Traction control apparatus

• US 4,985,836 A
• Filed: 04/18/1989
• Issued: 01/15/1991
• Est. Priority Date: 04/20/1988
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Original Assignee: Mitsubishi Jidosha Kogyo Kabushiki Kaisha
• Inventors: Ikeda, Shuji, Kawano, Atsuhiro, Funakoshi, Takeshi, Yamada, Kiichi, Ito, Masayoshi, Nishikawa, Susumu, Hashiguchi, Masayuki
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/339,702
• Time in Patent Office: 637 Days
• Field of Search: 364/426.02, 364/426.03, 180/197, 303/100, 303/102, 303/103, 303/106, 303/112
• US Class Current: 701/90
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• CPC Class Codes: B60G 2800/95 Automatic Traction or Slip Control [ATC]
• CPC Class Codes: B60G 2800/97 Engine Management System [EMS]
• 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

Abstract

A driving and driven wheel velocity are detected by wheel velocity sensors. A reference velocity is set on the basis of the driven wheel velocity. A slip value of the driving wheel on the basis of a difference between the driving wheel velocity and reference velocity. A target output torque of an engine is set in accordance with the slip value of the driving wheel. The target output torque is corrected in accordance with a lateral acceleration generated in a widthwise direction of the vehicle. An output of the engine is controlled to reach the corrected target output torque.

Claims

1. A traction control apparatus comprising:

driving wheel velocity detecting means for detecting a driving wheel velocity of a vehicle;

driven wheel velocity detecting means for detecting a driven wheel velocity of the vehicle;

reference velocity setting means for setting a reference velocity on the basis of an output from said driven wheel velocity detecting means;

slip value detecting means for detecting a slip value of the driving wheel on the basis of a difference between an output from said driving wheel velocity detecting means and an output from said reference velocity setting means;

lateral acceleration detecting means for detecting a lateral acceleration generated in a widthwise direction of the vehicle; and

target engine torque setting means for setting a target output torque of an engine of the vehicle in accordance with an output from said slip value detecting means, wherein said target engine torque setting means comprises travel acceleration detecting means for detecting a travel acceleration of the vehicle, reference drive torque setting means for setting a reference drive torque in accordance with an output from said travel acceleration detecting means, target output torque setting means for setting the target output torque of the engine in accordance with an output from said reference drive torque setting means, correction torque setting means for setting a correction torque in accordance with an output from said slip value detecting means, target output torque correcting means for correcting the target output torque in accordance with an output of said correction torque setting means, and correction torque changing means for changing the correction torque in accordance with an output from said lateral acceleration detecting means.

2. An apparatus according to claim 1, wherein said target output torque correcting means corrects the target output torque by subtracting the output from said correction torque setting means from the output of said reference drive torque setting means.

3. An apparatus according to claim 1, wherein said target output torque correcting means corrects the target output torque by subtracting the output from said correction torque setting means from the output from said target output torque setting means.

4. An apparatus according to claim 1, wherein said correction torque setting means sets at least a proportional correction torque proportional to the output from said slip value detecting means as the correction torque, and said correction torque changing means corrects the target output torque by changing the proportional correction torque in accordance with the output from said lateral acceleration detecting means.

5. An apparatus according to claim 1, wherein said correction torque setting means comprises proportional correction torque setting means for setting a proportional correction torque proportional to the output from said slip value detecting means, integral correction torque setting means for setting an integral correction torque on the basis of an integral value of the output from said slip value detecting means, and correction torque output means for outputting the proportional correction torque and the integral correction torque as the correction torque, and said correction torque changing means corrects the target output torque by changing the proportional correction torque in accordance with the output from said lateral acceleration detecting means.

6. A traction control apparatus comprising:

driving wheel velocity detecting means for detecting a driving wheel velocity of a vehicle;

driven wheel velocity detecting means for detecting left and right driven wheel velocities of the vehicle;

reference velocity setting means for setting a reference velocity on the basis of an output from said driven wheel velocity detecting means;

slip value detecting means for detecting a slip value of the driving wheel on the basis of a difference between an output from said driving wheel velocity detecting means and an output from said reference velocity setting means;

target engine torque setting means for setting a target output torque of an engine of the vehicle in accordance with an output from said slip value detecting means;

lateral acceleration detecting means comprising a lateral acceleration sensor for directly detecting the lateral acceleration generated in the widthwise direction of the vehicle, lateral acceleration calculating means for calculating the lateral acceleration on the basis of the output from said driven wheel velocity detecting means, failure detecting means for detecting a failure of said lateral acceleration sensor, and lateral acceleration switching means for, when said failure detecting means detects said failure, outputting the output of said lateral acceleration calculating means as the lateral acceleration in place of an output from said lateral acceleration sensor; and

target engine torque correcting means for correcting the target output torque in accordance with an output from said lateral acceleration switching means.

7. An apparatus according to claim 6, wherein said failure detecting means detects the failure of said lateral acceleration sensor when a state wherein the output of said lateral acceleration sensor is larger than a predetermined upper limit or a state wherein the output is smaller than a predetermined lower limit continues for a predetermined period of time or more.

8. An apparatus according to claim 6, wherein said failure detecting means comprises steering amount detecting means for detecting a steering amount of the vehicle, and vehicle velocity detecting means for detecting a travel velocity of the vehicle, and detects the failure of said lateral acceleration sensor when a state wherein the output from said steering amount detecting means is higher than a predetermined steering amount, the output from said vehicle velocity detecting means is higher than a predetermined velocity and the output from said lateral acceleration sensor is smaller than a predetermined reference value continues for a predetermined period of time or more.

