JPH07128221A - Road condition detector - Google Patents
Road condition detectorInfo
- Publication number
- JPH07128221A JPH07128221A JP27933893A JP27933893A JPH07128221A JP H07128221 A JPH07128221 A JP H07128221A JP 27933893 A JP27933893 A JP 27933893A JP 27933893 A JP27933893 A JP 27933893A JP H07128221 A JPH07128221 A JP H07128221A
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- surface state
- slip
- condition
- detecting means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
(57)【要約】
【目的】 車両の走行中に路面の滑りやすさを検出す
る。
【構成】 スリップ率検出部１では前輪（駆動輪）速度
ＶF と後輪速度ＶR の差を、後輪速度ＶR で割ってスリ
ップ率ＳRAを求める。変動巾演算部２は一定期間におけ
るスリップ率の最大値と最小値との差である変動巾ＳH
を求める。駆動力検出部３はエンジン状態からタイヤの
駆動力ＦTAを求める。第１の路面状態検出部４は、あら
かじめ設定した特性を利用して、駆動力ＦTAとスリップ
率ＳRAを基に路面状態を推定し、第２の路面状態検出部
５は、あらかじめ設定した特性を利用して、駆動力ＦTA
とスリップ変動巾ＳH を基に路面状態を推定する。路面
状態検出部６は、２つの検出部４，５の推定の組み合わ
せに応じて最終的に路面状態を判定する。
(57) [Summary] [Purpose] To detect the slipperiness of the road surface while the vehicle is running. [Structure] The slip ratio detection unit 1 obtains a slip ratio S RA by dividing the difference between the front wheel (driving wheel) speed V F and the rear wheel speed V R by the rear wheel speed V R. The fluctuation range calculation unit 2 calculates the fluctuation range S H that is the difference between the maximum value and the minimum value of the slip ratio in a certain period.
Ask for. The driving force detection unit 3 obtains the tire driving force F TA from the engine state. The first road surface state detection unit 4 estimates the road surface state based on the driving force F TA and the slip ratio S RA using the preset characteristics, and the second road surface state detection unit 5 sets the preset road surface state. Driving force F TA
And the road surface condition is estimated based on the slip fluctuation range S H. The road surface state detection unit 6 finally determines the road surface state according to the combination of the estimations of the two detection units 4 and 5.
Description
【０００１】[0001]
【産業上の利用分野】本発明は路面状態検出装置に関
し、路面の滑り易さ（路面摩擦係数）を走行時に常に検
出できるよう工夫したものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road surface condition detecting device, which is devised so that the slipperiness of the road surface (coefficient of friction on the road surface) can always be detected during traveling.
【０００２】[0002]
【従来の技術】路面の滑り易さを示す指標として路面摩
擦係数（μ）がある。路面摩擦係数（μ）を検出する技
術として、例えば特開平４−６６８４４号公報に示すも
のがある。この従来技術は、４輪操舵装置（４ＷＳ装
置）及びパワーステアリング装置を備えた自動車を前提
にしており、ステアリングハンドルを操舵したときに、
ハンドル角θＨ，車速Ｖ，パワーステアリング装置の作
動圧ΔＰをセンサで検出し、これら検出値を所定の式に
代入することにより路面摩擦係数μを算出するものであ
る。上記所定の式は、操舵入力に対する路面反力を指定
演算するものであり、上記路面反力が大きい場合は、滑
りにくい乾燥アスファルト路面等の高路面摩擦係数（Ｈ
μ：ハイミュー）の路面であると推定し、上記路面反力
が小さい場合は、滑りやすい圧雪路等の低路面摩擦係数
（Ｌμ：ローミュー）の路面であると推定する。2. Description of the Related Art A road surface friction coefficient (μ) is used as an index showing the slipperiness of a road surface. As a technique for detecting the road surface friction coefficient (μ), for example, there is one disclosed in Japanese Patent Laid-Open No. 4-66844. This prior art is premised on an automobile equipped with a four-wheel steering device (4WS device) and a power steering device, and when steering a steering wheel,
The steering wheel angle θH, the vehicle speed V, the operating pressure ΔP of the power steering device are detected by a sensor, and the road friction coefficient μ is calculated by substituting these detected values into a predetermined formula. The above-mentioned predetermined formula is for calculating the road surface reaction force with respect to the steering input, and when the road surface reaction force is large, a high road surface friction coefficient (H
If the road surface reaction force is small, it is estimated that the road surface has a low road surface friction coefficient (Lμ: low mu) such as a slippery snowy road.
【０００３】なお上記所定の式は次のことを考慮して設
定したものである。即ち、ステアリングハンドルのハン
ドル角と車速から前輪の横滑り角が求まり、この横滑り
角と路面摩擦係数からコーナリングフォースが求まり、
このコーナリングフォースとパワーステアリング装置の
作動圧とがほぼ比例関係にあることを考慮して設定した
ものである。The above predetermined formula is set in consideration of the following. That is, the sideslip angle of the front wheels can be obtained from the steering wheel handle angle and the vehicle speed, and the cornering force can be obtained from the sideslip angle and the road surface friction coefficient.
