ANTI-LOCK CONTROL METHOD FOR VEHICLE

Abstract: A signal value on the basis of a lower wheel speed is compared with a signal value on the basis of a high wheel speed and, when the difference therebetween is larger than a predetermined value, a higher vehicle speed of two previously estimated vehicle speeds is used for anti-lock control and a reference value with which a wheel speed will be compared is derived from such vehicle speed. Thus, a range of condition for judging that wheels of a vehicle are about to be locked is enlarged.

Description: BACKGROUND OF THE INVENTION FIELD OF THE INVENTION The present invention relates to an antilock control method for wheels of a vehicle having at least a left wheel and a corresponding right wheel in which for the control the wheel speed of each wheel is compared with at least one reference value derived from an estimated vehicle speed to judge whether the wheel is entering a locked state and to reduce a brake pressure to a brake for the wheel, when the wheel is entering the locked state. DESCRIPTION OF THE PRIOR ART Such a method has been known from FR-A-2 143 293. In FR-A-2 143 293, means are disclosed for selecting a higher speed of rear wheels, and means for selecting a lower speed of front wheels. The selected speeds are inputted to a detector which detects any difference between the inputted wheel speeds. The brake pressure for the rear wheels is set so as to make any locking of the rear wheels due to braking occur later than that of the front wheels at all times through the function of a proportioning valve. The detector makes a comparison between the higher rear wheel speed as a vehicle speed and the lower front wheel speed as a controlled object wheel speed and depending on the result of the comparison, causes an oscillator means to generate a corresponding pulse signal. An antilock control signal is obtained thereby in response to the degree of locking tendency. FR-A-2 143 293 does not teach to select either of first and second reference values depending upon whether the difference between values derived from lower and higher wheel speeds is lower or higher than a predetermined value. OBJECT OF THE INVENTION When a vehicle is traveling on a low friction road surface, i.e. on a road surface which creates a low level of friction between wheels of vehicles, wheels of the vehicle tend to be locked. Therefore, during travel of the vehicle on such a low friction road surface, it is desirable that the anti-lock control be carried out earlier than usual. During braking of a vehicle traveling on a low friction road surface, the difference between a plurality of wheel speeds becomes large. Therefore, it is an object of the present invention to provide an anti-lock control method for a vehicle, wherein the fact that the vehicle is traveling on a low friction road surface is detected from wheel speeds and the anti-lock control is carried out earlier than usual. SUMMARY OF THE INVENTION Accordingly, the present invention is characterized in that for deriving the reference value, a first reference value is obtained based on the wheel speeds and a second reference value which is larger than the first reference value is also obtained based on the wheel speeds, that a higher one and a lower one of said left and right wheel speeds are selected, respectively, and the difference between values which are respectively derived from the lower and higher wheel speeds is calculated, and that when the difference is lower than a predetermined value, the reference value is derived based on said first reference value, and when the difference is higher than said predetermined value, the reference value is derived based on said second reference value. By virtue of this arrangement in which the range of condition for judging that the wheels are about to be locked is enlarged when the difference between a signal value derived from a lower wheel speed and a signal value derived from a higher wheel speed is larger than a predetermined value, the anti-lock control can be carried out earlier than usual during travel of the vehicle on a low friction road surface. The above and other objects, features and advantages of the invention will become apparent from reading of the following detailed description of preferred embodiments. BRIEF DESCRIPTION OF THE DRAWINGS Figs. 1 to 3 illustrate one embodiment of the present invention, wherein Fig. 1 is a diagram of a hydraulic control circuit; Fig. 2 is a simplified circuit diagram showing the arrangement of a control means; Fig. 3 is a block diagram of a circuit for computing a vehicle speed; and Figs. 4 and 5 are block diagrams each corresponding to Fig. 3, which illustrate other embodiments of the present invention, respectively. DESCRIPTION OF THE PREFERRED EMBODIMENTS Some embodiments of the invention will now be described hereinafter with reference to the attached drawings. Figs. 1 to 3 illustrate a first embodiment of the present invention. First referring to Fig. 1, a brake pedal 1 is operatively connected to a master cylinder M. When a driver depresses the brake pedal 1 down, the master cylinder M generates a hydraulic pressure in an oil passage 2. The oil passage 2 is connected