Vibration analysis of the rotating wheel for controlling anti-lock braking operation
AssigneeKabushiki Kaisha Toyota Chuo Kenkyusho
InventorsKatsuhiro Asano, Masaru Sugai, Hiroyuki Yamaguchi, Takaji Umeno
Life of this patent
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Abstract
A braking force acting on the wheel is actuated by a very small amount at a resonant frequency of a vibrating system comprised of a vehicle body, a wheel, and road surface, and the amplitude of the resonant-frequency component of the wheel speed is detected. A gain in the amplitude of the resonant-frequency component of the wheel speed with respect to the amplitude of the very small actuation of the braking force is determined. A mean braking force is controlled to decrease when the gain is smaller than a reference value, and to increase when the gain is greater than the reference value.
Claims23
An anti-lock brake controlling apparatus comprising:
- detecting means for detecting a vibration characteristic of a wheel which is rotating at a certain speed;
- and
- controlling means for controlling a mean braking force acting on the wheel on the basis of the detected vibration characteristic such that a slip ratio between a tire and a road surface is not larger than a value at which a coefficient of friction between the tire and the road surface substantially reaches a peak value.
An anti-lock brake controlling apparatus comprising:
- resonant-frequency detecting means for detecting a resonant frequency from a frequency distribution of a wheel which is rotating at a certain speed;
- and
- controlling means for reducing a mean braking force acting on the wheel when the resonant frequency is greater than a reference value.
An anti-lock brake controlling apparatus comprising:
- actuation means for actuation by a very small amount a braking force acting on a wheel at a resonant frequency of a vibrating system constituted by a vehicle body, a wheel, and a road surface;
- detecting means for detecting an amplitude of a component of the resonant frequency of a wheel speed;
- and
- controlling means for reducing a mean braking force acting on the wheel when a gain in the amplitude of the resonant-frequency component of the wheel speed with respect to an amplitude of the small excitation of the braking force is smaller than a reference value.
An anti-lock brake controlling apparatus comprising:
- actuating means for actuating by a very small amount a braking force acting on a wheel at a resonant frequency of a vibrating system constituted by a vehicle body, a wheel, and a road surface at a fixed amplitude;
- detecting means for detecting an amplitude of a component of the resonant frequency of a wheel speed;
- and
- controlling means for reducing a mean braking force acting on the wheel when the amplitude of the resonant-frequency component of the wheel speed detected by said detecting means is smaller than a reference value.
An anti-lock brake controlling apparatus comprising:
- actuating means for actuating by a small amount a braking force acting on a wheel at a resonant frequency of a vibrating system constituted by a vehicle body, a wheel, and a road surface and at a fixed amplitude corresponding to an amplitude command;
- detecting means for detecting an amplitude of a component of the resonant frequency of a wheel speed;
- and
- controlling means for determining the amplitude command such that the amplitude of the resonant-frequency component of the wheel speed detected by said detecting means becomes a reference value, said controlling means having means for reducing a mean braking force acting on the wheel when the amplitude command is greater than a reference amplitude value.
An anti-lock brake controlling apparatus comprising:
- actuating means for actuating by a very small amount a braking force acting on a wheel at a resonant frequency of a vibrating system constituted by a vehicle body, a wheel, and a road surface;
- detecting means for detecting a wheel speed;
- and
- controlling means for reducing a mean braking force acting on the wheel when a frequency at which a gain in the amplitude of the wheel speed with respect to an amplitude of the braking force becomes maximum is greater than a reference value.
Dependencies are inferred from the claim text.