Vibration analysis of the rotating wheel for controlling anti-lock braking operation
First Claim
Patent Images
1. An anti-lock brake controlling apparatus comprising:
- detecting means for detecting a vibration characteristic of a wheel which is rotating at a certain speed; and
controlling means for controlling a mean braking force acting on the wheel on the basis of the detected vibration characteristic such that a slip ratio between a tire and a road surface is not larger than a value at which a coefficient of friction between the tire and the road surface substantially reaches a peak value.
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Abstract
A braking force acting on the wheel is actuated by a very small amount at a resonant frequency of a vibrating system comprised of a vehicle body, a wheel, and road surface, and the amplitude of the resonant-frequency component of the wheel speed is detected. A gain in the amplitude of the resonant-frequency component of the wheel speed with respect to the amplitude of the very small actuation of the braking force is determined. A mean braking force is controlled to decrease when the gain is smaller than a reference value, and to increase when the gain is greater than the reference value.
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Citations
23 Claims
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1. An anti-lock brake controlling apparatus comprising:
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detecting means for detecting a vibration characteristic of a wheel which is rotating at a certain speed; and controlling means for controlling a mean braking force acting on the wheel on the basis of the detected vibration characteristic such that a slip ratio between a tire and a road surface is not larger than a value at which a coefficient of friction between the tire and the road surface substantially reaches a peak value. - View Dependent Claims (2)
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3. An anti-lock brake controlling apparatus comprising:
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resonant-frequency detecting means for detecting a resonant frequency from a frequency distribution of a wheel which is rotating at a certain speed; and controlling means for reducing a mean braking force acting on the wheel when the resonant frequency is greater than a reference value. - View Dependent Claims (4, 5, 6)
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7. An anti-lock brake controlling apparatus comprising:
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actuation means for actuation by a very small amount a braking force acting on a wheel at a resonant frequency of a vibrating system constituted by a vehicle body, a wheel, and a road surface; detecting means for detecting an amplitude of a component of the resonant frequency of a wheel speed; and controlling means for reducing a mean braking force acting on the wheel when a gain in the amplitude of the resonant-frequency component of the wheel speed with respect to an amplitude of the small excitation of the braking force is smaller than a reference value. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15)
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16. An anti-lock brake controlling apparatus comprising:
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actuating means for actuating by a very small amount a braking force acting on a wheel at a resonant frequency of a vibrating system constituted by a vehicle body, a wheel, and a road surface at a fixed amplitude; detecting means for detecting an amplitude of a component of the resonant frequency of a wheel speed; and controlling means for reducing a mean braking force acting on the wheel when the amplitude of the resonant-frequency component of the wheel speed detected by said detecting means is smaller than a reference value. - View Dependent Claims (17)
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18. An anti-lock brake controlling apparatus comprising:
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actuating means for actuating by a small amount a braking force acting on a wheel at a resonant frequency of a vibrating system constituted by a vehicle body, a wheel, and a road surface and at a fixed amplitude corresponding to an amplitude command; detecting means for detecting an amplitude of a component of the resonant frequency of a wheel speed; and controlling means for determining the amplitude command such that the amplitude of the resonant-frequency component of the wheel speed detected by said detecting means becomes a reference value, said controlling means having means for reducing a mean braking force acting on the wheel when the amplitude command is greater than a reference amplitude value. - View Dependent Claims (19)
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20. An anti-lock brake controlling apparatus comprising:
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actuating means for actuating by a very small amount a braking force acting on a wheel at a resonant frequency of a vibrating system constituted by a vehicle body, a wheel, and a road surface; detecting means for detecting a wheel speed; and controlling means for reducing a mean braking force acting on the wheel when a frequency at which a gain in the amplitude of the wheel speed with respect to an amplitude of the braking force becomes maximum is greater than a reference value. - View Dependent Claims (21, 22, 23)
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Specification