to a hydraulic control circuit 3 which outputs a hydraulic brake pressure in response to the pressure generated in the oil passage 2. A vehicle has left and right driving wheels and left and right follower wheels and wheel brakes are provided for respective driving and follower wheels. Hydraulic brake pressures outputted from the hydraulic control circuit 3 are supplied to the wheel brakes. When the vehicle is of a front wheel drive type, for example, its left and right front wheels are driving wheels and they are equipped with a left front wheel brake Bℓf and a right front wheel brake Brf, respectively. Left and right rear wheels of the vehicle, as follower wheels in this illustrated embodiment, are equipped with a left rear wheel brake Bℓr and a right rear wheel brake Brr, respectively. The brakes Bℓf, Brf, Bℓr and Brr are, for example, constructed into drum brakes. The left and right front wheel brakes Bℓf and Brf have respective brake chambers 4 which are connected to an oil passage 5 leading from the hydraulic control circuit 3 while the left and right rear wheel brakes Bℓr and Brr similarly have brake chambers 4 which are connected to an oil passage 5′ leading from the hydraulic control circuit 3. At respective brakes Bℓf, Brf, Bℓr and Brr, if hydraulic brake pressures are fed to their chambers 4, pistons 7 and 8 are actuated to move apart from each other urging brake shoes 9 and 10 into contact with a brake drum, not shown, thereby producing a brake torque. If the hydraulic brake pressure in the brake chamber 4 should go excessively high, the brake torque generated between the brake shoes 9, 10 and the brake drum will become too large, resulting in a locked condition of the associated wheel. In order to deal with this, when a wheel is going into a locked condition, the hydraulic control circuit 3 operates to reduce the hydraulic brake pressure whereby the wheel is prevented from being locked. The hydraulic control circuit 3 includes a modulator 11 associated with the left and right front wheel brakes Bℓf and Brf and a modulator 11′ associated with the left and right rear wheel brakes Bℓr and Brr and these modulators 11 and 11′ have the basically same construction. Therefore, only one modulator 11 will be described its detailed construction in the following. The modulator 11 comprises a cylinder 14 which has opposite end walls thereof closed and a hollow interior divided at its intermediate portion by a partition wall 13, and a rod 17 having a pair of pistons 15 and 16 formed at opposite ends thereof, the rod 17 having a portion intermediate between the pistons 15 and 16 which axially slidably penetrates through the partition wall 13. A cylinder chamber is defined between the partition wall 13 and one piston 15 to serve as a primary hydraulic brake pressure chamber 18 which is connected to the master cylinder M via the oil passage 2. Another cylinder chamber is defined between the partition wall 13 and the other piston 16, which serves as a secondary hydraulic brake pressure chamber 19 and is connected to the brake chambers 4, 4 or left and right front wheel brakes Bℓf and Brf through the oil passage 5. An anti-lock hydraulic control pressure chamber 20 is defined between one end wall of the cylinder 14 and the one piston 15 and an open chamber 21 is defined between the other end wall of the cylinder 14 and the other piston 16. The open chamber 21 is connected to a reservoir R of the master cylinder M. Housed in the secondary hydraulic brake pressure chamber 19 is a spring 22 which biases the piston 16 in a direction moving apart from the partition wall 13. In the anti-lock hydraulic control pressure chamber 20 is housed a spring 23 which biases the piston 15 toward the partition wall 13. To the anti-lock hydraulic control pressure chamber 20 is connected an oil passage 24 which is connected via a normally-closed inlet valve Vi to an oil pump P and via a normally-open outlet valve Vo to an oil tank T. An accumulator Ac is connected to an oil passage between the inlet valve Vi and the oil pump P. Similarly in the other modulator 11', a primary hydraulic brake pressure chamber 18' is connected to the master cylinder M and a secondary hydraulic brake pressure chamber 19' is connected to the brake chambers 4, 4 of left and right rear wheel brakes Bℓr and Brr via the oil passage 5'. An open chamber 21' is connected to the reservoir R. Furthermore, an anti-lock hydraulic control pressure chamber 20′ is connected via a normally-closed inlet valve Vi′ to the oil pump P and via a normally-open outlet valve Vo′ to the oil tank T. The inlet valves Vi, Vi′ and the outlet valves Vo, Vo′ are solenoid valves and are opened and closed under control. of a control means 32. In a state where the inlet valves Vi, Vi′ are closed and the outlet valves Vo, Vo′ are open, the interiors of anti-lock hydraulic control pressure chambers 20, 20′ are released to the oil tank T. If the brake pedal 1 is depressed down and the hydraulic pressure from the master cylinder M is supplied into the primary hydraulic brake pressure chambers 18, 18′ in this state, the volumes of secondary hydraulic brake pressure chambers 19, 19′ are reduced to feed into the brake chambers 4, 