Method of and device for detecting tire pressure drop

Abstract: A tire pressure drop detecting method, which executes a pneumatic pressure drop judging processing (S18-S21) when the vehicle is in a state of autocruise traveling. It is judged (S13-S17) based on the front/rear acceleration (FRA) of the vehicle whether the vehicle is in a state of autocruise traveling or not. Pneumatic pressure drop judging processing (S18-S21) for autocruise traveling is performed by using a judging threshold value (D HTH ) which is set to become smaller as the speed (V2) of the vehicle becomes larger.

Description: BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a tire pressure drop detecting method and device for detecting whether the tire pressure drops or not based on the rotational angular velocities of four tires provided for a four-wheel vehicle. Description of Related Art As one of safety devices for a four-wheel vehicle such as automobile, truck, etc., devices for detecting a tire pressure drop (DWS) have recently been developed, and some of them have been put to practical use. As one of methods of detecting a tire pressure drop, for example, there is a method of utilizing a difference in the respective rotational angular velocities F 1 , F 2 , F 3 and F 4 of four tires W 1 , W 2 , W 3 and W 4 provided for a vehicle. This method utilizes the fact that the rotational angular velocities F i (i = 1, 2, 3, 4) vary depending on the state of the pneumatic pressure of the tire W i . That is, when the pneumatic pressure of any tire W i drops, the effective rolling radius of the tire W i decreases. As a result, the rotational angular velocity F i of the tire W i becomes larger. Therefore, the pressure drop of the tire W i can be detected based on the difference in rotational angular velocities F i of four tires W i . Incidentally, the effective radius is a value obtained by dividing by 2π a travel distance of the vehicle while the tires make one free revolution. One embodiment of a method of determining the pressure drop of a tire W i based on the difference in rotational angular velocities F i is as shown in the following equation (1) (e.g. see Japanese Laid-Open Patent Publication (KOKAI) Nos. 63-305011 and 4-212609). D= F 1 + F 4 2 - F 2 + F 3 2 F 1 + F 2 + F 3 + F 4 4 ×100 If the effective rolling radiuses of four tires W i are equal, the respective rotational angular velocities F i are equal (F 1 = F 2 = F 3 = F 4 ). Accordingly, the judged value D becomes 0. Then, threshold values D TH1 and D TH2 are set (provided D TH1 , D TH2 > 0). If the condition shown in the following expression (2) is satisfied, it is judged that the tire W i whose pneumatic pressure has dropped is present. If this condition is not satisfied, it is judged that all of the tires W i have a normal inner pressure. D < -D TH1 or D > D TH2 However, there is a fear of causing an erroneous judgment according to the traveling state of the vehicle only by performing the pneumatic pressure drop judgment using the above expressions (1) and (2). For example, in case that the pneumatic pressure of any one of the right front and left front tires W i , the tires to which a driving force is transmitted, has dropped, there is a fear of causing an erroneous judgment when the vehicle is traveling at comparatively high speed without decelerating (hereinafter referred such a traveling as to a "high-speed drive traveling"). That is, at the time of high-speed drive traveling, the slip rate of the tire W i whose pneumatic pressure has dropped is lowered, while the effective rolling radius is increased by a centrifugal force applied to the respective parts of the tire W i . Therefore, the difference in rotational angular velocity between a tire W i having a normal inner pressure and a tire W i whose pneumatic pressure has dropped nearly disappears. As a result, the judged value D approaches zero in the form of the second order function as the speed V of the vehicle increases even if the pneumatic pressure of any tire W i has dropped, and hardly satisfy the condition of the above expression (2). SUMMARY OF THE INVENTION To cope with this problem, proposed in Japanese Patent Application No. 8-92311 (not published as of the day of filing the present application) is a technique of discriminating whether a vehicle is in a state of high-speed drive traveling or not after performing a pneumatic pressure drop judgment using the above expressions (1) and (2) (hereinafter referred to as a "low-speed adapted judgment") regardless of the speed V of the vehicle, and further performing a high-speed adapted judgment when it is found that the vehicle is in a state of high-speed drive traveling as a result of the above judgment. In the high-speed adapted judgment, it is determined that the speed V of the vehicle, when the judged value D is calculated, belongs to which one of a plurality of previously set speed ranges, and the judged value D is classified into the speed range thus determined. After such a processing is repeated to reach the state where an average value of the judged values D can be calculated in each of three or more speed ranges, the average value of the judged values D in each speed range is calculated. Then, these average values are plotted in a graph as shown in Fig. 6 and are subjected to a regression processing by applying the least squares method to the respective plots. Consequently, a judged value CrosP when the speed V of the vehicle is 0 is assumed. Then, it is judged whether this assumed judged value CrosP satisfies the judging expression such as the above expression (2) or not. If the judged value CrosP satisfies the judging expression, it is judged that a tire W i whose pneumatic pressure has dropped is present. If the judged value CrosP does not satisfy the judging expression, it is judged that all tires W i have a normal inner pressure. Consequently, it can be detected that a tire W i whose pneumatic pressure has dropped is present even if the vehicle is in a state of high-speed drive traveling with a tire W i whose pneumatic pressure has dropped. However, according to this suggested technique, the judged value CrosP can not be assumed if the average values of the judged values D can not be calculated in a plurality of speed ranges. In other words, a high-speed adapted judgment can not be performed if the speed V of the vehicle does not substantially vary. Accordingly, even at the time of high-speed traveling, the high-speed adapted judgment can not be performed by the above suggested technique at the time of autocruise traveling where the speed V of the vehicle is substantially constant. That is, at the time of autocruise traveling, only a low-speed adapted judgment is