Method and apparatus to control slippage or spinning of driven wheels of a vehicle

• US 4,625,824 A
• Filed: 04/24/1985
• Issued: 12/02/1986
• Est. Priority Date: 05/03/1984
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Leiber, Heinz
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/726,412
• Time in Patent Office: 587 Days
• Field of Search: 180/197, 303/95, 303/97, 303/106, 303/111, 303/96, 303/99
• US Class Current: 180/197
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60T 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60W 30/1819 Propulsion control with control means using analogue circuits, relays or mechanical links

Abstract

To prevent undue low operating speed of an automotive vehicle engine if slippage of a driven wheel is sensed, the speeds of the driven wheels are sensed, and, when one of the driven wheels first exceeds a reference level, a braking effort is applied thereto, the other wheel, however, being permitted to slip or spin until the other wheel has reached either a predetermined speed, at which it is then selectively braked, or the engine has reached a predetermined engine speed level (n_min), after which time the other wheel then can also be braked, or the spinning decreases due to lesser power being applied by the engine.

Claims

1. Method of controlling or spinning of driven wheels of a vehicle having a drive engine, to furnish tractive effort and provide drive torque to the driven wheels using the steps of

generating driven wheel speed signals (V₁, V₂) representative of rotary speed of the wheels of the vehicle;

generating a vehicle speed signal (V_Ref) representative of the speed of movement of the vehicle;

generating a wheel slip signal (9a, 9b) if the rotary speed of any one of the driven wheels indicates that the wheel is slipping or spinning;

controlling the drive torque applied on the driven wheels in a direction to reduce drive torque, and hence wheel speed, in a dependence on presence of a wheel slip signal from at least one of the wheels;

and comprising, in accordance with the invention, the step of applying a braking effort only to that one of the driven wheels which, first provides a wheel slip signal, while leaving another driven wheel uncontrolled and permitting at least initially slippage thereof; and

controlling the output torque of the engine in a direction to reduce the output torque of the engine only after the braking effort applied to said one of the driven wheels has resulted in an essential termination of slippage of said one driven wheel.

2. The method of claim 1, wherein the step of applying braking effort to the wheel from which first a wheel slip signal is derived comprises directly braking said driven wheel.

3. The method of claim 1, wherein the step of applying braking effort to that only of the driven wheels from which first the wheel slip signal is derived comprises controlling a no-slip or blocking differential to thereby indirectly apply braking effort, to said drum wheel to which braking effort is being applied.

4. The method of claim 1, further including the step of applying braking effort to the other wheel at a higher speed range than the driven wheel speed of the wheel which is first braked.

5. The method of claim 1 further including the step of

generating a driven wheel speed reference level (V_x);

and

wherein the step of controlling the output torque of the engine in a direction to reduce engine output torque only when said another driven wheel which was, at least initially, uncontrolled, has reached a speed above the speed reference level (V_x).

6. The method of claim 1 including the step of sensing engine speed, and deriving an engine speed signal (n);

and wherein the step of controlling the output torque of the engine in a direction to reduce the output torque comprises controlling the output torque in said direction to reduce the output torque of the engine only after the engine has reached a predetermined engine speed level (n_min).

7. Method of claim 1 including the step of generating a driven wheel speed reference level (V_x);

and

wherein the step of applying braking effort to set another driven wheel which, at least initially, was permitted to slip, when said another driven wheel has reached the predetermined speed reference level (V_x).

8. Control apparatus to control slippage or spinning of driven wheels of a vehicle driven by an engine, to maintain tractive effort

comprising:

means providing a first wheel speed signal (V₁) representative of the speed of a driven wheel;

means providing a second wheel speed signal (V₂) representative of the wheel speed of another driven wheel;

means (11) providing a speed reference signal;

means for recognizing which ones of the driven wheel speed signals exceed the reference speed signal;

and logic circuit means (15a, 15b, 16a, 16b) applying a braking effort to that one of the wheels which is recognized as having a speed in excess of the reference speed, while inhibiting applying a braking effort to the other driven wheel or wheels supplying the other driven wheel speed signal.

9. Apparatus according to claim 8, including means (12) determining engine speed, and deriving an engine speed signal (12a) when the engine speed exceeds a certain predetermined limit;

and means (10, 17,

     13) for controlling the operation of the engine in a direction to reduce engine torque only when the speed of the engine has reached a predetermined level as represented by said engine speed signal.

10. Apparatus according to claim 9, wherein the logic circuit means are coupled to receive the engine speed signal and permit application of braking effort also to the other driven wheel from which the other speed signal is derived when the engine speed has exceeded said predetermined speed level as represented by said engine speed signal.