It is set in consideration of the fact that the cornering force and the operating pressure of the power steering device are in a substantially proportional relationship.
【０００４】[0004]
【発明が解決しようとする課題】ところで上記従来技術
では４ＷＳ装置の使用を前提としているため、操舵を開
始してはじめて路面反力が求められて路面摩擦係数の状
態（ＨμであるかＬμであるか）を推定することが可能
である。このため操舵をしていない直進走行時などでは
路面状態の推定ができず、推定可能な期間が限られてし
まう。By the way, since the above-mentioned prior art is premised on the use of the 4WS device, the road surface reaction force is not obtained until the steering is started and the state of the road surface friction coefficient (Hμ or Lμ). Or) can be estimated. For this reason, the road surface condition cannot be estimated during straight traveling without steering, and the period during which estimation is possible is limited.
【０００５】路面状態がＨμであるかＬμであるかによ
って制御状態を変える装置としては、トラクションコン
トロール装置、アンチ・スキッド・コントロールブレー
キ（ＡＢＳ）装置、電子制御４ＷＤ装置などがあるが、
これら装置では、路面状態を常に推定できることが必要
であるが、上記従来技術では操舵時にしか路面状態の推
定ができず問題があった。As a device for changing the control state depending on whether the road surface condition is Hμ or Lμ, there are a traction control device, an anti-skid control brake (ABS) device, an electronic control 4WD device, and the like.
In these devices, it is necessary to always be able to estimate the road surface state, but the above-mentioned conventional technique has a problem that the road surface state can be estimated only during steering.
【０００６】なおトラクションコントロール装置は、運
転者がアクセルペダルを大きく踏み込んでも、スリップ
が生じないようにエンジン出力を抑えるように制御する
ものであり、Ｌμの路面のときにはエンジン出力を抑制
する量を大きくする。ＡＢＳ装置は、急ブレーキをかけ
たときでも車輪のロックを防止するように自動的に調整
する装置であり、圧雪路などＬμ路で車輪のロックが生
じやすいのでこのようなときに効果を発揮する。電子制
御４ＷＤ装置では、路面の状況に応じて、前後の駆動力
の分配割合を調整する装置である。The traction control device controls the engine output so that slip does not occur even if the driver greatly depresses the accelerator pedal, and when the road surface is Lμ, the amount of engine output suppression is large. To do. The ABS device is a device that automatically adjusts so as to prevent the wheels from being locked even when the brakes are suddenly applied, and the wheels are likely to be locked on an Lμ road such as a snow-covered road. . The electronically controlled 4WD device is a device that adjusts the distribution ratio of the front and rear driving forces according to the condition of the road surface.
【０００７】本発明は、上記従来技術に鑑み、走行中に
常に、路面のすべり易さを検出することのできる路面状
態検出装置を提供することを目的とする。The present invention has been made in view of the above prior art, and an object of the present invention is to provide a road surface state detecting device capable of constantly detecting the slipperiness of a road surface during traveling.
【０００８】[0008]
【課題を解決するための手段】上記課題を解決する本発
明の構成は、車両の駆動輪のスリップを検出するスリッ
プ検出手段と、同スリップ検出手段によって検出された
スリップの変動巾を求める変動巾演算手段と、上記駆動
輪に伝達される駆動力を検出する駆動力検出手段と、上
記駆動輪に伝達される駆動力と上記駆動輪のスリップと
を第１のパラメータとして同第１のパラメータと路面状
態との関係を示す駆動力−スリップ特性を予め記憶し、
上記駆動力検出手段によって検出された上記駆動力と上
記スリップ検出手段によって検出された上記スリップと
に基づき上記駆動力−スリップ特性から路面状態を検出
する第１の路面状態検出手段と、上記駆動輪に伝達され
る駆動力と上記駆動輪に発生するスリップの変動巾とを
第２のパラメータとして同第２のパラメータと路面状態
との関係を示す駆動力−スリップ変動巾特性を予め記憶
し、上記駆動力検出手段によって検出された上記駆動力
と上記変動巾演算手段によって求められた上記スリップ
変動巾とに基づき上記駆動力−スリップ変動巾特性から
路面状態を検出する第２の路面状態検出手段と、上記第
１の路面状態検出手段と上記第２の路面状態検出手段の
夫々の検出結果に基づき、予め設定された判定条件に従
い路面状態を判定して路面状態判定信号を出力する路面
状態判定手段とにより構成されることを特徴とする。SUMMARY OF THE INVENTION The structure of the present invention for solving the above problems is a slip detecting means for detecting a slip of a drive wheel of a vehicle, and a fluctuation width for obtaining a fluctuation width of the slip detected by the slip detecting means. Arithmetic means, driving force detection means for detecting the driving force transmitted to the driving wheels, and driving force transmitted to the driving wheels and slip of the driving wheels as first parameters, and the first parameter. The driving force-slip characteristic indicating the relationship with the road surface state is stored in advance,
First road surface condition detecting means for detecting a road surface condition from the drive force-slip characteristic based on the drive force detected by the drive force detecting means and the slip detected by the slip detecting means, and the drive wheel. The driving force-slip fluctuation range characteristic indicating the relationship between the second parameter and the road surface condition is stored in advance as the second parameter, which is the driving force transmitted to the vehicle and the fluctuation range of the slip generated on the driving wheels. Second road surface condition detecting means for detecting a road surface condition from the driving force-slip fluctuation width characteristic based on the driving force detected by the driving force detecting means and the slip fluctuation width obtained by the fluctuation width calculating means. , A road surface state is determined according to preset determination conditions based on the detection results of the first road surface state detection means and the second road surface state detection means. Characterized in that it is constituted by a road surface condition judging means for outputting a road surface condition determination signal Te.
