JPH0637857B2 - Anti-slip device for vehicle - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle slip prevention device that controls a torque transmitted to drive wheels to prevent slip.

[Prior art]

In recent years, in response to the demand for improved safety in vehicle traveling, the state of the drive wheels is based on the rotational speed of the drive wheels (hereinafter referred to as the drive wheel speed) and the rotational speed of the driven wheels (hereinafter referred to as the driven wheel speed). There are various types of vehicle slip prevention devices that determine whether the vehicle is in a slip state and, when it is determined that the vehicle is in a slip state, control the torque transmitted to the drive wheels to prevent slip. Several methods are known for determining whether or not the slip state is present in these devices,
The speed difference between the driving wheel speed and the driven wheel speed is within a predetermined allowable range,
Alternatively, it is determined whether or not it is outside the allowable range calculated according to the driven wheel speed, or whether or not the ratio between the drive wheel speed and the driven wheel speed exceeds a predetermined value. Came. Further, in order to control the torque transmitted to the drive wheels, a method of directly controlling the engine torque by controlling ignition timing or a fuel supply amount, a method of controlling by a torque transmission mechanism, etc. have been used.

These slip prevention devices that suppress the torque transmitted to the drive wheels to prevent the drive wheels from slipping excessively are effective in ensuring vehicle maneuverability and improving running stability. is there.

[Problems to be Solved by the Invention]

However, there is a demand from drivers who have advanced driving technology that wants to maximize the driving performance of the vehicle such as drifting and spin turns that positively utilize the slip of the driving wheels, and to avoid danger. In the unavoidable case, there is a problem that the vehicle equipped with the conventional anti-slip device cannot meet the possibility of being required to perform a drift run or a spin turn in terms of running.

Therefore, the present invention has been made in view of the above problems, and provides a vehicle slip prevention device that can change slip control according to a user's request and can meet a wide range of requests for driving performance. The purpose is to do.

[Means for Solving the Problems]

In order to achieve such an object, a vehicle slip prevention device according to the present invention, as shown in FIG. 1, includes a drive wheel speed detecting means for detecting a drive wheel speed and a driven wheel speed detecting means for detecting a driven wheel speed. And whether or not the speed difference between the driving wheel speed and the driven wheel speed is within the allowable range, and when it is determined that the speed difference is not within the allowable range, a control signal is output to perform slip control. A vehicle slip prevention device comprising: a control means; and a torque control means for controlling a torque transmitted to a drive wheel based on a control signal from the control means. Both the switching to the second control mode for prohibiting the slip control and the switching from the second control mode to the first control mode can be manually selected, and when the switching is selected, Selecting means for outputting a replacement signal to the controlling means, wherein the controlling means inputs the switching signal from the selecting means, and when switching from the first control mode to the second control mode is selected In response to the switching signal output from the selecting means, the control means stops outputting the control signal itself for slip control, and in this output stopped state, switches from the second control mode to the first control mode. The control means can output a control signal for slip control to the torque control means in response to a switching signal output from the selecting means when is selected.

[Advantageous effects of the invention]

According to the present invention configured as described above, the drive wheel speed and the driven wheel speed are detected, and when the speed difference between the two speeds is not within the allowable range, the torque transmitted to the drive wheels is controlled. Is configured to perform slip control.

However, when the driver selects the switching from the first control mode to the second control mode by the selection means, the switching signal from this selection means is input to the control means, and the control means performs control for slip control. Stop outputting the signal itself.
Then, in this output stopped state, when the driver selects the switching from the second control mode to the first control mode by the selection means, the control means can output the control signal.

Therefore, according to the present invention, not only the normal slip control can be performed, but also the slip control can be prohibited in response to the driver's demand for maximizing the driving performance of the vehicle.

In addition, since the slip control prohibition state can be canceled by the driver's operation, the slip control is started irrespective of the driver's intention, and the state that impairs the running stability of the vehicle is certain. It is possible to avoid it.