9. A traction control apparatus comprising:

driving wheel velocity detecting means for detecting a driving wheel velocity of a vehicle;

driven wheel velocity detecting means for detecting a driven wheel velocity of the vehicle;

reference velocity setting means for setting a reference velocity on the basis of output from said driven wheel velocity detecting means;

slip value detecting means for detecting a slip value of the driving wheel on the basis of a difference between an output from said driving wheel velocity detecting means and an output from said reference velocity setting means;

target engine torque setting means for setting a target output torque of an engine of the vehicle in accordance with an output from said slip value detecting means;

lateral acceleration detecting means for detecting a lateral acceleration generated in a widthwise direction of the vehicle which comprises, vehicle velocity detecting means for detecting a travel velocity of the vehicle, and lateral acceleration correcting means for correcting the lateral acceleration in accordance with an output from said vehicle velocity detecting means; and

target engine torque correction means for correcting the target output torque in accordance with an output from said lateral acceleration detecting means.

10. An apparatus according to claim 9, wherein said lateral acceleration correcting means changes a correction content of the lateral acceleration using the travel velocity in accordance with steering characteristics of the vehicle.

11. An apparatus according to claim 9, wherein said lateral acceleration correcting means corrects the lateral acceleration by decreasing the lateral acceleration by a correction value which increases with an increase in said travel velocity detected by said vehicle velocity detecting means when the steering characteristics of the vehicle indicate that the vehicle tends to be understeered with an increase in said travel velocity.

12. An apparatus according to claim 9, wherein said lateral acceleration correcting means corrects the lateral acceleration by multiplying the lateral acceleration with a correction coefficient which decreases with an increase in said travel velocity detected by said vehicle velocity detecting means when the steering characteristics of the vehicle indicate that the vehicle tends to be understeered with an increase in said travel velocity.

13. An apparatus according to claim 9, wherein said lateral acceleration correcting means corrects the lateral acceleration by increasing the lateral acceleration by a correction value which increases with a decrease in said travel velocity detected by said vehicle velocity detecting means when the steering characteristics of the vehicle indicate that the vehicle tends to be oversteered with an increase in said travel velocity.

14. An apparatus according to claim 9, wherein said lateral acceleration correcting means corrects the lateral acceleration by multiplying the lateral acceleration with a correction coefficient which decreases with a decrease in said travel velocity detected by said vehicle velocity detecting means when the steering characteristics of the vehicle indicate that the vehicle tends to be oversteered with an increase in said travel velocity.

15. A traction control apparatus comprising:

driving wheel velocity detecting means for detecting a driving wheel velocity of a vehicle;

driving wheel velocity detecting means for detecting a driven wheel velocity of the vehicle;

reference velocity setting means for setting a reference velocity on the basis of an output from said driven wheel velocity detecting means;

slip value detecting means for detecting a slip value of the driving wheel on the basis of a difference between an output from said driving wheel detecting means and an output from said reference velocity setting means;

target engine torque setting means for setting a target output torque of an engine of the vehicle in accordance with an output from said slip value detecting means;

lateral acceleration detecting means for detecting a lateral acceleration generated in a widthwise direction of the vehicle; and

target engine torque correcting means for correcting the target output torque in accordance with an output from said lateral acceleration detecting means which comprises first correction value setting means for setting a first correction value which changes in accordance with the output from said lateral acceleration detecting means, lateral acceleration changing value calculating means for calculating a changing value of the lateral acceleration as a function of time, second correction value setting means for setting a second correction value which changes in accordance with an output from said lateral acceleration changing value calculating means, and slip value correcting means for correcting the target output torque by correcting the slip value in accordance with outputs from said first and second correction value setting means.

16. A traction control apparatus comprising:

driving wheel velocity detecting means for detecting a driving wheel velocity of a vehicle;

driven wheel velocity detecting means for detecting a driven wheel velocity of the vehicle;

reference velocity setting means for setting a reference velocity on the basis of an output from said driven wheel velocity detecting means;

slip value detecting means for detecting a slip value of the driving wheel on the basis of a difference between an output from said driving wheel velocity detecting means and an output from said reference velocity setting means;

target engine torque setting means for setting a target output torque of an engine of the vehicle in accordance with an output from said slip value detecting means;

lateral acceleration detecting means for detecting a lateral acceleration generated in a widthwise direction of the vehicle; and

target engine torque correcting means for correcting the target output torque in accordance with an output from said lateral acceleration detecting means which comprises first correction value setting means for setting a first correction value which increases with an increase in output from said lateral acceleration detecting means, lateral acceleration changing value calculating means for calculating a changing value of the lateral acceleration as a function of time, a second correction value setting means for setting a second correction value which increases with an increase in output from said lateral acceleration changing value calculating means, which has a negative value when the output from said lateral acceleration changing value calculating means is smaller than a predetermined value, and has a positive value when the output from said lateral acceleration changing value calculating means is longer than the predetermined value, and slip value correcting means for correcting the target output torque by correcting the slip value in accordance with outputs from said first and second correction value setting means.

17. An apparatus according to claim 16, wherein said slip value correcting means corrects the target output torque by adding the outputs from said first and second correction value setting means to the slip value.