【０００９】[0009]
【作用】本発明ではタイヤの縦方向の力（駆動力）に着
目し、タイヤ駆動力をエンジン運転状態から推定し、更
に車輪のスリップ及びスリップの変動巾と、駆動力との
関係から路面状態を走行中に検出する。In the present invention, attention is paid to the force (driving force) in the longitudinal direction of the tire, the tire driving force is estimated from the engine operating condition, and the road surface condition is determined from the relationship between the wheel slip and the slip fluctuation range and the driving force. Is detected while driving.
【００１０】[0010]
【実施例】以下に本発明の実施例を図面に基づき詳細に
説明する。図１は、前輪駆動型の車両に、本発明を適用
した実施例を示すブロック図である。Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a block diagram showing an embodiment in which the present invention is applied to a front-wheel drive type vehicle.
【００１１】図１に示すように本実施例の路面状態検出
装置は、駆動輪のスリップとしてスリップ率を検出する
スリップ率検出部１と、変動巾演算部２と、駆動力検出
部３と、第１の路面状態検出部４と、第２の路面状態検
出部５と、路面状態判定部６と、運転状態検出部７で構
成されている。As shown in FIG. 1, the road surface condition detecting apparatus of this embodiment includes a slip ratio detecting unit 1 for detecting a slip ratio as a slip of a driving wheel, a fluctuation range calculating unit 2, a driving force detecting unit 3, It is composed of a first road surface state detection unit 4, a second road surface state detection unit 5, a road surface state determination unit 6, and a driving state detection unit 7.
【００１２】まず全体の概要を説明する。スリップ率検
出部１は、スリップ率、つまり前輪速度と後輪速度の差
（スリップ量）を、後輪速度で割った値を求める。変動
巾演算部２は、所定期間毎に、その期間内におけるスリ
ップ率の最大値から最小値を減算したスリップ率の変動
巾を求める。駆動力検出部３はタイヤが発生する駆動力
を検出する。路面状態検出部４は駆動力とスリップ率か
ら路面状態がＨμであるかＬμであるかを、あらかじめ
記憶した特性を基に検出する。路面状態検出部５は駆動
力と変動巾から路面状態がＨμであるかＬμであるか
を、あらかじめ記憶した特性を基に検出する。路面状態
判定部６は、路面状態検出部４，５の検出結果を基に、
路面状態がＨμであるかＬμであるかを最終的に決定す
る。運転状態検出部７は、運転状態が所定の中止条件に
なったときに、路面状態判定部６に判定中止指令を出
す。First, a general outline will be described. The slip rate detection unit 1 obtains a value obtained by dividing the slip rate, that is, the difference between the front wheel speed and the rear wheel speed (slip amount) by the rear wheel speed. The fluctuation range calculation unit 2 obtains the fluctuation range of the slip ratio for each predetermined period by subtracting the minimum value from the maximum value of the slip ratio within the period. The driving force detection unit 3 detects the driving force generated by the tire. The road surface state detection unit 4 detects whether the road surface state is Hμ or Lμ from the driving force and the slip ratio based on the characteristics stored in advance. The road surface state detection unit 5 detects whether the road surface state is Hμ or Lμ from the driving force and the fluctuation range based on the characteristics stored in advance. The road surface state determination unit 6 is based on the detection results of the road surface state detection units 4 and 5,
It is finally determined whether the road surface condition is Hμ or Lμ. The driving state detection unit 7 issues a determination stop command to the road surface state determination unit 6 when the driving state meets a predetermined stop condition.
【００１３】次に各部の詳細構成及び動作を、ブロック
図である図１及びフロー図である図２を参照して説明す
る。Next, the detailed structure and operation of each unit will be described with reference to FIG. 1 which is a block diagram and FIG. 2 which is a flow chart.