4·· of respective brakes Bℓf, Brf, Bℓr and Brr the hydraulic brake pressures proportional in level to the pressure generated from the master cylinder M. Accordingly, the torque generated at the time of braking can freely increase in response to the braking operation of a driver. Now if the outlet valves Vo, Vo′ are closed with the inlet valves Vi, Vi′ being held closed, the control oil within the anti-lock hydraulic control pressure chambers 20, 20′ becomes confined therein so that the secondary hydraulic brake pressure chambers 19, 19′ of respective modulators 11, 11′ are kept their volumes invariable irrespective of increase or decrease in the hydraulic pressures fed to the primary hydraulic brake pressure chambers 18, 18′. as a cosequence, the braking torque is maintained at a constant level without being affected by the braking operation of a driver. This operation applies to the case where the possibility of a wheel locking arises. Furthermore, if the inlet valves Vi, Vi′ are opened and the outlet valves Vo, Vo′ are closed, anti-lock hydraulic control pressures are supplied into the anti-lock hydraulic control pressure chambers 20, 20′. Owing to these pressures, irrespective of the hydraulic pressure from the master cylinder M prevailing the primary hydraulic brake pressure chambers 18, 18′, the volumes of the secondary hydraulic brake pressure chambers 19, 19′ increase to reduce the pressures within the brake chambers 4··· of respective wheel brakes Bℓf, Brf, Bℓr and Brr, thus weakening the braking torque. Accordingly, by opening the inlet valves Vi, Vi′ and closing the outlet valves Vo, Vo′ when a wheel is on the way to locking, the wheel can be avoided from entering a state of locking. Referring to Fig. 2, the basic arrangement of the control means 32 will be described below. Since the construction for controlling one inlet valve Vi and one outlet valve Vo which are associated with one pair of wheel brakes Bℓf and Brf is basically the same as that for controlling the other inlet valve Vi′ and outlet valve Vo′ associated with the other pair of wheel brakes Bℓr and Brr, the construction for controlling the one valves Vi and Vo will be described only in the following. The control means 32 includes a decision circuit 33 which is used to judge whether or not a wheel is in a locked state and, as a result of such judgment, to output signals for opening and closing the inlet valve Vi and the outlet valve Vo. It should be noted here that the establishment of the following conditions (a) and (b) may operate the control means 32 so as to judge that a wheel is entering a locked state and cause a brake pressure to be reduced: (a) a wheel acceleration V ˙w < a reference wheel deceleration -V ˙wo; (b) a wheel speed Vw < a first reference wheel speed Vr₁. When assuming that a vehicle speed is identified by Vv and a reference slip rate for a wheel by λ₁, the relationship of Vr₁ = Vv · (1 - λ₁) is obtained. Therefore, if a slip rate of the wheel is identified by λ, the above relationship of Vw < Vr₁ has the same meaning as λ > λ₁. The decision circuit 33 is inputted from a wheel speed detector 34 with a signal indicative of the wheel speed Vw. When the condition V ˙w < -V ˙wo is satisfied, the decision circuit 33 outputs a signal β and when the condition Vw < Vr₁ is satisfied, it outputs a signal S₁. These signals β and S₁ are inputted to an AND gate 35 and when both signals become high in level, a transistor 36 is conducted and a solenoid 38 is energized thereby opening the inlet valve Vi. Outputting the signal S₁ of a high level also causes a transistor 37 to be conducted and a solenoid 39 to be energized so that the outlet valve Vo is closed. When the signals β and S₁ are generated so as to reduce or weaken the brake torque in the afore-mentioned manner, the wheel speed is on the way to reduction. This means that the braking torque is still larger than the driving torque given from the road surface and therefore that the fear of wheel locking has not been eliminated completely at this stage. Though this control system can normally provide a good result because of some time delay, such as 10 ms, appearing in operation of the system which would cause the brake pressure to be reduced further after falling of such brake pressure-reducing signals, there may be, however, expected another possibility that the degree of reduction of the brave pressure has been insufficient for some reason, for example, due to road conditions and the wheel speed may continue to show a locking tendency. In order to overcome this problem, it can be arranged to output a brake pressure-reducing signal continuously until the wheel speed Vw surely changes into an increasing phase as far as the condition λ > λ₁ is present. In this case, however, the brake pressure-reducing signal is kept valid until a condition of V ˙w > 0 is obtained, in spite of the fact that a good control effect is normally achieved even if the output of such brake pressure-reducing signal is stopped at the instant of V ˙w > -V ˙wo. This poses a disadvantage that the brake torque may be reduced excessively, though this problematic aspect can be disregarded in practical use for the wheels that are subject to a