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Method for predicting a speed of a vehicle which is equipped with an antilock brake device
| Details |
Inventors: Yahagi, Toshio; Iwagawa, Yoshihiro; Sugimoto, Yoichi; Satoh, Tsuyoshi;
Assignee: Honda Giken Kogyo Kabushiki Kaisha (Tokyo, JP)
Primary Examiner: Lall; Parshotam S.
Assistant Examiner: Pipala; E. J.
Attorney, Agent or Firm: Armstrong, Nikaido, Marmelstein, Kubovcik & Murray
The present invention is a method for estimating the speed of a vehicle with antilock brake devices by obtaining a vehicle speed as a reference value for determining a slip ratio of a wheel based upon a wheel speed, an acceleration and a deceleration. At least the deceleration is based upon a differentiated value of a highest wheel speed from all wheels. In a vehicle in which the drive wheels are rigidly coupled, at least the deceleration is based upon a differentiated value of a highest value of the lowest wheel speed of the drive wheels and the wheel speeds of the driven wheels. |
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DETAILED DESCRIPTION During antilock brake control, the phases of the wheel speeds V.
sub.
w1, V.
sub.
w2, V.
sub.
w3 and V.
sub.
w4 of a four-wheel vehicle frequently deviate from each other due to the weight distribution and due to the difference in the frictional coefficients of the road surfaces as shown in FIG.
4.
By selecting the highest wheel speed of the four wheels, a presumed vehicle speed can be obtained which is close to the actual vehicle speed V.
It is, therefore, an object of the present invention to provide a method for estimating a speed of a vehicle, with an antilock brake device, which can eliminate the difficulty of the conventional method and which can predict a vehicle speed based upon acceleration, deceleration and wheel speed which are close to actual values.
According to a first feature of the present invention, there is provided a method for estimating a speed of a vehicle with an antilock brake device by obtaining a vehicle speed as a reference value for determining a slip ratio of a wheel based upon a wheel speed, an acceleration, and a deceleration.
At least the deceleration is obtained based upon a differentiated value of a highest value of wheel speeds from all wheels.
The highest selected value of the wheel speeds of all the wheels is closest to the actual vehicle speed at the time of controlling the antilock brake.
Therefore, an estimated vehicle speed, which is close to the actual vehicle speed, is obtained by determining at least the deceleration from the differentiated value of the highest wheel speed value.
According to a second feature of the present invention, a method is provided for estimating a speed of a vehicle with an antilock brake device for obtaining a vehicle speed as a reference value for determining a slip ratio of a wheel based upon a wheel speed, an acceleration, and a deceleration.
The vehicle has an antilock brake device and right and left drive wheels coupled substantially rigidly.
At least the deceleration is based upon a differentiated value of the highest value of the lowest wheel speeds of the drive wheels and of the driven wheels
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