroyuki, c/o Toyota Chuo Kenkyusho ,  Sugai, Masaru, c/o Toyota Chuo Kenkyusho

IPC分类号： B60T8/00

CPC分类号： B60T8/172 ,  B60T8/17636 ,  B60T8/445 ,  B60T8/4845 ,  B60T2210/12

摘要： An anti-lock braking system includes a friction torque gradient estimating unit for estimating, from a small number of parameters, the gradient of friction torque with respect to a slip speed, and controls a braking force acting on wheels on the basis of the friction torque gradient estimated by the friction torque gradient estimating unit. The friction torque gradient estimating unit may employ several types of estimating methods; e.g., a method of estimating the gradient of friction torque from only time-series data concerning a wheel speed; a method of estimating the friction torque gradient from time-series data concerning wheel deceleration as well as from braking torque or time-series data concerning physical quantities associated with the braking torque; or a method of estimating the friction torque gradient from micro-gains which are obtained when brake pressure is excited in a very small amount at the resonance frequency of a vibration system comprising a vehicle, wheels, and a road surface and which represent the characteristics of the vibration system. Further, there is also disclosed a method of determining, from the thus-estimated friction torque gradient, the limit of the characteristics of friction torque developed between the wheels and the road surface.

公开(公告)号：EP0825080A2

公开(公告)日：1998-02-25

申请号：EP97114089.2

申请日：1997-08-14

申请人： KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO

发明人： Ono, Eiichi, c/o Toyota Chuo Kenkyusho ,  Asano, Katsuhiro, c/o Toyota Chuo Kenkyusho ,  Umeno, Takaji, c/o Toyota Chuo Kenkyusho ,  Yamaguchi, Hiroyuki, c/o Toyota Chuo Kenkyusho ,  Sugai, Masaru, c/o Toyota Chuo Kenkyusho

IPC分类号： B60T8/00

CPC分类号： B60T8/172 ,  B60T8/17636 ,  B60T8/445 ,  B60T8/4845 ,  B60T2210/12

摘要： An anti-lock braking system includes a friction torque gradient estimating unit for estimating, from a small number of parameters, the gradient of friction torque with respect to a slip speed, and controls a braking force acting on wheels on the basis of the friction torque gradient estimated by the friction torque gradient estimating unit. The friction torque gradient estimating unit may employ several types of estimating methods; e.g., a method of estimating the gradient of friction torque from only time-series data concerning a wheel speed; a method of estimating the friction torque gradient from time-series data concerning wheel deceleration as well as from braking torque or time-series data concerning physical quantities associated with the braking torque; or a method of estimating the friction torque gradient from micro-gains which are obtained when brake pressure is excited in a very small amount at the resonance frequency of a vibration system comprising a vehicle, wheels, and a road surface and which represent the characteristics of the vibration system. Further, there is also disclosed a method of determining, from the thus-estimated friction torque gradient, the limit of the characteristics of friction torque developed between the wheels and the road surface.

摘要翻译： 防抱死制动系统包括摩擦转矩梯度估计单元，用于从少量参数中估计摩擦转矩相对于滑动速度的梯度，并且基于摩擦转矩来控制作用于车轮上的制动力 由摩擦转矩梯度估计单元估计的梯度。 摩擦转矩梯度估计单元可以采用几种类型的估计方法; 例如仅从关于车轮速度的时间序列数据中估计摩擦转矩的梯度的方法; 从关于车轮减速度的时间序列数据以及与制动转矩或与制动转矩相关的物理量有关的时间序列数据中估算摩擦转矩梯度的方法; 或者根据在包括车辆，车轮和路面的振动系统的共振频率下以非常小的量激励制动压力时获得的微增益来估计摩擦转矩梯度的方法， 振动系统。 此外，还公开了一种根据由此估计的摩擦转矩梯度来确定在车轮和路面之间产生的摩擦转矩特性的极限的方法。