Vehicle slip detection device
AssigneeKabushiki Kaisha Komatsu Seisakusho
InventorYukio Okawa
Life of this patent
Estimating the term…
Abstract
A device for automatically detecting vehicle slip. A theoretical turning velocity .omega.t is detected when wheels or crawlers of a vehicle 1 do not slip at all with respect to the road surface on which the vehicle travels based on outputs v and .phi. of a vehicle speed sensor 5 and a steering angle sensor 4. A current turning angular velocity .omega.r of the vehicle 1 is then computed based on the output of a heading angle sensor 6. The slip of the vehicle 1 is then detected based on a difference between these two turning angular velocities .omega.t and .omega.r. It is therefore possible to prevent course deviation and the like, and thus possible to dramatically improve vehicle safety.
Claims4
A vehicle slip detection device comprising:
- a vehicle speed sensor provided in a vehicle, for detecting a speed of the vehicle;
- a steering angle sensor provided in the vehicle, for detecting a steering angle of the vehicle;
- a heading angle sensor provided in the vehicle, for detecting a heading angle of the vehicle;
- theoretical turning angular velocity computing means for computing a theoretical turning angular velocity of the vehicle based on outputs of the vehicle speed sensor and the steering angle sensor;
- correcting means for correcting the theoretical turning angular velocity based on the theoretical turning angular velocity computed by the theoretical turning angular velocity computing means and on a lag time from operation of steering of the vehicle to a start of turning of the vehicle resulting from the operation;
- current turning angular velocity computing means for computing a current turning angular velocity of the vehicle based on an output of the heading angle sensor;
- and
- detection means for detecting a slip of the vehicle based on a difference between the computed current turning angular velocity and the corrected theoretical turning angular velocity.
Dependencies are inferred from the claim text.