Anti-skid controlling system and method for automotive vehicle
First Claim
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1. An anti-skid controlling system for a vehicle, comprising:
- a) first sensing means for detecting rotation speeds of respective tire wheels and outputting detection signals indicative of the rotation speeds of the respective tire wheels;
b) second sensing means for detecting a lateral acceleration of a vehicular body and outputting a lateral acceleration signal indicative of the lateral acceleration;
c) third means for determining whether either one of slip rates of right and left rear tire wheels exceeds a set slip rate on the basis of the rotation speed signals for the tire wheels;
d) fourth means for operatively limiting a braking force imposed on each rear tire wheel when either one of the slip rates exceeds the set slip rate; and
e) fifth means for switching from a common anti-skid control mode in which the anti-skid control is commonly carried out for both rear tire wheels on a basis of the slip rate data derived from one of the rear tire wheels which provides a larger slip rate to an independent anti-skid control mode in which the anti-skid control is individually carried out for the respective rear tire wheels on a basis of each slip rate data derived for each one of the rear tire wheels as the lateral acceleration becomes increased, wherein said fifth means switches between the common anti-skid control mode and the independent anti-skid control mode when the lateral acceleration becomes increased and wherein the data of the left rear tire wheel speed VRL is defined as B.VRL +(1-B)MIN(VRL, VRR) and the data of the right rear tire wheel speed VRR is defined as B.VRR +(1-B)MIN(VRL, VRR), wherein B denotes a variable representing lateral acceleration yg and MIN(VRL, VRR) denotes the rotation speed value selected from the lower of VRL and VRR such that the switching from the common anti-skid control for both rear tire wheels to the independent anti-skid control for each of both rear tire wheels is gradually carried out in response to the increase in the magnitude of lateral acceleration.
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Abstract
In an anti-skid controlling system and method for an automotive vehicle, the anti-skid control mode is gradually changed from an anti-skid control mode common to each rear tire wheel on the basis of a larger slip rate of both rear tire wheels to an anti-skid control mode for each individual rear tire wheel on the basis of each tire wheel slip rate when the lateral acceleration applied to the vehicle is increased.
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Citations
6 Claims
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1. An anti-skid controlling system for a vehicle, comprising:
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a) first sensing means for detecting rotation speeds of respective tire wheels and outputting detection signals indicative of the rotation speeds of the respective tire wheels; b) second sensing means for detecting a lateral acceleration of a vehicular body and outputting a lateral acceleration signal indicative of the lateral acceleration; c) third means for determining whether either one of slip rates of right and left rear tire wheels exceeds a set slip rate on the basis of the rotation speed signals for the tire wheels; d) fourth means for operatively limiting a braking force imposed on each rear tire wheel when either one of the slip rates exceeds the set slip rate; and e) fifth means for switching from a common anti-skid control mode in which the anti-skid control is commonly carried out for both rear tire wheels on a basis of the slip rate data derived from one of the rear tire wheels which provides a larger slip rate to an independent anti-skid control mode in which the anti-skid control is individually carried out for the respective rear tire wheels on a basis of each slip rate data derived for each one of the rear tire wheels as the lateral acceleration becomes increased, wherein said fifth means switches between the common anti-skid control mode and the independent anti-skid control mode when the lateral acceleration becomes increased and wherein the data of the left rear tire wheel speed VRL is defined as B.VRL +(1-B)MIN(VRL, VRR) and the data of the right rear tire wheel speed VRR is defined as B.VRR +(1-B)MIN(VRL, VRR), wherein B denotes a variable representing lateral acceleration yg and MIN(VRL, VRR) denotes the rotation speed value selected from the lower of VRL and VRR such that the switching from the common anti-skid control for both rear tire wheels to the independent anti-skid control for each of both rear tire wheels is gradually carried out in response to the increase in the magnitude of lateral acceleration. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification