US5657229A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Anti-skid control system with torsion torque correction
Assignee: Mitsubishi Electric Corp
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Filing: 1995-05-10
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Granted: 1997-08-12
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Expires: 2015-05-10
Abstract
Abstract A anti-skid control system detects a torsion torque applied to each of the wheels of a vehicle, and controls a braking force on the basis of a corrected acceleration as a wheel acceleration is corrected by the detected torsion torque. The corrected acceleration Gc can approximately be expressed by Gc=(Kr/Iw)(μ·W·r-Tb), where Iw, inertia moment of the wheel ω, angular velocity of the wheel (the turning direction of the wheel when it advances is positive); Tt, torsion torque; μ, friction coefficient of the road surface; W, load on the wheel; r, radius of the wheel; Tb, brake torque; Kr, constant.
Inventors
- 👤 Yasuo Naito
- 👤 Hideki Doi
- 👤 Chiaki Fujimoto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-05 16:50
CPC Classifications
B; B60; B60T; B60T8/00; B60T8/17; B60T8/176; B60T8/1763; B60T8/17636; B60T8/32; B60T8/52; B60T8/175; Y; Y10; Y10S; Y10S188/00; Y10S188/01
Claims Analysis
Total Claims: 27
Claim 1
Independent Claim
141 words
An anti-skid control system comprising: wheel brakes respectively mounted on wheels which are coupled with a power unit for driving a vehicle through torque transmission means, the torque transmission means receiving a torsion torque and including wheel drive shafts; and controller means operating in a manner that when there is an indication that the wheels are impeded in rotation, the controller means decreases the braking force to the wheels, when the indication of impeding the rotation of the wheels is removed by the decrease of the braking force, the controller means increases again the braking force; wherein said controller means judges a state of each wheel on the basis of an acceleration of the wheel corrected by a torsion torque applied to the wheel drive shaft associated with the wheel, and controls the braking force on the basis of the judgement.
Claim 2
Dependent Claim
141 words
An anti-skid control system comprising: wheel brakes respectively mounted on wheels which are coupled with a power unit for driving a vehicle through torque transmission means, the torque transmission means receiving a torsion torque and including wheel drive shafts; and controller means operating in a manner that when there is an indication that the wheels are impeded in rotation, the controller means decreases the braking force to the wheels, when the indication of impeding the rotation of the wheels is removed by the decrease of the braking force, the controller means increases again the braking force; wherein said controller means judges a state of each wheel on the basis of an acceleration of the wheel corrected by a torsion torque applied to the wheel drive shaft associated with the wheel, and controls the braking force on the basis of the judgement.
Claim 3
Dependent Claim
104 words
The anti-skid control system according to claim 1, wherein the braking force of each wheel brake varies depending on a brake hydraulic pressure applied thereto, and said controller means receives signals from wheel speed sensors attached to the wheels and detects wheel speeds from the sensor signals, computes an acceleration of the wheel using the detected wheel speed, corrects the computed acceleration by a torsion torque applied to the wheel drive shaft associated with the wheel, judges a state of the wheel on the basis of the corrected acceleration, and adjusts the brake hydraulic pressure applied to the wheel, thereby controlling the braking force.
Claim 4
Dependent Claim
40 words
The anti-skid control system according to claim 2, wherein the corrected acceleration Gc is expressed by Gc=Kr(dω/dt)+(Kr/Iw)Tt where Iw: inertia moment of the wheel dω/dt: acceleration of the wheel Tt: torsion torque applied to the wheel drive shaft Kr: constant.
Claim 5
Dependent Claim
40 words
The anti-skid control system according to claim 1, wherein the corrected acceleration Gc is expressed by Gc=Kr(dω/dt)+(Kr/Iw)Tt where Iw: inertia moment of the wheel dω/dt: acceleration of the wheel Tt: torsion torque applied to the wheel drive shaft Kr: constant.
Claim 6
Dependent Claim
81 words
The anti-skid control system according to claims 1, wherein said controller means includes control command means operating such that said control command means detects a difference between the braking force applied to the wheel and the road surface reaction from the corrected acceleration, judges a state of the wheel on the basis of the difference, and produces a control signal for controlling the braking force, and braking force adjusting means for controlling the braking force in accordance with the control signal.
Claim 7
Dependent Claim
51 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to decrease the braking force according to the corrected acceleration, when the braking force applied to the wheel is above the road surface reaction and an acceleration of the wheel is below a predetermined value.
Claim 8
Dependent Claim
110 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to decrease the braking force at a first predetermined gradient according to the corrected acceleration, when the braking force applied to the wheel is above the road surface reaction and an acceleration of the wheel is below a first predetermined value, and said control command means produces a signal to decrease the braking force at a second predetermined gradient, gentler than the first predetermined gradient, according to the corrected acceleration, when an acceleration of the wheel is above the first predetermined value but below a second predetermined value larger than the first predetermined value.
Claim 9
Dependent Claim
55 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to stop decreasing the braking force and to hold the present braking force according to the corrected acceleration, when a braking force applied to the wheel is below the road surface reaction under the decrease of the braking force.
Claim 10
Dependent Claim
95 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to stop decreasing the braking force and to hold the present braking force according to the corrected acceleration, when a braking force applied to the wheel is above the road surface reaction, wheel speed is above a reference speed led from a vehicle speed estimated on the basis of the speeds of the respective wheels, and an acceleration of the wheel is above the first predetermined value but below a second predetermined value larger than the first predetermined value.
Claim 11
Dependent Claim
58 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to stop decreasing the braking force and to hold the present braking force according to the corrected acceleration, when a braking force applied to the wheel is above the road surface reaction, and a maximum value of the corrected acceleration is detected.
Claim 12
Dependent Claim
48 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to increase the braking force according to the corrected acceleration, when a braking force applied to the wheel decreases below the road surface reaction and then increases above the road surface reaction.
Claim 13
Dependent Claim
70 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to increase the braking force according to the corrected acceleration, when a wheel speed is above a first reference speed larger than a second reference speed led from a vehicle speed estimated on the basis of the speeds of the respective wheels, and an acceleration of the wheel is above a second predetermined value.
Claim 14
Dependent Claim
42 words
The anti-skid control system according to claim 5, wherein said control command means determines an increasing gradient on the basis of the maximum value of the corrected acceleration, and produces a signal to increase the braking force at the determined increasing gradient.
Claim 15
Dependent Claim
85 words
The anti-skid control system according to claims 11, wherein said control command means produces a signal to increase the braking force at a first increasing gradient for a preset period of time according to the corrected acceleration, when a braking force applied to the wheel decreases below the road surface reaction and then increases above the road surface reaction, and after the preset period of time, produces a signal to increase the braking force at a second increasing gradient gentler than the first increasing gradient.
Claim 16
Dependent Claim
85 words
The anti-skid control system according to claims 12, wherein said control command means produces a signal to increase the braking force at a first increasing gradient for a preset period of time according to the corrected acceleration, when a braking force applied to the wheel decreases below the road surface reaction and then increases above the road surface reaction, and after the preset period of time, produces a signal to increase the braking force at a second increasing gradient gentler than the first increasing gradient.
Claim 17
Dependent Claim
85 words
The anti-skid control system according to claims 13, wherein said control command means produces a signal to increase the braking force at a first increasing gradient for a preset period of time according to the corrected acceleration, when a braking force applied to the wheel decreases below the road surface reaction and then increases above the road surface reaction, and after the preset period of time, produces a signal to increase the braking force at a second increasing gradient gentler than the first increasing gradient.
Claim 18
Dependent Claim
82 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to decrease the braking force according to the corrected acceleration, when a braking force applied to the wheel is above the road surface reaction and an acceleration of the wheel is below a preset value, and produces a signal to stop decreasing the braking force and to hold the present braking force when the braking force applied to the wheel is below the road surface reaction.
Claim 19
Dependent Claim
158 words
The anti-skid control system according to claim 5, wherein said control command means produces a signal to decrease the braking force according to the corrected acceleration, when a braking force applied to the wheel is above the road surface reaction and an acceleration of the wheel is below a preset value, produces a signal to stop decreasing the braking force and to hold the present braking force according to the corrected acceleration, when a wheel speed is above a first reference speed larger than a second reference speed led from a vehicle speed estimated on the basis of the speeds of the respective wheels, and an acceleration of the wheel is above a second predetermined value, and produces a signal to increase the braking force according to the corrected acceleration, when an acceleration of the wheel is above a second predetermined value, and the wheel speed is above a second reference speed larger that the first reference speed.
Claim 20
Dependent Claim
26 words
The anti-skid control system according to claim 1, wherein a torsion torque is computed on the basis of a torsion angle of the torque transmission means.
Claim 21
Dependent Claim
26 words
The anti-skid control system according to claim 2, wherein a torsion torque is computed on the basis of a torsion angle of the torque transmission means.
Claim 22
Dependent Claim
26 words
The anti-skid control system according to claim 4, wherein a torsion torque is computed on the basis of a torsion angle of the torque transmission means.
Claim 23
Dependent Claim
26 words
The anti-skid control system according to claim 5, wherein a torsion torque is computed on the basis of a torsion angle of the torque transmission means.
Claim 24
Dependent Claim
37 words
The anti-skid control system according to claim 1, wherein the torsion torque is computed using an acceleration of rotation led from the number of revolutions of a power unit, and an inertia moment of the power unit.
Claim 25
Dependent Claim
37 words
The anti-skid control system according to claim 2, wherein the torsion torque is computed using an acceleration of rotation led from the number of revolutions of a power unit, and an inertia moment of the power unit.
Claim 26
Dependent Claim
37 words
The anti-skid control system according to claim 4, wherein the torsion torque is computed using an acceleration of rotation led from the number of revolutions of a power unit, and an inertia moment of the power unit.
Claim 27
Dependent Claim
37 words
The anti-skid control system according to claim 5, wherein the torsion torque is computed using an acceleration of rotation led from the number of revolutions of a power unit, and an inertia moment of the power unit.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2000-08-11 | 2001-02-10 | 2001-08-12 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-08-11 | 2005-02-10 | 2005-08-12 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-08-11 | 2009-02-10 | 2009-08-12 | $7700.00 | Window Closed / Lapsed |