performed based on the judged value D which is influenced by the speed V of the vehicle. Accordingly, when the vehicle is in a state of autocruise traveling with high speed, there is a fear of causing an erroneous judgment of the pneumatic pressure drop. Suggested in Japanese Patent Application No. 8-12122 (not published as of the day of filing of the present application) is a technique of executing a pneumatic pressure drop judgment that is performed only at the time of deceleration when the vehicle is traveling with high speed. That is, since the judged value D becomes comparatively large value at the time of deceleration, the pneumatic pressure drop can be detected by performing the pneumatic pressure drop judgment at the time of deceleration even when the vehicle is in a high-speed traveling. However, even if this technique is used, the pneumatic pressure drop judgment adapted to the high-speed traveling is not performed when the vehicle is in a state of autocruise traveling (traveling under cruise control) with high speed; therefore, there is a fear of causing an erroneous judgment of the pneumatic pressure drop. Thus, no technique which has ever been suggested is adaptable to high-speed autocruise traveling. An object of the present invention is to provide a tire pressure drop detecting method, capable of certainly detecting whether the tire pressure has dropped or not even if the vehicle is in a state of autocruise traveling with high speed. Another object of the present invention is to provide a tire pressure drop detecting device for carrying out such a method. According to the present invention, when it is discriminated that the vehicle is in a state of autocruise traveling, a pneumatic pressure drop judging processing for autocruise traveling is executed. Consequently, it is possible to accurately detect whether the tire pressure has dropped or not even if the vehicle is in a state of autocruise traveling with high speed. In one embodiment of the present invention, it is discriminated whether the vehicle is in a state of autocruise traveling or not based on the front/rear acceleration of the vehicle determined based on the rotational angular velocities of the tires. Consequently, it is not necessary to incorporate an autocruise signal given from an autocruise switch provided for the vehicle. Accordingly, the tire pressure drop detecting device can be realized at a low price. Further, a judged value for pneumatic pressure drop judgment is calculated based on the rotational angular velocities of the tires provided for the vehicle. By comparing this judged value with a judging threshold value, it is judged whether the tire pressure has dropped or not. In this case, it is preferred that the judging threshold value is set to become smaller as the speed of the vehicle becomes higher. At the time of high-speed drive traveling, a slip rate of the tire whose pneumatic pressure has dropped is lowered, while the effective rolling radius is increased by a centrifugal force applied to the respective parts of the tire. Therefore, the rotational angular velocity of a tire becomes smaller than that at the time of low-speed traveling. Even in such a case, the tire pressure drop can be accurately detected by changing the judging threshold value according to the speed of the vehicle. In another embodiment of the present invention, when it is discriminated that an absolute value of a lateral acceleration of the vehicle is less than an acceleration threshold value, it is judged that the vehicle is traveling, almost linearly, and the judged value and the speed of the vehicle in this case are held or stored. As a result, the judged value and the speed of the vehicle hardly containing an error are held. That is, when the vehicle is traveling at a corner, there is a fear of causing a transfer of the load of the vehicle or a lateral slip of the tire; therefore, there is much possibility that the judged value determined in this case and the speed of the vehicle contain the error. On the other hand, when it is discriminated that the vehicle is in a state of autocruise traveling, the above held judged value and speed of the vehicle may be leveled so as to exclude the error in high accuracy. Among judging threshold values which are set to become smaller as the speed of the vehicle becomes larger, a judging threshold value corresponding to the leveled speed of the vehicle is preferably obtained, and it is preferred to judge whether the tire pressure has dropped or not based on this obtained judged value and leveled judged value. Therefore, the tire pressure drop can be certainly detected even at the time of high-speed drive traveling. Besides, since only a judged value which hardly include an error calculated when the vehicle is traveling, almost linearly, is held and this held judged value is used for the pneumatic pressure drop judging processing after leveling, the pneumatic pressure drop judging processing can be performed in high accuracy. The above objects as well as other objects, features and effects of the present invention will become more apparent to those skilled in the art from the following description with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing the construction of a tire pressure drop detecting device according to one embodiment of the present invention. Fig. 2 is a block diagram showing the electrical construction of a control device. Fig. 3 is a flow chart for explaining a tire pressure drop detecting processing. Fig. 4 is a flow chart for explaining the steps following those shown in Fig. 3. Fig. 5 is a graph for explaining a judging threshold value used for an autocruise adapted processing. Fig. 6 is a graph for explaining a high-speed adapted judging processing. DESCRIPTION OF THE PREFERRED EMBODIMENTS Fig. 1 is a schematic block diagram showing the construction of a tire pressure drop detecting device to which one embodiment of the present invention is applied. This tire pressure drop detecting device detects whether the pneumatic pressures of any one of four tires W 1 , W 2 , W 3 and W 4 provided for a four-tire vehicle drop or not, respectively. The tires W 1 and W 2 correspond to right front and left front tires, and the tires W 3 and W 4 correspond to right rear and left rear tires, respectively. This tire pressure drop detecting device is equipped with wheel speed sensors 1, which are associated with the tires W 1 , W 2 , W 3 and W 4 , respectively. Output signals of each of the wheel speed sensors 1 are supplied to a control unit 2. An indicator 3 is connected to the control unit 2. This indicator 3 informs the tire W i (i = 1, 2, 3, 4,) whose pneumatic pressure has dropped, and is composed, for example, of a liquid crystal device, a plasma display device or a CRT. To the control unit 2, an initializing switch 4 is also connected. The initializing switch 4 is operated by users to initiate the calculation of an initial correction factor K j (j = 1, 2, 3) for excluding an influence of an initial difference of the tires W i . The initial difference refers to a variation in effective rolling radius within the standard requirements, which arises among the respective tires W i . Fig. 2 is a block diagram showing the electrical construction of a tire pressure drop detecting device. The control unit 2 is composed of a micro computer including an I/O interface 2a, a CPU 2b, a ROM 2c, a RAM 2d and a counter 2e. The I/O interface 2a is required for sending and receiving signals to and from an external device including the wheel speed sensors 1 and the initializing switch 4. The CPU 2b is used for executing various operation processing according to a control program stored in the ROM 2c. The RAM 2d is that in which data, etc. are temporarily written to or the written data are read out from it when the CPU 2b performs a control or a calculation. The counter 2e stores a count value AC for a judgment whether the vehicle is autocruise driving or not. Each of the wheel speed sensors 1 generates pulse signals corresponding to the rotating speed of the corresponding tire W i (referred to as a "wheel speed pulses" hereinafter). The CPU 2b calculates the rotational angular velocity F i of each tire W i based on the wheel speed pulses generated from the corresponding wheel speed sensor 1 for each predetermined sampling period ΔT (sec) (e.g. ΔT = 1). Fig. 3 and Fig. 4 are flow charts for explaining the tire pressure drop detecting processing in the tire pressure drop detecting device. The CPU 2b operates according to a predetermined program stored in the ROM 2c so as to perform this processing by the function of control unit 2 for each judging period ΔT. The following description will be made with respect to an FF (front engine-front drive) vehicle by means of an example of an objective vehicle. According to this processing, the rotational angular velocity F i of each tire W i is firstly calculated based on the wheel speed pulses generated from each wheel speed sensor 1 (step S1). The tires W i have the initial differences within manufacturing tolerance. Accordingly, the effective rolling radiuses of the respective tires W i are not the same, necessarily, even if all tires W i have a normal inner pressure. Therefore, the rotational angular velocity F i of each tire W i may vary. On the other hand, the judgment whether the pneumatic pressure of any tire W i has dropped or not is executed on the assumption that the rotational angular velocities F i of the respective tires W i are almost the same when all tires W i have a normal inner pressure. Accordingly, it is necessary to exclude the influence of the initial difference from the rotational angular velocities F i . Then, in order to exclude the influence of the initial difference from the calculated rotational angular velocities F i , initial corrections on the rotational angular velocities F i is carried out (step S2). Specifically, the corrections according to the following equations (3) to.(6) are performed to obtain corrected rotational angular velocities F1 1 , F1 2 , F1 3 , and F1 4 . F1 1 = F 1 F1 2 = K 1 x F 2 F1 3 = K 3 x F 3 F1 4 = K 2 x K 3 x F 4 An initial correction factor K 1 is a factor for correcting a difference in effective rolling radius due to the initial difference between the right front and left front tires W 1 , W 2 . An initial correction factor K 2 is a factor for correcting a difference in effective rolling radius due to the initial difference between the right rear and left rear tires W 3 , W 4 . An initial correction factor K 3 is a factor for correcting a difference in effective rolling radius due to the initial difference between the left front tire W 1 and left rear tire W 3 . The initial correction factor K j (j = 1, 2, 3) is obtained, for example, when the vehicle is traveled for the first time, when any of the tires W i is filled with air or when any of the tires W i is replaced, and is stored in the ROM 2c of the control unit 2. In this connection, the ROM2c is preferably composed of a programmable non-volatile memory such as an EPROM or an EEPROM. The variation in rotational angular velocities F i of the tires W i is not caused only by the initial difference. For example, a difference in slip rate Rs between the right and left driving tires W 1 , W 2 when the vehicle is traveling through a corner is one of the causes. For example, when the vehicle is traveling through a corner, a lateral acceleration LA is exerted in the direction toward the outside of the corner and the load of the vehicle transfers toward the outside of the corner. As a result, the load applied on the tire on the inside to the corner relatively becomes small while the load applied on the tire on the outside to the corner relatively becomes large. Accordingly, the ground area of the tire on the inside to the corner relatively becomes small while the ground area of the tire on the outside to the corner comparatively becomes large. Furthermore, a driving force generated in the engine is given to the tire on the inside to the corner and the tire on the outside to the corner, almost uniformly, by a differential gear. Accordingly, a difference in slip rate Rs between the driving tires W 1 , W 2 arises. As a result, even if all tires W i have a normal inner pressure, a variation in rotational angular velocities between the tire on the inside to the corner and the tire on the outside to the corner arises. Then, in order to exclude the influence of the slip rate Rs from the pneumatic pressure drop detection, the slip rate Rs of the driving tires W 1 , W 2 is calculated (step S3) according to the following equation (7): Rs= F1 1 + F1 2 F1 3 + F1 4 -1 The calculated slip rate Rs is once stored in the RAM 2d. This slip rate Rs is used in case of correcting the judged value required for pneumatic pressure drop detection. That is, in case of correcting the judged value, the slip rate Rs of this driving tires W 1 , W 2 and the lateral acceleration LA of the vehicle are used. Consequently, the difference in slip rate of the right and left tires W i can be corrected. A difference in distance from the turning center between the tire on the inside to the corner and tire on the outside to the corner is also one of the causes of the variation in rotational angular velocities F i of the tires W i . Furthermore, the load movement of the vehicle is also a cause of the variation in rotational angular velocities F i . Then, the turning radius R of the vehicle in which the influence of the load movement of the vehicle is excluded is calculated (step S4). More specifically, the speeds V1 3 and V1 4 of the following tires W 3 and W 4 are firstly calculated based on the rotational angular velocities F1 3 and F1 4 after initial correction, according to the following equations (8) and (9). In the following equations (8) and (9), r is a constant corresponding to the effective rolling radius at the time of the linear traveling. V1 3 = r x F1 3 V1 4 = r x F1 4 Then, the turning radius R' of the vehicle is calculated based on the calculated speeds V1 3 and V1 4 of the following tires W 3 and W 4 , according to the following equation (10). In the following equation (10), Tw indicates a tread width as a distance between the following tires W 3 , W 4 . R' = Tw/2 = (V1 4 + V1 4 )/(V1 4 - V1 3 ) This calculated turning radius R' of the vehicle is subjected to the correction by which the variation caused by the load movement of the vehicle is excluded, according to the following equation (11), thereby determining a turning radius R of the vehicle after correction. R = R' x {u 1 + u 2 (V1 3 + V1 4 ) 2 } In this equation (11), u 1 and u 2 respectively indicate a constant which is previously stored in the ROM 2c. u 1 and u 2 are obtained, for example, by traveling with a constant speed on the road wherein the turning radius of the vehicle is previously known. As u 1 and u 2 , the following values are suitable. u 1 = 1 u 2 = (1/9.8) x (β/2Tw) where β = (Q x H x α)/2Tw Q: load of the vehicle H: height from the ground surface of the tire to gravity center of the vehicle, and α: variation rate in effective rolling radius of the tire with respect to load Then, the rotational angular velocities F1 i determined in the above step S2 are corrected based on the determined turning radius R of the vehicle in order to exclude the variation caused by the difference in distance between the respective tires W i and the turning center (step S5). Specifically, rotational angular velocities F2 1 to F2 4 after correction are determined according to the following equations (12) through (15). Incidentally, in the following equations (12) through (15), WB indicates a wheel base of the vehicle. F2 1 = |R| √{(R-Tw/2) 2 + WB 2 } × F1 1 F2 2 = |R| √{(R-Tw/2) 2 + WB 2 } × F1 2 F2 3 = |R| |R-Tw/2| ×F1 3 F2 4 = |R| |R+Tw/2| ×F1 4 Consequently, the rotational angular velocities F2 i in which the variation caused by the difference in distance from the turning center between the tire W i on the inside to the corner and tire W i on the outside to the corner (difference in inner and outer wheels) is excluded can be obtained. On the other hand, the rotational angular velocity F i sometimes contain an error depending on the turning radius R of the vehicle, velocity V of the vehicle, lateral acceleration LA of the vehicle and magnitude of front/rear acceleration FRA i of each tire W i . That is, when the turning radius R of the vehicle is relatively small, the tires W i are likely to cause a lateral slip; therefore, there is much possibility that the rotational angular velocities F i calculated contain an error. In addition, when the speed V of the vehicle is considerably low, the detection precision of the wheel speed sensors 1 becomes inferior, considerably. Therefore, there is much possibility that the rotational angular velocities F i calculated contain an error. Furthermore, when the lateral acceleration LA of the vehicle is comparatively large, the tires W i are likely to cause a lateral slip; therefore, there is much possibility that the rotational angular velocities F i calculated contain an error. Furthermore, when the front/rear acceleration FRA i of a tire W i is relatively large, for example, the influence of the slip of the tire W i due to rapid acceleration/deceleration of the vehicle or the influence of the breaking will be considered. Therefore, there is much possibility that the rotational angular velocities F i calculated contain an error. In such cases where there is much possibility that the rotational angular velocities F i contain an error, it is preferred to reject the rotational angular velocities F i for the purpose of the detection of the pressure drop. Then, the speed V1 of the vehicle, lateral acceleration LA and front/rear acceleration FRA i of each tire W i are calculated (step S6). More specifically, the speed V of the vehicle is calculated based on the speed V1 i of each tire W i . The velocity V1 i of each tire W i is calculated according to the following equation (16): V1 i = r x F2 i The speed V of the vehicle is calculated based on the calculated velocity V1 i of each tire W i according to the following equation (17): V1 = (V1 1 + V1 2 + V1 3 + V1 4 )/4 The lateral acceleration LA of the vehicle is calculated by utilizing this calculated speed V1 of the vehicle according to the following equation (18): LA = V1 2 /(R x 9.8) The front/rear acceleration FRA i of each tire W i is calculated according to the following equation (19) assuming the speed of each tire W i calculated in the judging period before one period be BV1 i . FRA i = (V1 i - BV1 i )/(ΔT x 9.8) The numeral 9.8 in the denominator in the above equations (18) and (19) converts the lateral front/rear acceleration LA and the front/rear acceleration FRA i of each tire W i in gravity acceleration unit basis. The speed V1 of the vehicle, lateral acceleration LA and front/rear acceleration FRA i of the vehicle may be directly determined by using sensors for detection thereof. Then, on the basis of the turning radius R of the vehicle, velocity V of the vehicle, front/rear acceleration FRA i of each tire W i and lateral acceleration LA of the vehicle, it is judged whether the rotational angular velocities F i calculated at the time of this sampling should be rejected or not (step S7). Specifically, the rotational angular velocities F i are rejected if at least one of the following four conditions 1 ○ to 4 ○ is satisfied: 1 ○ R < R TH (e.g. R TH = 30 m) 2 ○ V < V TH (e.g. V TH = 10 km/h) 3 ○ MAX {|FRA i |} > A TH (e.g. A TH = 0.1 g, g = 9.8 (m/sec 2 )) 4 ○ LA > G TH (e.g. G TH = 0.4 g) As a result of the judgment in the step S7, if the rotational angular velocities F i are not rejected, the judged value D1 is calculated based on the rotational angular velocity F2 i obtained in the step S5 according to the following equation (20) (step S8): D1 = F2 1 + F2 4 2 - F2 2 + F2 3 2 F2 1 + F2 2 + F2 3 + F2 4 4 × 100 In the calculation of the speed V1 of the vehicle, lateral acceleration LA and front/rear acceleration FRA i of each tire W i in the step S6, the rotational angular velocities F2 i corrected according to the