【００１４】スリップ率検出部１では、前輪速度センサ
１１で検出した前輪速度ＶF と、後輪速度センサ１２で
検出した後輪速度ＶR との減算を減算部１３で行いスリ
ップ量ΔＶを求める。割算部１４はスリップ量ΔＶを後
輪速度ＶR で割り算することにより、スリップ率ＳR を
求める（ステップ１）。平均処理部１５は、あらかじめ
決めたＴ1 秒（例えば５００ｍ秒）間に得た各スリップ
率ＳR を平均したスリップ率ＳRAを求めて出力する（ス
テップ２）。In the slip ratio detecting section 1, the front wheel speed V F detected by the front wheel speed sensor 11 and the rear wheel speed V R detected by the rear wheel speed sensor 12 are subtracted by a subtracting section 13 to obtain a slip amount ΔV. . The division unit 14 obtains the slip ratio S R by dividing the slip amount ΔV by the rear wheel speed V R (step 1). The averaging unit 15 obtains and outputs a slip rate S RA obtained by averaging each slip rate S R obtained during a predetermined T 1 second (for example, 500 msec) (step 2).
【００１５】駆動力検出部３では、エンジン回転数セン
サ３１で検出したエンジン回転数Ｎと、Ａ／Ｎセンサ３
２で検出したＡ（空気量）／Ｎ（エンジン回転数）を示
すＡ／Ｎ信号が、エンジン出力マップ部３３に送られ、
このエンジン出力マップ部３３に記憶されたマップを用
いてエンジン出力Ｐを求める（ステップ３）。変換部３
４はエンジン出力Ｐにトランスミッションの変速比ｉT
及び終減速比ｉF を掛けてエンジンの駆動力ＦE を求め
る。演算部３５は、エンジン駆動力ＦE をタイヤ半径Ｒ
T で割ることによりタイヤでの駆動力ＦT を求める（ス
テップ４）。平均処理部３６は、あらかじめ決めたＴ1
秒（例えば５００ｍ秒）間に得た各駆動力ＦT を平均し
た駆動力ＦTAを求めて出力する（ステップ５）。In the driving force detector 3, the engine speed N detected by the engine speed sensor 31 and the A / N sensor 3 are detected.
An A / N signal indicating A (air amount) / N (engine speed) detected in 2 is sent to the engine output map unit 33,
The engine output P is obtained using the map stored in the engine output map unit 33 (step 3). Converter 3
4 is the engine output P and the transmission gear ratio i T
And the final reduction ratio i F to obtain the driving force F E of the engine. The calculation unit 35 calculates the engine driving force F E as the tire radius R
Obtaining a driving force F T in the tire by dividing the T (Step 4). The averaging unit 36 uses a predetermined T 1
The driving force F TA obtained by averaging the driving forces F T obtained during the second (for example, 500 msec) is calculated and output (step 5).
【００１６】第１の路面状態検出部４には、駆動力ＦTA
とスリップ率ＳRAをパラメータとし、あらかじめ試験・
解析によりパラメータＦTA，ＳRAと路面の滑り易さとの
関係を示す駆動力−スリップ率特性（ブロック中に示し
た特性）が記憶されている。この路面状態検出部４は、
駆動力ＦTAとスリップ率ＳRAが入力されると駆動力−ス
リップ率特性を用いて路面状態が高路面摩擦係数（Ｈ
μ）となっているか低路面摩擦係数（Ｌμ）になってい
るかを判定する（ステップ６）。このステップ６では、
入力された駆動力ＦTAとスリップ率ＳRAによってブロッ
ク中の特性図内に示される点がＡ１Ｈの領域にあれば高
路面摩擦係数（Ｈμ）と判定し、Ａ１Ｌの領域にあれば
低路面摩擦係数（Ｌμ）と判定する。Ｈμと判定したと
きには検出信号Ａ１Ｈを出力し、Ｌμと判定したときに
は検出信号Ａ１Ｌを出力する（ステップ６）。The driving force F TA is applied to the first road surface condition detecting section 4.
And the slip ratio S RA as parameters are tested in advance.
Driving force-slip ratio characteristics (characteristics shown in blocks) indicating the relationship between the parameters F TA and S RA and the slipperiness of the road surface are stored by analysis. This road surface state detection unit 4
When the driving force F TA and the slip rate S RA are input, the road surface condition is high using the driving force-slip rate characteristics.
μ) or low road surface friction coefficient (Lμ) is determined (step 6). In this step 6,
If the point shown in the characteristic diagram in the block by the input driving force F TA and slip ratio S RA is in the area of A1H, it is determined as the high road surface friction coefficient (Hμ), and if it is in the area of A1L, the low road surface friction is obtained. It is determined to be a coefficient (Lμ). When it is determined to be Hμ, the detection signal A1H is output, and when it is determined to be Lμ, the detection signal A1L is output (step 6).