Further, in the present invention, the switching signal of the selecting means is input to the control means, and the slip control is prohibited by prohibiting the output of the control signal itself for the slip control from the control means in accordance with the switching signal. Since the inhibition of the slip control is also released by enabling the control signal to be output in accordance with the switching signal, the inhibition of the slip control and the slip control can be performed without a substantial time delay from the time when the driver requests. The prohibition can be lifted.

〔Example〕

 Hereinafter, the present invention will be described with reference to the drawings with reference to embodiments.

FIG. 2 is a schematic configuration diagram of the embodiment.

In the figure, 1 is a drive wheel speed sensor for detecting the rotational speed of the drive wheels, 2 is a driven wheel speed sensor for detecting the driven wheel speed, 3 is a manual switch for selecting the first control mode and the second control mode, and 4 is A manual switch for switching the state of slip control, 5 is a slip control device including a microcomputer for performing slip control, 6 is a fuel supply device that supplies appropriate fuel according to the operating state of the engine, and 7 is for the driver when a slip occurs. An alarm device for calling attention is shown, 8 is a battery as a power source, and 9 is a key switch. Further, 51 in the slip control device 5 is a central processing unit (hereinafter, simply C
PU is referred to as PU), 52 is a counter for counting the pulse widths of the speed sensors 1 and 2, 53 is an I / O port for inputting the signals of the speed sensors 1 and 2 and outputting them to the CPU 51, etc. 54 is a temporary calculation result etc. Random access memory (hereinafter, simply referred to as RAM) for storing in the memory, 55 is a read-only memory (hereinafter, referred to as RAM) storing the arithmetic program and control data.
56 is an I / O port for outputting a control signal to the fuel supply device 6 and the alarm lamp 7, and 57 is connected to the battery 8 via the key switch 9 to generate the power supply voltage of the slip control device 5. Each power supply circuit is shown.

The drive wheel speed sensor 1 is a drive wheel speed detecting means, the driven wheel speed sensor 2 is a driven wheel speed detecting means, the slip control device 5 is a control means, the fuel supply device 6 is a torque control means, and the switch 3 is a switch 3. It corresponds to the selection means.

Next, FIG. 3 is a flow chart showing the control of this embodiment. In the figure, 100 is a step for judging whether or not the switch 3 is ON, and 110 and 120 are the driving wheel speed Vf and the sub-speed. Step 130 is a step of reading the driving wheel speed Va, 130 is a step of judging whether or not the switch 4 is ON, and 140 and 150 are constants k ₁ and k _{2 of the} allowable range ΔV from the driven wheel speed Va. In step 160, a step of determining whether the speed difference Vf−Va between the driving wheel speed Vf and the driven wheel speed Va is within the allowable range ΔV is performed.
Reference numeral 70 denotes a step of performing a process of outputting a signal for cutting fuel, 180 is a step of resetting an output of a signal of cutting fuel, 190 is a step of performing a process of outputting an alarm signal, and 200 is a step of 200. Each step represents a process of resetting the output of the alarm signal.

Next, the slip control in this embodiment will be described with reference to FIGS. 2 and 3.

When the vehicle starts traveling, the control enters the processing routine shown in FIG. 3 from A, and first, at step 100, it is judged whether or not the switch 3 is ON. The switch 3 is a switch for the driver to appropriately select the first control mode and the second control mode, and when ON, the torque transmitted to the drive wheels is controlled in accordance with the first control mode. When the determination in step 100 is "NO", that is, when the switch 3 is off, the torque transmitted to the drive wheels is controlled according to the second control mode, and the process proceeds to step 180 described later.