smaller part of distribution of the braking load. In view of these, there is further set a second reference wheel speed Vr₂ which corresponds to a second reference slip rate λ₂ having a relationship of λ₂ > λ₁ and it is proposed to output the brake pressure-reducing signal until the wheel speed Vw changes into an increasing phase but only in the presence of a condition of Vw < Vr₂ or λ > λ₂ indicating a high possibility of wheel locking. In other words, the decision circuit 33 judges whether or not the condition Vw < Vr₂ or λ > λ₂ is satisfied and when it is satisfied, the circuit 33 outputs a signal S₂. Also, a reference wheel acceleration +V ˙wo is set to judge whether the wheel speed Vw is increasing or not and if V ˙w > +V ˙wo, the circuit 33 outputs a signal α. The signal S₂ is inputted to one input terminal of an AND gate 40 and also to an OR gate 41. The signal α is inputted to the OR gate 41 and in an inverted manner to the AND gate 40. The signal S₁ is also inputted to the OR gate 41 of which output is in turn fed to the base of transistor 37. Outputs of both AND gates 35 and 40 are inputted to an OR gate 42 which then outputs a signal to the base of transistor 36. With the control means 32 constructed above, if either of the signals S₁, α and S₂ becomes high, the transistor 37 is conducted and the outlet valve Vo is closed. If the signals β and S₁ are both high or if the signal S₂ is high and simultaneously the signal α is low, the inlet valve Vi is made open. Next explanation will be made as to how the first and second reference wheel speeds Vr₁ and Vr₂ are set. These are ideally determined by detecting a vehicle speed V and incorporating the reference slip rates λ₁ and λ₂ into the value of vehicle speed V while using the following equations: Vr₁ = V(1 - λ₁) (1) Vr₂ = V(1 - λ₂) (2) However, no practical means has been provided heretofore to detect the vehicle speed V and therefore, a provisional vehicle speed Vv is obtained by a circuit shown in Fig. 3. Referring to Fig. 3, speeds of a plurality of wheels, for example, wheel speeds Vwℓ and Vwr of left and right rear wheels are inputted respectively into a pair of input terminals 51a and 51b, and both these wheel speeds Vwℓ and Vwr are inputted into a low select circuit 52 and a high select circuit 53. The low select circuit 52 selects the lower wheel speed of these wheel speeds Vwℓ and Vwr, while the high select circuit 53 selects the higher wheel speed of these wheel speeds Vwℓ and Vwr. The wheel speed Vws selected by the low select circuit 52 is inputted into an arithmetic circuit 54, while the wheel speed Vwh selected by the high select circuit 53 is inputted into another arithmetic circuit 55. The arithmetic circuits 54 and 55 are each provided with an integrator to estimate a vehicle speed by integrating an inputted wheel speed. That is, in one 54 of the arithmetic circuits, a vehicle speed Vvℓ is estimated on the basis of the wheel speed Vws selected by the low select circuit 52, while, in the other arithmetic circuit 55, a vehicle speed Vvh is estimated on the basis of the wheel speed Vwh selected by the high select circuit 53. The one arithmetic circuit 54 is connected to one separate contact 56a of a change-over switch 56 and also to a subtracter 57. The other arithmetic circuit 55 is connected to the other separate contact 56b of the changeover switch 56. The subtracter 57 is supplied with, in addition to the vehicle speed Vvℓ estimated by the one arithmetic circuit 54, a wheel speed Vwh selected by the high select circuit 53. In the subtracter 57, a calculation (Vwh - Vvℓ) is performed, and the result of this calculation in the subtracter 57 is inputted into a non-inverted input terminal of a comparator 58. On the other hand, a signal corresponding to a reference value K, for example, 5 km/h, is inputted from a reference value input terminal 59 to an inverted input terminal of the comparator 58. Thus, the comparator 58 outputs a signal at a high level when the result of calculation in the subtracter 57 is larger than the reference value K. An output of the comparator 58 is inputted into one terminal of an AND gate 60. The remaining terminals of the AND gate 60 are supplied respectively with an inverted signal from anti-lock operation detecting means 61 which outputs a signal at a high level when the hydraulic pressure control circuit 3 is performing an anti-lock operation, and with a signal from vehicle speed limiting means 62 which outputs a signal at a high level when the vehicle speed indicated by a speedometer is above, for instance, 30 km/h. Therefore, the AND gate 60 outputs a signal at a high level in response to the output of the comparator 58 going into a high level, when the hydraulic pressure control circuit 3 is not performing any anti-lock operation and, simultaneously, the speedometer indicates a vehicle speed above 30 km/h. The change-over switch 56 changes the contact/non-contact state of a common contact 56c thereof with respect to the pair of separate contacts 56a and 56b in accordance, with the output of the AND gate 60. More specifically, when the output of the AND gate 60 is at a low level, the common contact 56c is kept in contact with one separate