【００１７】変動巾演算部２では、最大値ホールド部２
１があらかじめ決めたＴ1 秒（例えば５００ｍ秒）間の
中で最大のスリップ率ＳRMAXをホールドし（ステップ
７）、最小値ホールド部２２があらかじめ決めたＴ1 秒
（例えば５００ｍ秒）間の中で最小のスリップ率ＳRMIN
をホールドする（ステップ８）。そして、減算部２３
で、スリップ率ＳRMAXからスリップ率ＳRMINを減算して
スリップ率ＳR の変動巾Ｓ H を求め出力する（ステップ
９）。In the fluctuation range calculating section 2, the maximum value holding section 2
1 is a predetermined T1Between seconds (eg 500 ms)
Maximum slip ratio SRMAXHold (step
7), the minimum value holding unit 22 sets a predetermined T1Second
Minimum slip ratio S (for example, 500 msec)RMIN
Is held (step 8). Then, the subtraction unit 23
And the slip ratio SRMAXTo slip ratio SRMINSubtract
Slip rate SRFluctuation range S HAnd output (step
9).
【００１８】第２の路面状態検出部５には、駆動力ＦTA
とスリップ変動巾ＳH をパラメータとし、あらかじめ試
験・解析によりパラメータＦTA，ＳRAと路面の滑り易さ
との関係を示す駆動力−スリップ率の変動巾特性（ブロ
ック中に示した特性）が記憶されている。この路面状態
検出部５は、駆動力ＦTAとスリップ変動巾ＳH が入力さ
れると駆動力−スリップ率変動巾特性を用いて路面状態
が高路面摩擦係数（Ｈμ）となっているか低路面摩擦係
数（Ｌμ）になっているかを判定する（ステップ１
０）。このステップ１０では、入力された駆動力ＦTAと
スリップ変動巾ＳHによってブロック中の特性図中に示
される点がＡ２Ｈの領域にあれば高路面摩擦係数（Ｈ
μ）と判定し、Ａ２Ｌの領域にあれば低路面摩擦係数
（Ｌμ）と判定する。Ｈμと判定したときには検出信号
Ａ２Ｈを出力し、Ｌμと判定したときには検出信号Ａ２
Ｌを出力する（ステップ１０）。The driving force F TA is applied to the second road surface condition detecting section 5.
And the slip variation width S H as a parameter, the parameter F TA in advance by tests and analysis, the driving force shows the relationship between the ease of slippage S RA and the road surface - variation width characteristics of the slip ratio (characteristics shown in the block) is stored Has been done. When the driving force F TA and the slip fluctuation range S H are input, the road surface state detection unit 5 uses the driving force-slip rate fluctuation range characteristic to determine whether the road surface condition is a high road surface friction coefficient (Hμ) or a low road surface. It is determined whether the friction coefficient (Lμ) is reached (step 1
0). In this step 10, if the point indicated in the characteristic diagram in the block by the input driving force F TA and the slip fluctuation range S H is in the area A2H, the high road surface friction coefficient (H
μ), and if it is in the A2L region, it is determined to be a low road surface friction coefficient (Lμ). When it is determined to be Hμ, the detection signal A2H is output, and when it is determined to be Lμ, the detection signal A2H is output.
L is output (step 10).
【００１９】運転状態検出部７は、次のいずれかの状態
を検出すると判定中止指令Ｄを路面状態判定部６に送
る。 駆動力ＦTAがあらかじめ設定した値よりも小さい。 車両の操舵角があらかじめ設定した値よりも大き
い。 車両に搭載された変速機の変速操作が行なわれてい
る。 車両の車速があらかじめ設定した速度よりも低い。When any of the following states is detected, the driving state detecting section 7 sends a determination stop command D to the road surface state determining section 6. The driving force F TA is smaller than the preset value. The steering angle of the vehicle is larger than a preset value. The transmission mounted on the vehicle is being shifted. The vehicle speed is lower than the preset speed.
【００２０】路面状態判定部６は、判定処理部６１と、
連続一致検出部６２を有している。判定処理部６１は、
路面状態検出部４，５から検出信号を受け、次に示すよ
うに検出信号の組み合わせにより、路面状態がＨμであ
るかＬμであるかを判定する（ただし判定中止指令Ｄが
出力されていないとき）。 （１）検出部４から検出信号Ａ１Ｌを受け、検出部５か
ら検出信号Ａ２Ｌを受けたときには、Ｌμであると判定
する（ステップ１１，１２，１３，１４）。 （２）検出部４から検出信号Ａ１Ｈを受け、検出部５か
ら検出信号Ａ２Ｈを受けたときには、Ｈμであると判定
する（ステップ１１，１２，１５，１６）。 （３）上記以外の組み合わせのときにはＨμであると判
定する。 なお運転状態検出部７から判定中止指令Ｄが出力される
と、判定処理部６１は、上記（１）（２）（３）の判定
条件を無視して、Ｈμであると判定する。The road surface condition judging unit 6 includes a judgment processing unit 61,
It has a continuous match detection unit 62. The determination processing unit 61
The detection signals are received from the road surface state detection units 4 and 5, and it is determined whether the road surface state is Hμ or Lμ by the combination of the detection signals as shown below (when the determination stop command D is not output. ). (1) When the detection signal A1L is received from the detection unit 4 and the detection signal A2L is received from the detection unit 5, Lμ is determined (steps 11, 12, 13, and 14). (2) When the detection signal A1H is received from the detection unit 4 and the detection signal A2H is received from the detection unit 5, it is determined that it is Hμ (steps 11, 12, 15, 16). (3) If the combination is other than the above, Hμ is determined. When the determination stop command D is output from the driving state detection unit 7, the determination processing unit 61 ignores the determination conditions (1), (2) and (3) and determines that the value is Hμ.
【００２１】連続一致検出部６２は、判定処理部６１で
判定した判定結果が所定回連続したときに限りこの判定
結果を路面状態を示す最終判定として出力する（ステッ
プ１７，１８）。つまり、判定処理部６１による判定が
Ｌμであることが所定回連続したときに、路面状態がＬ
μであることを示す最終判定Ｌを出力し、判定処理部６
１による判定がＨμであることが所定回連続したとき
に、路面状態がＨμであることを示す最終判定Ｈを出力
し、判定処理部６１による同一の判定が所定回連続しな
いときには、前回の最終判定をそのまま出力する。The continuous coincidence detecting section 62 outputs this determination result as the final determination indicating the road surface condition only when the determination result determined by the determination processing section 61 is repeated a predetermined number of times (steps 17 and 18). That is, when the determination by the determination processing unit 61 is Lμ for a predetermined number of times, the road surface condition is L.
The final determination L indicating that μ is output, and the determination processing unit 6
When the determination by 1 is Hμ for a predetermined number of times consecutively, the final determination H indicating that the road surface condition is Hμ is output, and when the same determination by the determination processing unit 61 does not continue for the predetermined number of times, the last determination is performed. The judgment is output as it is.
【００２２】そして連続一致検出部６２から出力される
最終判定Ｌ，Ｈに応じて各制御装置により、路面状態に
応じた制御をする。Then, according to the final judgments L and H output from the continuous coincidence detection section 62, each control device controls the road surface condition.
【００２３】なお上記実施例では、連続一致検出部６２
は判定処理部６１による判定が所定回数連続したときに
その判定に応じた最終判定を出力し、所定回数連続しな
いときには前回の最終判定をそのまま出力しているが、
所定回数連続しないときには予め設定した所定の路面状
態、例えばＨμを示す判定信号を出力するようにしても
よい。また路面状態判定部６を判定処理部６１だけで構
成するようにしてもよい。In the above embodiment, the continuous match detecting section 62
Outputs the final determination according to the determination when the determination by the determination processing unit 61 continues for a predetermined number of times, and outputs the last final determination as it is when the determination does not continue for the predetermined number of times.
A determination signal indicating a predetermined road surface condition set in advance, for example, Hμ may be output when the predetermined number of times of discontinuity has not occurred. Further, the road surface state determination unit 6 may be configured by only the determination processing unit 61.
【００２４】[0024]
【発明の効果】以上実施例と共に具体的に説明したよう
に本発明によれば、車両の走行時において常に路面の滑
り易さを検出することができる。よって検出結果を利用
して路面状態に応じた各種の運転制御が走行中のいつで
も開始することができ、安全な走行を確保することがで
きる。According to the present invention as described in detail in connection with the above embodiments, it is possible to always detect the slipperiness of the road surface when the vehicle is running. Therefore, various driving controls according to the road surface condition can be started at any time during traveling by using the detection result, and safe traveling can be ensured.
【図１】本発明の実施例を示すブロック図。FIG. 1 is a block diagram showing an embodiment of the present invention.
【図２】実施例の動作を示すフロー図。FIG. 2 is a flowchart showing the operation of the embodiment.