The determination in step 100 is “YES”, that is, the switch 3
When is ON, the process proceeds to step 110, the driving wheel speed Vf is read from the driving wheel speed sensor 1, and in the following step 120, the driven wheel speed Va is read from the driven wheel speed sensor 2. In step 130, it is determined whether or not the switch 4 is ON. The switch 4 is an allowable range changing means in slip control, and is a value that is judged to be in a slip state when the speed difference Vf-Va between the driving wheel speed Vf and the driven wheel speed Va exceeds it, that is, a value. A switch for changing the size of the allowable range ΔV, which is ON
In the case of, the allowable range is defined to be increased. When the switch 4 is ON, that is, when the determination in step 130 is "YES", the control proceeds to step 140, and the value ΔV indicating the allowable range is calculated / created by ΔV = k ₁ × Va. When the switch 4 is OFF and the judgment in step 130 is "NO", the process is step 1
Moving to 50, the value ΔV representing the allowable range is calculated and created with ΔV = k ₂ × Va. Here, since k ₁ > k ₂ ,
When the switch 4 is ON, ΔV is set to a large value.

After the processing of step 140 or step 150, the control shifts to step 160, and the speed difference between the drive wheel speed Vf and the driven wheel speed Va is within the value ΔV indicating the allowable range calculated / created in the preceding step. Determine if yes. The determination in step 160 is “NO”, that is, V
When f−Va ≦ ΔV is not established, the driving wheel speed Vf
The speed difference between the driven wheel speed Va and the driven wheel speed Va is not within the allowable range, and it is determined that the drive wheels are slipping. Therefore, the control proceeds to step 170 and outputs a signal for cutting the fuel to the fuel supply device 6. After performing the processing described above, the process proceeds to step 190 and an alarm signal is sent to the alarm device 7. Step 170
The fuel supply device 6 stops or suppresses the supply of fuel to the engine by the process of 1. and reduces the torque transmitted to the drive wheels by reducing the engine torque, and suppresses the occurrence of slip. Further, by the processing of step 190, the driver is informed that the vehicle is slipping by means such as turning on the alarm device 7, for example, a lamp provided on the instrument panel or sounding a buzzer. In the state where no slip occurs, or after the slip occurs, the processes of steps 170 and 190 described above are performed and the torque of the drive wheels decreases, and the speed difference between the drive wheel speed Vf and the driven wheel speed Va becomes sufficient. If it becomes smaller, the determination in step 160 is "YES", that is, Vf-
Va ≦ ΔV is established. At this time, the speed difference between the driving wheel speed Vf and the driven wheel speed Va is determined to be within the allowable range, and the driving wheels are no longer considered to be in the slip state, so the control proceeds to step 180. Then, after resetting the output of the fuel cut signal to the fuel supply device 6 or maintaining the state in which the signal is not output, the process proceeds to step 200, where the output of the alarm signal to the alarm device 7 is canceled or the signal is stopped. Is maintained. By the processing of step 180, the amount of fuel supplied to the engine is restored to the state where step control is not performed, the torque transmitted to the drive wheels is not suppressed, and the slip control is released. Since the output of the alarm signal is reset by the process of step 200, the driver can know that the slip control is canceled or the slip control is not performed. After the processing of step 190 or step 200, the control returns to step 100, and the above-described step 100 →
A series of control steps of step 110 → step 120 → ... Is repeated.

In the above slip control, the size of the allowable range ΔV is changed by the switch 4, so that the slip is kept small and the vehicle runs (runs with the highest priority on safety), or a certain degree of slip is allowed and running (running) It is possible to switch whether or not the vehicle is driven with sufficient performance.

The slip prevention device of this embodiment includes a switch 3 for selecting the first control mode and the second control mode, and a switch 4 for changing the allowable range of the speed difference between the drive wheel speed Vf and the driven wheel speed Va in slip control. Since it is provided, the state of slip control can be changed or the slip control can be prohibited according to the driver's need, so that it is possible to meet a wide range of requirements for driving performance. For example, there is a demand from drivers who have advanced driving technology that wants to maximize the driving performance of vehicles such as drifting and spin turns that make good use of the slip of the driving wheels, and avoiding danger. As a unavoidable case, it is possible to meet a case where a drift running or a spin turn is required in running.