initial difference and difference in inner and outer wheels of the tire W i are used. As mentioned above, the rotational angular velocities F i of the tires W i depend on not only initial difference and difference in inner and outer wheels, but also lateral acceleration LA and slip rate Rs. Accordingly, the influence of variable factors including the lateral acceleration LA and slip rate Rs is exerted on the judged value D1 determined in the step S8. Then, the correction for excluding the influence of the above variable factors on the judged value D1 calculated in the step S8 is carried out (step S9). Specifically, a corrected value C is determined based on the slip rate Rs determined in the step S3 and the lateral acceleration LA of the vehicle determined in the step S6 according to the following equation (21). Then, as shown in the following equation (22), the corrected value C is subtracted from the judged value D1. Consequently, a new judged value D2 wherein the influence of the above variable factors is excluded is obtained. C = α1 x LA - α2 x LA x Rs D2 = D1 - C In the above formula (21), α1 and α2 respectively indicate factors which are previously restored in the ROM 2c. The factors α1 and α2 are determined by performing a test traveling when it is known that all the tires W i have a normal inner pressure. The following equation is established from the above equations (21) and (22). D1 = D2 + C = D2 + α1 x LA - α2 x LA x Rs When the vehicle is allowed to travel by inertia or coast without applying a driving torque, Rs = 0. Accordingly, the following equation is established at this time. D1 = D2 + α1 x LA Then, when a plurality of relations between the lateral acceleration during the inertia traveling or coasting and the judged value D1 during the test traveling, and these relations are approximated by a first order equation or liner expression, a gradient of a straight line of the first order equation becomes α1. Using α1 thus obtained, while the vehicle is allowed to travel by applying the driving torque to the wheels, the judged values D1, the lateral accelerations and the slip rate Rs are calculated. It is apparent that the following equation is established from the above equations. D1 - α1 x LA = -α2 x LA x Rs + D2 Then, when a plurality of relations between D1 - α1 x LA and -α2 x LA x Rs from data obtained during the test traveling and this relation is approximated by a first order equation, a gradient of a straight line of this first order equation becomes -α2. When the judged value D2 is determined (step S9), it is judged whether a tire W i whose pneumatic pressure has dropped is present or not using this judged value D2 (step S10). Specifically, it is discriminated whether the judged value D2 satisfies the following expression (23) or not. In the following expression (23), D TH1 = D TH2 = 0.1, for example. D2 < -D TH1 or D2 > D TH2 If the judged value D2 satisfies the above expression (23), it is judged that the pneumatic pressure of at least one of the tires W i has dropped, and a low-speed alarm flag for giving/stopping of an alarm is set. On the other hand, if the judged value D2 does not satisfy the above expression (23), it is judged that there is no tire whose pneumatic pressure has dropped, and a low-speed alarm flag is reset. When the vehicle is traveling with increasing the speed at high-speed range, or when the vehicle is traveling with maintaining a nearly constant speed at high-speed range (hereinafter refereed to as a "high-speed drive traveling"), the slip rate of the tire W i whose pneumatic pressure has dropped is lowered. At the same time, since the effective rolling radius increases by a centrifugal force applied to each part of the tire W i , the above judged value D becomes nearly 0 even when the pneumatic pressure of the tire W i has dropped. Therefore, an erroneous judgment cannot be avoided only by the above judgment of the step S10. To the contrary, when the vehicle is traveling with decelerating even at high-speed range, the judged value D2 becomes a comparatively large value as in case of the low-speed traveling and the pressure drop can be accurately judged in the above judgment of the step S10. Therefore, the above judgment of the step 10 will suffice in such case. Then, it is discriminated whether the vehicle is in a state of high-speed drive traveling or not (step S11 of Fig. 4). If the vehicle is in a state of high-speed drive traveling, the high-speed adaptation judging processing is executed (step S12). It is discriminated whether the vehicle is in a state of high-speed drive traveling or not based on the speed V1 of the vehicle and the front/rear acceleration FRA of the vehicle. That is, if the speed V1 of the vehicle is not less than a predetermined threshold value V TH (e.g. V TH = 120 km/h) and the front/rear acceleration FRA of the vehicle is not less than a predetermined threshold value A TH (e.g. A TH = 0 g), it is discriminated that the vehicle is in a state of high-speed drive traveling. In the high-speed adapted judging processing, it is determined that the speed V of the vehicle at the time when the judged value D2 is calculated, belongs to which one of a plurality of previously set speed ranges, and the judged value D2 is classified into the speed range thus determined. When such a processing is repeated to reach the state where an average value of the judged values D2 can be calculated in three or more speed ranges, the average value of the judged values D2 in the corresponding speed range is calculated and the corresponding average values are plotted in a graph as shown in Fig. 6. Then, these plots are subjected to a regression processing by the least squares method. Consequently, a judged value CrosP when the speed V of the vehicle is 0, which reflects the state of the pneumatic pressure of the tire W i , is assumed or estimated. Then, it is judged whether this assumed judged value CrosP satisfies a predetermined judging expression (e.g. judging expression such as the above expression (2)) or not. If the judged value CrosP satisfies the judging expression, it is judged that a tire W i whose pneumatic pressure has dropped is present and a high-speed alarm flag for indicating the giving/stopping of the alarm is set. On the other hand, if the judged value CrosP does not satisfy the judging expression, it is judged that all tires W i have a normal inner pressure, and a high-speed flag is reset. In such way, when the vehicle is in a state of high-speed drive traveling, the high-speed adapted judging processing which is suitable for high-speed drive traveling is executed. Therefore, even if the vehicle is high-speed traveling, it is certainly judged whether the pneumatic pressure of any of the tires W i has dropped or not. On the other hand, in the high-speed adapted judging processing, as described above, the average value of the judged values D2 corresponding to three or more speed ranges is required. That is, even if the vehicle is in a state of high-speed drive traveling, it is impossible to correctly judge the pneumatic pressure drop by the above-described high-speed adaptated judging processing if the speed of the vehicle does not vary. On the other hand, an autocruise traveling wherein the speed V1 of the vehicle is nearly constant is also included in the high-speed drive traveling, as described above. Accordingly, when the vehicle is in a state of autocruise traveling with high speed, it is impossible to judge the pneumatic pressure drop in the above-described high-speed adaptated judging processing. Then, an autocruise adapted processing as a pneumatic pressure drop judging processing for autocruise traveling is executed (steps S13 to S21). The autocruise adaptated processing is classified roughly into a pre-processing and a processing for executing the pneumatic pressure drop judging processing for autocruising. First, the pre-processing will be explained. The pre-processing is a processing for collecting data which is required to execute the pneumatic pressure drop judging processing for autocruising, while judging whether the vehicle is aotocruise traveling or not. It is judged, by the fact the absolute value of the front/rear acceleration FRA of the vehicle is not more than the threshold value A TH (e.g. A TH = 0.025 g) for a predetermined time (e.g. 60 sec) or more, whether the vehicle is in a state of autocruise traveling or not. That is, it is discriminated whether the absolute value of the front/rear acceleration FRA of the vehicle is not more than the threshold value A TH (step S13). If the absolute value of the front/rear acceleration FRA is larger than the threshold value A TH , it is judged that the vehicle is not autocruise traveling and a count value AC of the counter 2e is cleared (step S15). On the other hand, if the absolute value of the front/rear acceleration FRA is smaller than the threshold value A TH , it is judged that there is a possibility that the vehicle is in a state of autocruise traveling and a count value AC of the counter 2e is incremented (step S14). In such way, the count value AC of the counter 2e increases when the vehicle is in a state of autocruise traveling and, if not, it is cleared. Accordingly, when the count value AC of the counter 2e is not less than a predetermined value (e.g. 60), it is possible to discriminate that the vehicle is in a state of autocruise traveling. On the other hand, when the vehicle is not traveling linearly (not traveling at the corner), an error is included in the judged value D2. This error can be ignored in the reject processing (step S7) and the correction processing (step S9) which are performed before the autocruise adaptated processing is executed, but can not be ignored in the autocruise adaptated processing. Because the threshold value used in case of the pneumatic pressure drop judgment may be a variable value in the autocruise adaptation processing, as described hereinafter. Then, it is discriminated whether the absolute value of the lateral acceleration LA is not more than a predetermined threshold value LA TH (e.g. LA TH = 0.05 g) or not (step S16). If it is larger than the threshold value LA TH , it is judged that an error is included in the judged value D2 and the autocruise adaptated processing is terminated. On the other hand, if it is not more than the threshold value LA TH , the step proceeds to the following step S17. In the step S17, it is discriminated whether the vehicle is in a state of autocruise traveling or not with reference to the count value AC of the counter 2e. Specifically, it is discriminated whether the count value AC is not less than a predetermined threshold value AC TH (e.g. AC TH = 60) or no. If the count value AC is less than the threshold value AC TH , it is judged that it is too early to judge whether the vehicle is in a state of autocruise traveling, and the autocruise adaptated processing is terminated. On the other hand, if the count value AC is not less than the threshold value AC TH , the step transfers to the pneumatic pressure drop judging processing for autocruising. When the vehicle is in a state of autocruise traveling, the judged value D2 and the speed V1 of the vehicle are substantially constant. However, the judged value D2 and the speed V1 of the vehicle may sometimes include an error by an unexpected noise. Then, in the pneumatic pressure drop judging processing for autocruising, the judged value D2 and the speed V1 of the vehicle are leveled or smoothed to calculate a judged value D3 and a speed V2 of the vehicle, wherein the error is excluded. Specifically, the judged value D3 is calculated according to the following equation (24) (step S18). Incidentally, so far as the condition of the step S17 is established for the first time, D3 = D2. D3 = (59/60) x D3 + (1/60) x D2 Furthermore, the speed V2 of the vehicle is calculated according to the following equation (25) (step S19). Incidentally, so far as the condition of the step S17 is established for the first time, V2 = V1. V2 = (59/60) x V2 + (1/60) x V1 When the vehicle is in a state of autocruise traveling at high-speed range, as described above, the slip rate is lowered and the effective rolling radius of a tire W i increases, which results in decrease of the judged value D3. Accordingly, when the threshold value for judging is fixed to the same value as that in case of low-speed traveling, there is a fear of causing an erroneous judgment. Then, in the pneumatic pressure drop judging processing for autocruising, a judging threshold value D HTH is set to become smaller as the speed V2 of the vehicle becomes larger. More specifically, the judging threshold value D HTH is set corresponding to the speed V2 of the vehicle classified into three stages such as 0 to V TH1 , V TH1 to V TH2 and V TH2 or more, as shown in Fig. 5. More specifically, the judging threshold value D HTH is set as shown in the following equations (26) to (28). The following equations (26) to (28) are previously stored in the ROM 2c. β1 and β2 respectively indicate predetermined constants. D HTH = D HTH1 (V2 < V TH1 ) D HTH = β1 x V1 + β2 (V TH1 ≦ V2 ≦ V TH2 ) D HTH = D HTH2 (V2 < V TH2 ) In this processing, it is examined that the calculated speed V2 of the vehicle belongs to which one of stages, and a judging threshold value corresponding to the results is read out (step S20). In the above equations (26) to (28), D HTH1 may be set to 0.1, V TH1 may be set to 120 (km/h) and V TH2 may be set to 200 (km/h). Furthermore, D TH2 is set to a value wherein an erroneous judgment is not caused even in case of linear traveling in the state where all tires W i have a normal inner pressure, for example, it is set to 0.03. Then, it is discriminated whether the following expression (29) is satisfied or not based on the judged value D3 and the obtained judging threshold value D HTH (step S21). |D3| ≦ D HTH If the above expression (29) is satisfied, it is judged that all tires W i have a normal inner pressure and the autocruise alarm flag for indicating the giving/stopping of the alarm is reset. On the other hand, if the above expression (29) is not satisfied, it is judged that a tire W i whose pneumatic pressure has dropped is present and the autocruise alarm flag is set. After the completion of the above processing, the alarm giving/stopping processing is executed (step S22). In the alarm giving/stopping processing, it is discriminated whether any one of the low-speed alarm flag, high-speed alarm flag and autocruise alarm flag is set or not. As a result, if any one of the above three flags is set, an alarm signal is given to the indicator 3. In the indicator 3, when the alarm signal is given, a indication lamp provided for the indicator 3 is switched on. Consequently, it is informed that the pneumatic pressure of any of the tires W i has dropped. In such way, according to the tire pressure drop detecting device of the present embodiment, when the vehicle is in a state of autocruise traveling, the autocruise adaptated processing for autocruise traveling is executed based on the judged value D3, which is determined when the vehicle is traveling almost linearly and further subjected to a leveling processing, and the judging threshold value D HTH set to becomes smaller as the speed becomes higher. Accordingly, even if the vehicle is in a state of autocruise traveling at high speed range, it is possible to certainly detect that the pneumatic pressure of any of the tires W i has dropped. Therefore, a tire pressure drop detecting device with high accuracy can be obtained. The embodiments of the present invention have been described in detail, hereinabove, but the description should be considered as illustrative and not restrictive.

Claims: A tire pressure drop detecting method for a vehicle having a set of tires, comprising the following steps: detecting (S1) the angular velocities (Fi) of the tires provided for the vehicle, calculating (S18) a judged value (D3) based on the detected angular velocities (Fi), calculating (S19) the speed (V2) of the vehicle based on the rotational angular velocities (Fi), characterized by the following steps: discriminating (S13 to S17) whether the vehicle is in a state of autocruise travelling or not, executing a pneumatic pressure drop judging processing (S18 to S21) for autocruise travelling based on the detected angular velocities (Fi) when it has been discriminated that the vehicle is in a state of autocruise travelling, wherein the judging processing (S18 to S21) includes obtaining (S20) a judging threshold value (DHTH) corresponding to the calculated speed (V2) of the vehicle among judging threshold values which have been set to become smaller as the speed of the vehicle becomes larger, and judging (S21) whether the tire pressure has dropped or not based on this obtained judging threshold value (DHTH) and the calculated judged value (D3). A tire pressure drop detecting method for a vehicle having a set of tires, comprising the following steps: detecting (S1) the angular velocities (Fi) of the tires provided for the vehicle, calculating (S18) a judged value (D3) based on the detected angular velocities (Fi), calculating (S19) a speed (V2) of the vehicle based on the detected angular velocities (Fi), calculating (S6) a lateral acceleration (LA) of the vehicle based on the detected rotational angular velocities (Fi), discriminating (S16) whether an absolute value of this calculated lateral acceleration (LA) of the vehicle is less than a predetermined acceleration threshold value (LATH), and holding the calculated judged value (LA) when is has been judged that the absolute value of the lateral acceleration of the vehicle is less than the acceleration threshold value (LATH), characterized by the following steps: discriminating (S13 to S17) whether the vehicle is in a state of autocruise travelling or not, executing a pneumatic pressure drop judging processing (S18 to S21) for autocruise travelling based on the detected angular velocities (Fi) when it has been discriminated that the vehicle is in a state of autocruise travelling, wherein the judging processing (S18 to S21) includes the following steps: levelling (S18) the held judged value (D3), obtaining (S20) a judging threshold value (DHTH) corresponding to the calculated speed (V2) of the vehicle among judging threshold values which have been set to become smaller as the speed of the vehicle becomes larger, and judging (S21) whether the tire pressure has dropped or not based on this obtained judging threshold value (DHTH) and the levelled judged value (D3). The method according to claim 1 or 2, further comprising the step of detecting (S6) a front/rear acceleration of the vehicle based on the detected rotational angular velocities (Fi), wherein the step (S13 to S17) of discriminating whether the vehicle is in a state of autocruise travelling or not includes the step of performing the discrimination based on the detected front/rear acceleration of the vehicle. The method according to claim 2, further comprising the following steps: holding the calculated speed (V2) of the vehicle when it is judged that the absolute value (LA) of the lateral acceleration of the vehicle is less than the acceleration threshold value (LATH), and levelling (S19) the held speed (V2) of the vehicle, wherein the step (S20) of obtaining the judging threshold value includes the step of obtaining the judging threshold value (DHTH) corresponding to the levelled speed (V2) of the vehicle. The method according to any of claims 1 to 3, further comprising the following steps: calculating (S8) a judged value (D1) based on the detected angular velocities (Fi), and a low-speed adapted judging step (S10) of judging whether the tire pressure has dropped or not by comparing this judged value (D1) with a constant threshold value for low-speed travelling. The method according to any of claims 1 to 5, further comprising the following steps: calculating (S19) a judged value (D2) based on the detected rotational angular velocities (Fi), discriminating (S11) whether the vehicle is in a state of high-speed drive travelling or not, and a high-speed adapted judging step (S12) of assuming a judged value (D2) in the case that the speed (V1) of the vehicle is nearly zero based on the above calculated judged value (D2) when it has been discriminated that the vehicle is in a state of high-speed drive travelling, and judging (S12) whether the tire pressure has dropped or not based on the assumed judged value. A tire pressure drop detecting device for a vehicle having a set of tires, comprising: angular velocity detecting means (1) for detecting angular velocities (Fi) of the tires provided on the vehicle, jugded value operating means (S18) for calculating a judged value (D3) based on the angular velocities (Fi) detected by the angular velocity detecting means (1), and speed calculating means (S19) for calculating the speed (V2) of the vehicle based on the angular velocities (Fi) detected by the angular velocity detecting means (1), characterized by autocruise discriminating means (S13 to S17) adapted to discriminate whether the vehicle is in a state of autocruise travelling or not, and processing executing means (S18 to S21) adapted to execute a pneumatic pressure drop judging processing for autocruise tavelling based on the angular velocities (Fi) detected by the angular velocity detecting means (1) when it has been discriminated that the vehicle is in a state of autocruise travelling, wherein the processing executing means (S18 to S21) include obtaining means (S20) adapted to obtain a judging threshold value (DHTH) corresponding to the speed of the vehicle calculated by the speed calculating means (S19) among judging threshold values which have been set to become smaller as the speed of the vehicle becomes larger, and judging means (S21) adapted to judge whether the tire pressure has dropped or not based on the judging threshold value (DHTH) obtained by the obtaining means (S20) and the judged value (D3) calculated by the judged value operating means (S18). A tire pressure drop detecting device for a vehicle having a set of tires, comprising angular velocity detecting means (1) adapted to detect angular velocities (Fi) of the tires provided on the vehicle, judged value operating means (S18) adapted to calculate a judged value (D3) based on the angular velocities (Fi) detected by the angular velocity detecting means (1), speed calculating means (S19) adapted to calculate the speed (V2) of the vehicle based on the angular velocities (Fi) detected by the angular velocity detecting means (1), lateral acceleration operating means (S6) adapted to calculate a lateral acceleration (LA) of the vehicle based on the angular velocities (Fi) detected by the angular velocity detecting means (1), acceleration discriminating means (S16) adapted to discriminate whether an absolute value of the lateral acceleration (LA) of the vehicle calculated by the lateral acceleration operating means (S6) is less than a predetermined acceleration threshold value (LATH), and jugded value holding means (2d) adapted to hold the judged value (D3) calculated by the judged value operating means (S18) when it has been judged by the acceleration discriminating means (S16) that the absolute value of the lateral acceleration (LA) of the vehicle is less than the acceleration threshold value (LATH), characterized by autocruise discriminating means (S13 to S17) adapted to discriminate whether the vehicle is in a state of autocruise travelling or not, and processing executing means (S18 to S21) adapted to execute a pneumatic pressure drop judging processing for autocruise travelling based on the angular velocities (Fi) detected by the rotational angular velocity detecting means (1) when it has been discriminated that the vehicle is in a state of autocruise travelling, wherein the processing executing means (S18 to S21) include: levelling means (S18) adapted to level the judged value (D3) held by the holding means (2d) and the speed (V2) of the vehicle, judging threshold value obtaining means (S20) adapted to obtain a judging threshold value (DHTH) corresponding to the speed of the vehicle among judging threshold values which have been set to become smaller as the speed of the vehicle becomes larger, and judging means (S21) adapted to judge whether the tire pressure has dropped or not based on the judging threshold value (DHTH) obtained by the judging threshold value obtaining means (S20) and the judged value (D3) levelled by the levelling means. The device according to claim 7 or 8, further comprising front/rear acceleration detecting means (S6) adapted to detect a front/rear acceleration of the vehicle, wherein the autocruise discriminating means (S13 to S17) are adapted to discriminate whether the vehicle is in a state of autocruise travelling or not based on the detected front/rear acceleration. The device according to claim 8, further comprising: speed holding means (2d) adapted to hold the calculated speed (V2) of the vehicle when it has been judged that the absolute value (LA) of the lateral acceleration of the vehicle is less than the acceleration threshold value (LATH), and speed levelling means (S19) adapted to level the held speed (V2) of the vehicle, wherein the judging threshold value obtaining means (S20) are adapted to obtain a judging threshold value (DHTH) corresponding to the levelled speed of the vehicle. The device according to any of claims 7 to 10, further comprising: judged value calculating means (S8, S9) adapted to calculate a judged value (D1) based on the detected angular velocities (Fi), and low-speed adapted judging means (S10) adapted to judge whether the tire pressure has dropped or not by comparing this calculated judged value (D1) with a constant threshold value for low-speed travelling. The device according to any of claims 7 to 11, further comprising: judged value calculating means (S8, S9) adapted to calculate a judged value (D2) based on the detected angular velocities (Fi), high-speed drive discriminating means (S11) adapted to discriminate whether the vehicle is in a state of high-speed drive travelling or not, and high-speed adapted judging means (S12) adapted to assume a judged value (D2) in the case that the speed (V1) of the vehicle is nearly zero based on the above calculated judged value (D2) when it has been discriminated that the vehicle is in a state of high-speed drive travelling, and judging (S11) whether the tire pressure has dropped or not based on the assumed judged value (D2).

Inventors: NAKAJIMA MIKAO, NAKAJIMA, MIKAO, Nakajima, Mikao c/o Osaka Works Sumitom.El.Ind.Ltd
Applicants: SUMITOMO ELECTRIC INDUSTRIES, SUMITOMO RUBBER IND, SUMITOMO ELECTRIC INDUSTRIES, LTD., SUMITOMO RUBBER INDUSTRIES LTD.
Application year: 1997
Main classification: B60C23
IPC codes: B60C23