１ スリップ率検出部 ２ 変動巾演算部 ３ 駆動力検出部 ４ 路面状態検出部 ５ 路面状態検出部 ６ 路面状態判定部 ７ 運転状態検出部 1 Slip Rate Detection Unit 2 Fluctuation Width Calculation Unit 3 Driving Force Detection Unit 4 Road Surface Condition Detection Unit 5 Road Surface Condition Detection Unit 6 Road Surface Condition Determination Unit 7 Driving Condition Detection Unit
Claims (9)
ップ検出手段と、 同スリップ検出手段によって検出されたスリップの変動
巾を求める変動巾演算手段と、 上記駆動輪に伝達される駆動力を検出する駆動力検出手
段と、 上記駆動輪に伝達される駆動力と上記駆動輪のスリップ
とを第１のパラメータとして同第１のパラメータと路面
状態との関係を示す駆動力−スリップ特性を予め記憶
し、上記駆動力検出手段によって検出された上記駆動力
と上記スリップ検出手段によって検出された上記スリッ
プとに基づき上記駆動力−スリップ特性から路面状態を
検出する第１の路面状態検出手段と、 上記駆動輪に伝達される駆動力と上記駆動輪に発生する
スリップの変動巾とを第２のパラメータとして同第２の
パラメータと路面状態との関係を示す駆動力−スリップ
変動巾特性を予め記憶し、上記駆動力検出手段によって
検出された上記駆動力と上記変動巾演算手段によって求
められた上記スリップ変動巾とに基づき上記駆動力−ス
リップ変動巾特性から路面状態を検出する第２の路面状
態検出手段と、 上記第１の路面状態検出手段と上記第２の路面状態検出
手段の夫々の検出結果に基づき、予め設定された判定条
件に従い路面状態を判定して路面状態判定信号を出力す
る路面状態判定手段とにより構成されることを特徴とす
る路面状態検出装置。1. A slip detecting means for detecting a slip of a driving wheel of a vehicle, a fluctuation range calculating means for obtaining a fluctuation range of the slip detected by the slip detecting means, and a driving force transmitted to the driving wheel. And a driving force-slip characteristic indicating the relationship between the first parameter and the road surface condition, with the driving force transmitted to the driving wheel and the slip of the driving wheel as the first parameters. A first road surface state detecting means for detecting a road surface state from the drive force-slip characteristic based on the drive force detected by the drive force detecting means and the slip detected by the slip detecting means; The relationship between the second parameter and the road surface condition is shown with the driving force transmitted to the driving wheel and the fluctuation range of the slip occurring in the driving wheel as the second parameter. A driving force-slip fluctuation range characteristic is stored in advance, and based on the driving force detected by the driving force detecting means and the slip fluctuation range obtained by the fluctuation range calculating means, from the driving force-slip fluctuation range characteristic. Based on the detection results of the second road surface state detecting means for detecting the road surface state, the first road surface state detecting means, and the second road surface state detecting means, the road surface state is judged according to preset judgment conditions. And a road surface state determination means for outputting a road surface state determination signal.
満たすときに判定中止指令を出力する運転状態検出手段
を更に有し、上記路面状態判定手段は上記運転状態検出
手段によって上記判定中止指令が出力されると上記路面
状態の判定を中止することを特徴とする請求項１の路面
状態検出装置。2. A driving condition detecting means for outputting a judgment canceling command when the driving condition of the vehicle satisfies a predetermined canceling condition, and the road surface condition judging means uses the driving condition detecting means for the judgment canceling command. The road surface state detection device according to claim 1, wherein the determination of the road surface state is stopped when is output.
が高摩擦係数と低摩擦係数とのいずれを有するものであ
るかを判定するものであって、上記路面状態の判定を中
止したときには上記路面が高摩擦係数を有するものであ
るとする信号を上記路面状態判定信号として出力するこ
とを特徴とする請求項２の路面状態検出装置。3. The road surface condition determining means determines at least whether the road surface has a high friction coefficient or a low friction coefficient, and when the road surface condition determination is stopped, the road surface condition is determined. The road surface state detecting device according to claim 2, wherein a signal that has a high friction coefficient is output as the road surface state determination signal.
手段によって検出された上記駆動力が所定の駆動力より
小さいときに上記判定中止指令を出力することを特徴と
する請求項２の路面状態検出装置。4. The road condition according to claim 2, wherein the driving condition detecting means outputs the determination stop command when the driving force detected by the driving force detecting means is smaller than a predetermined driving force. Detection device.
角が所定の操舵角より大きいときに上記判定中止指令を
出力することを特徴とする請求項２の路面状態検出装
置。5. The road surface state detecting device according to claim 2, wherein the driving state detecting means outputs the determination stop command when the steering angle of the vehicle is larger than a predetermined steering angle.
された変速機の変速操作が行われているときに上記判定
中止指令を出力することを特徴とする請求項２の路面状
態検出装置。6. The road surface state detection device according to claim 2, wherein the driving state detection means outputs the determination stop command when the transmission mounted on the vehicle is being shifted.
が所定速度より低いときに上記判定中止指令を出力する
ことを特徴とする請求項２の路面状態検出装置。7. The road surface state detecting device according to claim 2, wherein the driving state detecting means outputs the determination stop command when the vehicle speed of the vehicle is lower than a predetermined speed.