Further, since the alarm means for informing the driver of the slip condition is provided, it is possible to know the running condition of the vehicle such as the slip condition. Further, the slip prevention device of this embodiment uses a means for shutting off or reducing the fuel by the fuel supply device as a means for controlling the torque transmitted to the drive wheels. Since it does not use a braking device, etc., it does not deteriorate fuel efficiency.

In this embodiment, YES in step 100 of FIG.
The process from the determination to step 170 corresponds to the first control mode, and the NO determination of step 100 and the process of step 180 correspond to the second control mode.

Further, in the present embodiment, the allowable range is calculated as a value proportional to the driven wheel speed Va, but it may be calculated as a predetermined value or a specific function of the driven wheel speed Va. . In this embodiment, as the torque control means, the fuel supply device is used to control the engine torque. However, the torque control means may be replaced by control of the engine torque by ignition timing control, air-fuel ratio control or the like, or an electromagnetic clutch. Since the torque control means can be configured even by disposing the above or the like to cut off the torque transmitted to the drive wheels, a suitable configuration can be selected according to the vehicle to which the slip prevention device is applied.

Further, the control routine of the present embodiment is a closed loop that performs only slip control, but other control routines using a computer such as ignition timing control are used as a main routine, and a predetermined crank angle of the engine (for example, 30) is used from there.
For each crank angle interrupt configured to occur every
The control routine shown in FIG. 3 of the present embodiment may be configured to start from A and return to the main routine after the end of step 190 or step 200, whereby the number of parts can be reduced. In addition, in the present embodiment, step 100 performed at the beginning of the control routine is placed between steps 160 and 170, and when the switch 3 is OFF, step 170 is not executed and step 190 is performed. Various controls such as outputting an alarm signal when it can be considered that a slip has occurred, even if not performed, are possible without changing the gist of the present invention.

[Brief description of drawings]

FIG. 1 is a basic configuration diagram of the present invention, FIG. 2 is a schematic configuration diagram of a slip control device which is an embodiment of the present invention, and FIG. 3 is a flowchart showing control of the embodiment. 1 ... driving wheel speed sensor, 2 ... driven wheel speed sensor,
3, 4 ... Manual switch, 5 ... Control device, 6 ... Fuel supply device, 7 ... Alarm device, 51 ... CPU.

Front page continuation (72) Inventor Akihiro Sakakibara 1-1, Showa-cho, Kariya city, Aichi Nihon Denso Co., Ltd. (56) Reference JP-A-58-16948 (JP, A) JP-A-52-140790 ( JP, A) JP 51-14591 (JP, A) JP 58-8436 (JP, A)

Claims (3)

[Claims] 1. A driving wheel speed detecting means for detecting a driving wheel speed, a driven wheel speed detecting means for detecting a driven wheel speed, and whether or not a speed difference between the driving wheel speed and the driven wheel speed is within an allowable range. And the torque transmitted to the drive wheels based on the control signal from the control means, the control means outputting a control signal to perform slip control when it is determined that the speed difference is not within the allowable range. In a vehicle slip prevention device comprising: torque control means for controlling the slip control, switching from a first control mode permitting the slip control to a second control mode prohibiting the slip control, and from the second control mode Both switching to the first control mode can be manually selected, and there is provided selection means for outputting a switching signal to the control means when the switching is selected. From the selection means when the switching from the first control mode to the second control mode is selected, the control means controls the slip control. The control means is stopped according to the switching signal output from the selecting means when the output of the control signal itself is stopped and the switching from the second control mode to the first control mode is selected in the output stopped state. Is a slip control device for a vehicle, wherein a control signal for slip control can be output to the torque control means. 2. The vehicle slip prevention device according to claim 1, wherein the torque control means is configured to control the engine torque. 3. The vehicle slip prevention device according to claim 2, wherein the engine torque is controlled by shutting off the fuel.