contact 56a, whereas when the output of the AND gate 60 goes into a high level, the common contact 56c is brought into contact with the other separate contact 56b. The common contact 56c is connected to an output terminal 63, so that either one of the vehicle speeds Vvℓ and Vvh, which have been estimated by the arithmetic circuits 54 and 55, is outputted from the output terminal 63 in accordance with the operating condition of the changeover switch 56, as a provisional vehicle speed Vv. This provisional vehicle speed Vv is used as a vehicle speed V to calculate the first and second reference wheel speeds Vr₁ and Vr₂, from the above-stated equations (1) and (2). The operation of this embodiment will now be described. During travel of the vehicle on a normal road surface, when the brake pedal 1 is depressed to brake the vehicle, the difference between the wheel speeds Vwℓ and Vwr is small. Accordingly, the result of the calculation performed by the subtracter 57, i.e., the difference between the higher wheel speed Vwh and an estimated vehicle speed Vvℓ on the basis of the lower wheel speed Vws is small. Consequently, an output of the comparator 58 is at a low level, resulting in a switching condition of the change-over switch 56 where the common contact 56c is connected to the separate contact 56a. With this condition, the estimated vehicle speed Vvℓ on the basis of the low wheel speed is outputted from the output terminal 63 as a vehicle speed Vv, and first and second reference wheel speeds Vr₁ and Vr₂ are calculated from the estimated vehicle speed Vv. As a result, the reference wheel speeds Vr₁ and Vr₂ each become relatively small, thereby limiting conditions Vw < Vr₁ and Vw < Vr₂ to relatively narrow ranges. When the vehicle is braked during travel on a low friction road surface, the difference between wheel speeds Vwℓ and Vwr is relatively large. Accordingly, the result of the calculation in the subtracter 57 becomes large, and, when this calculation result becomes larger than the reference value K, an output from the comparator 58 goes into a high level, judging that the vehicle is traveling on a low friction road surface. In this case, when an indicator of the speedometer indicates a vehicle speed of above 30 km/h and, simultaneously, the hydraulic control circuit 3 is not performing any anti-lock operation, an output from the AND gate 60 goes into a high level, whereby the change-over switch 56 changes its switching condition to one where the common contact 56c is in contact with the separate contact 56b. Consequently, an estimated vehicle speed Vvh derived from the higher wheel speed Vwh is outputted from the output terminal 63 as the vehicle speed Vv, thus setting reference wheel speeds Vr₁ and Vr₂ to larger values. As a result, the conditions Vw < Vr₁ and Vw < Vr₂ are expanded to relatively wider ranges, to increase the sensitivity of judging that the wheels are about to be locked, whereby the anti-lock control is carried out earlier than at a condition where the vehicle travels on a normal road surface. Fig. 4 illustrates another embodiment of the present invention. Components or parts corresponding to those in the previous embodiment are denoted by the same reference numerals. An output of an arithmetic circuit 54 which has estimated a vehicle speed Vvℓ on the basis of a lower wheel speed is inputted respectively into a low speed setting circuit 64 and a high speed setting circuit 65. In these setting circuits 64 and 65, there are previously set a lower vehicle speed Vℓ and a higher vehicle speed Vh which are each proportionate to the inputted vehicle speed. The low speed setting circuit 64 is connected to one separate contact 56a of a change-over switch 56, while the high speed setting circuit 65 is connected to the other separate contact 56b of the change-over switch 56. In this embodiment, when an output of an AND gate 60 goes into a high level during braking of a vehicle traveling on a low friction road surface, the vehicle speed Vh which has been set at a higher level is outputted from an output terminal 63 as a vehicle speed Vv, thereby increasing the sensitivity of judging that the wheels are about to be locked. Fig. 5 illustrates a further embodiment of the present invention. In this embodiment, estimated vehicle speeds Vvℓ and Vvh which have respectively been computed by arithmetic circuits 54 and 55 are inputted into a subtracter 57' which calculates (Vvh - Vvℓ). When, in a comparator 58, the result of calculation (Vvh - Vvℓ) is larger than a reference value K' inputted from a reference value input terminal 59', the higher vehicle speed Vvh is used as an estimated vehicle speed Vv outputted from an output terminal 63, thereby increasing the sensitivity of judging that the wheels are about to be locked. Although in each of the foregoing embodiments the reference wheel speeds are determined through the detection of speeds of the rear wheels which are follower wheels, the reference wheel speeds may alternatively be based on the speeds of the front wheels which are driving wheels. Further, the arrangement may alternatively be such that the reference wheel speeds are determined from speeds of both driving and follower wheels.