状態検出手段と上記第２の路面状態検出手段の夫々の検
出結果に基づき、予め設定された判定条件に従って判定
された判定結果が所定回数連続して同一である場合に限
り上記判定結果に応じた路面状態判定信号を出力し、そ
れ以外の場合には予め設定された所定の路面状態を示す
信号を上記路面状態判定信号として出力することを特徴
とする請求項１の路面状態検出装置。8. The road surface condition detecting means determines a predetermined judgment result based on a detection result of each of the first road surface condition detecting means and the second road surface condition detecting means according to a predetermined judgment condition. A road surface condition determination signal corresponding to the above determination result is output only when the same number of times consecutively, and in other cases, a signal indicating a preset predetermined road surface condition is output as the road surface condition determination signal. The road surface state detecting device according to claim 1, wherein
が高摩擦係数と低摩擦係数とのいずれを有するものであ
るかを判定するものであって、上記判定結果が所定回数
連続して同一である場合に限り上記判定結果に応じた路
面状態判定信号を出力し、それ以外の場合には上記路面
が高摩擦係数を有するものであるとする信号を上記路面
状態判定信号として出力することを特徴とする請求項８
の路面状態検出装置。9. The road surface condition judging means judges at least whether the road surface has a high friction coefficient or a low friction coefficient, and the judgment result is the same for a predetermined number of times continuously. In a case where the road surface state determination signal corresponding to the determination result is output, and in other cases, the signal that the road surface has a high friction coefficient is output as the road surface state determination signal. Claim 8
Road condition detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5279338A JP2970353B2 (en) | 1993-11-09 | 1993-11-09 | Road surface condition detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5279338A JP2970353B2 (en) | 1993-11-09 | 1993-11-09 | Road surface condition detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07128221A true JPH07128221A (en) | 1995-05-19 |
| JP2970353B2 JP2970353B2 (en) | 1999-11-02 |
Family
ID=17609795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5279338A Expired - Lifetime JP2970353B2 (en) | 1993-11-09 | 1993-11-09 | Road surface condition detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2970353B2 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6324461B1 (en) | 1997-06-27 | 2001-11-27 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Road surface condition estimating apparatus and variation reduction processing apparatus |
| JP2002145038A (en) * | 2000-11-07 | 2002-05-22 | Fuji Heavy Ind Ltd | Road surface friction coefficient estimation device for vehicles |
| JP2004284403A (en) * | 2003-03-19 | 2004-10-14 | Sumitomo Rubber Ind Ltd | Road surface state determination device and method and road surface state determination program |
| KR100482957B1 (en) * | 2000-12-14 | 2005-04-15 | 주식회사 만도 | Detecting method for changing road surface and control method of anti-brake system |
| KR100779464B1 (en) * | 2002-06-03 | 2007-11-26 | 주식회사 만도 | Road Condition Detection Method for ABS Control |
| JP2009184625A (en) * | 2008-02-08 | 2009-08-20 | Fuji Heavy Ind Ltd | Road surface friction coefficient estimation device, and driving force distribution control device for a four-wheel drive vehicle equipped with the road surface friction coefficient estimation device |
| JP2009190467A (en) * | 2008-02-12 | 2009-08-27 | Fuji Heavy Ind Ltd | Road friction coefficient estimation device |
| JP2009190466A (en) * | 2008-02-12 | 2009-08-27 | Fuji Heavy Ind Ltd | Road friction coefficient estimation device |
| JP2009274684A (en) * | 2008-05-19 | 2009-11-26 | Nissan Motor Co Ltd | Electric booster hydraulic brake device |
| JP2023161228A (en) * | 2022-04-25 | 2023-11-07 | マツダ株式会社 | Vehicle control device |
-
1993
- 1993-11-09 JP JP5279338A patent/JP2970353B2/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6324461B1 (en) | 1997-06-27 | 2001-11-27 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Road surface condition estimating apparatus and variation reduction processing apparatus |
| JP2002145038A (en) * | 2000-11-07 | 2002-05-22 | Fuji Heavy Ind Ltd | Road surface friction coefficient estimation device for vehicles |
| KR100482957B1 (en) * | 2000-12-14 | 2005-04-15 | 주식회사 만도 | Detecting method for changing road surface and control method of anti-brake system |
| KR100779464B1 (en) * | 2002-06-03 | 2007-11-26 | 주식회사 만도 | Road Condition Detection Method for ABS Control |
| JP2004284403A (en) * | 2003-03-19 | 2004-10-14 | Sumitomo Rubber Ind Ltd | Road surface state determination device and method and road surface state determination program |
| JP2009184625A (en) * | 2008-02-08 | 2009-08-20 | Fuji Heavy Ind Ltd | Road surface friction coefficient estimation device, and driving force distribution control device for a four-wheel drive vehicle equipped with the road surface friction coefficient estimation device |
| JP2009190467A (en) * | 2008-02-12 | 2009-08-27 | Fuji Heavy Ind Ltd | Road friction coefficient estimation device |
| JP2009190466A (en) * | 2008-02-12 | 2009-08-27 | Fuji Heavy Ind Ltd | Road friction coefficient estimation device |
| JP2009274684A (en) * | 2008-05-19 | 2009-11-26 | Nissan Motor Co Ltd | Electric booster hydraulic brake device |
| JP2023161228A (en) * | 2022-04-25 | 2023-11-07 | マツダ株式会社 | Vehicle control device |
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|---|---|
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