Road surface detecting device

• US 4,809,197 A
• Filed: 12/24/1986
• Issued: 02/28/1989
• Est. Priority Date: 12/26/1985
• Status: Expired due to Fees

• Current Assignee: Nippon Soken, Inc. (DENSO Corporation)
• Original Assignee: Nippon Soken, Inc. (DENSO Corporation)
• Inventors: Tashiro, Syuzaburou, Kawai, Hisasi, Ina, Toshikazu
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/945,953
• Time in Patent Office: 797 Days
• Field of Search: 364/424, 364/426, 364/550, 280/707, 303/105, 303/106, 73/105, 73/146, 324/166, 324/167, 324/170, 324/171
• US Class Current: 702/35
• CPC Class Codes: B60G 17/0165 to an external condition, e.g. rough road surface, side wind
• CPC Class Codes: B60G 2400/208 of wheel rotation
• CPC Class Codes: B60G 2400/82 Ground surface
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2600/12 Sampling or average detecting; Addition or substraction
• CPC Class Codes: B60G 2600/16 Integrating means, i.e. integral control

Abstract

A road surface detecting device has a circular plate connected with an axle of a vehicle so as to be rotated with said axle, and has a large number of teeth at regular intervals in its outer periphery. A rotary sensor detecting the passage of the teeth of the circular plate, and generates a pulse signal, and a microcomputer receive the pulse signal. The microcomputer calculates instantaneous speeds of a wheel from the period of the pulse signal and calculates an average value of a plurality of instantaneous speeds obtained in the predetermined rotations of a wheel another average value of a plurality of instantaneous speeds obtained in the next predetermined rotations of a wheel is also calculated as a presumed speed of a vehicle based on one and another average values. The microcomputer then calculates an absolute value of a difference between the instantaneous speeds in the predetermined rotations after next of a wheel and the presumed speed of vehicle, cancels an absolute value of an oldest difference every time when an absolute value of a newest difference is obtained, and calculates a successive integrated value by adding absolute values of a predetermined number of differences to one another. The microcomputer determines the road surface condition to be a bad condition when the successive integrated value is not less than a predetermined value or as a good condition when the successive integrated value is not more than the predetermined value.

Claims

1. A road surface detecting device comprising:

means for detecting instantaneous speeds of a wheel at regular intervals;

means for calculating a presumed speed of a vehicle from said instantaneous speeds;

means for calculating absolute values of differences between the subsequent instantaneous speeds of said wheel and said presumed speed of said vehicle; and

means for comparing said absolute values of said differences with a predetermined value and generating a bad road signal indicating that said vehicle is running on a rough road when said absolute values of said differences are not less than said predetermined value.

2. A road surface detecting device according to claim 1, wherein said means for detecting instantaneous speeds is provided with a circular plate connected to an axle of a vehicle so as to be rotated therewith, which has a large number of teeth at regular intervals on its outer periphery, a sensor for detecting the passage of said teeth and generating a pulse signal, and a calculating means for calculating said instantaneous speeds from the period of said pulse signal.

3. A road surface detecting device according to claim 1, wherein said means for calculating said presumed speed calculates one average value of a plurality of instantaneous speeds obtained at a predetermined rotation of wheel, calculates another average value of a plurality of instantaneous speeds obtained at the following predetermined rotation of said wheel, and calculates said presumed speed based on said one average value and said another average value.

4. A road surface detecting device according to claim 1, wherein said means for calculating said presumed speed cancels an oldest instantaneous speed every time a newest instantaneous speed is obtained, calculates successive average values of a predetermined number of said instantaneous speeds and calculates said presumed speed based on said successive average values.

5. A road surface detecting device according to claim 1, further comprising

means for integrating said absolute values of said differences for a predetermined time to obtain an integrated value;

and

means for comparing said integrated value with a predetermined value and determining said road to be a bad condition when said integrated value is not less than the predetermined value, and to be a good condition when said integrated value is not more than the predetermined value.

6. A road surface detecting device according to claim 3, further comprising means for correcting said presumed speed by a gain value and an offset value, each being obtained from said one average value and said another average value.

7. A road surface detecting device according to claim 3, wherein each of said one average value and said another average value are calculated from a plurality of instantaneous speeds obtained over one rotation of said wheel.

8. A road surface detecting device for a vehicle, comprising:

means for detecting instantaneous speeds of a wheel at regular intervals;

means for calculating a presumed speed of a vehicle from said instantaneous speeds;

means for calculating absolute values of differences between the subsequent instantaneous speeds of said wheel and said presumed speed of said vehicle; and

means for statistically processing said absolute values of said differences to obtain a statistical value and determining a road surface condition to be a bad condition when said statistical value is not less than a predetermined value, and to be a condition when said statistical value is not more than the predetermined value.

9. A road surface detecting device according to claim 8, wherein said processing means cancels an absolute value of an oldest one of said differences every time an absolute value of a newest one of said differences is obtained, calculates a successive integrated value by adding a predetermined number of absolute values of said differences, and determines said road surface condition as a bad condition when said successive integrated value is not less than a predetermined value and as a good condition when said successive integrated value is not more than the predetermined value.

10. A road surface detecting device according to claim 8, wherein said processing means detects a number of times a current one of said absolute values is greater than said differences by a predetermined amount, in a predetermined running distance, and determines said road surface condition to be a bad condition when said number is not less than a predetermined number, and as a good condition when said number is not more than a predetermined number.

11. A road surface detecting device according to claim 8, wherein said processing means determines a road surface condition to be a partial unevenness on a good road when said statistical value is not more than a predetermined value and said absolute value of a newest one of said differences is not less than another predetermined value.

12. A road surface detecting device for a vehicle having a wheel, comprising:

sensor means, adapted to be mounted on the wheel of said vehicle, for generating a wheel signal indicative of a revolution of the wheel;

means for calculating instantaneous wheel speeds based on said wheel signal;

means for calculating a presumed speed of said vehicle by averaging said instantaneous wheel speeds during a predetermined period of time;

means for generating an absolute difference signal by comparing a subsequent instantaneous wheel speed with the presumed vehicle speed; and

means for comparing said absolute difference signal by comparing a subsequent instantaneous wheel spaced with the presumed vehicle speed; and

means for comparing said absolute difference signal with a predetermined value and generating a bad road signal indicating that said vehicle is running on a rough road when said absolute difference signal is not less than a predetermined value.

13. A road surface detecting device for a vehicle having a wheel, comprising:

sensor means adapted to be mounted on the wheel of said vehicle, for generating a wheel signal indicative of a revolution of the wheel;

means for calculating instantaneous wheel speeds based on said wheel signal;

means for calculating a presumed speed of a vehicle by averaging said instantaneous wheel speeds during a predetermined period of time;

means for generating an absolute difference signal by comparing a subsequent instantaneous wheel speed with the presumed speed;

means for integrating said absolute difference signal for a predetermined time to obtain an integrated value; and

means for comparing said integrated value with a predetermined value and determining said road surface to be in a bad condition when said integrated value is not less than the predetermined value.

14. A road surface detecting device for a vehicle, comprising:

means for detecting instantaneous speeds of a wheel and generating instantaneous speed signals indicative thereof;

means for calculating an average speed by averaging said instantaneous speeds of said wheel during a predetermined period of time;

means for comparing a subsequent instantaneous speed with said average speed and generating an absolute difference speed signal indicative thereof; and

means for comparing said absolute difference speed signal with a predetermined value and generating a bad road signal indicating that said vehicle is running on a rough road when said difference speed exceeds the predetermined value.