Claims: An antilock control method for wheels of a vehicle having at least a left wheel and a corresponding right wheel in which for the control the wheel speed (Vw) of each wheel is compared with at least one reference value (Vr1, Vr2) derived from an estimated vehicle speed to judge whether the wheel is entering a locked state and to reduce a brake pressure to a brake (Blf, Brf, Blr, Brr) for the wheel, when the wheel is entering the locked state, CHARACTERIZED IN that for deriving the reference value (Vr1, Vr2), a first reference value (Vvl, Vl) is obtained based on the wheel speeds (Vwl, Vwr) and a second reference value (Vvh, Vh) which is larger than the first reference value is also obtained based on the wheel speeds (Vwl, Vwr), that a higher one (Vwh) and a lower one (Vws) of said left and right wheel speeds (Vwl) and (Vwr) are selected, respectively, and the difference (Vwh-Vvl; Vvh-Vvl) between values which are respectively derived from the lower and higher wheel speeds (Vws) and (Vwh) is calculated, and that when the difference (Vwh-Vvl; Vvh-Vvl) is lower than a predetermined value (K, K') the reference value (Vr1, Vr2) is derived based on said first reference value (Vvl, Vl), and when the difference (Vwh-Vvl; Vvh-Vvl) is higher than said predetermined value (K, K'), the reference value (Vr1, Vr2) is derived based on said second reference value (Vvh, Vh). The antilock control method as set forth in claim 1, characterized in that the lower wheel speed (Vws) is subjected to integration over a given period of time to derive an estimated lower vehicle speed (Vvl) and the higher wheel speed (Vwh) is subjected to integration over a given period of time to derive an estimated higher vehicle speed (Vvh), and that when the difference (Vwh-Vvl) between the higher wheel speed and the estimated lower vehicle speed is higher than the predetermined value (K), the reference value (Vr1, Vr2) is derived based on the estimated higher vehicle speed (Vvh) (Fig. 3). The antilock control method as set forth in claim 1, characterized in that the lower wheel speed (Vws) is subjected to integration over a given period of time to derive an estimated vehicle speed (Vvl) and said first and second reference values (Vl, Vh) are obtained based on the estimated vehicle speed (Vvl), and that when the difference (Vwh-Vvl) between the higher wheel speed and the estimated vehicle speed is higher than the predetermined value (K), the reference value (Vr1, Vr2) is derived based on the second reference value (Vh) (Fig. 4). The antilock control method as set forth in claim 1, characterized in that the lower wheel speed (Vws) is subjected to integration over a given period of time to derive an estimated lower vehicle speed (Vvl) and the higher wheel speed (Vwh) is subjected to integration over a given period of time to derive an estimated higher vehicle speed (Vvh), and that when the difference (Vvh-Vvl) between the estimated higher and lower vehicle speeds is higher than the predetermined value (K'), the reference values (Vr1, Vr2) are derived based on the estimated higher vehicle speed (Vvh) (Fig. 5).

Inventors: IWAGAWA, YOSHIHIRO C/O KABUSHIKI KAISHA, MATSUDA, SHOHEI C/O KABUSHIKI KAISHA, MUTO, TETSUJI C/O KABUSHIKI KAISHA, YAHAGI, TOSHIO C/O KABUSHIKI KAISHA
Applicants: HONDA GIKEN KOGYO KABUSHIKI KAISHA
Application year: 1988
Main classification: B60T8
IPC codes: B60T8