A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.

Vehicle Control Device

A method and apparatus for continuously or repeatedly monitoring road surface friction utilizes a separate test wheel attached to a vehicle and in contact with a road surface and a device for detecting slippage of the test wheel resulting from applying either a braking or accelerating torque on the test wheel. A signal corresponding to the applied braking or accelerating torque at the moment slip is detected and used to provide an indication to the driver of the slip condition. The method and apparatus is useful in vehicles as well as aircraft or in other applications where it is desired to monitor road friction. An embodiment of the invention applies and maintains a measured vertical force to the surface of the test wheel of the friction monitor utilizing an electromagnetic force field under processor control. The processor can combine signals from the vertical force torque motor circuit, and the test wheel torque motor circuit.

Method and apparatus for continuous monitoring of road surface friction

A method of and a system for controlling antilocking brakes (62, 66) employed in a vehicle (10) such as a motorcycle. The position of an expander piston (46) which constitutes an antilocking modulator (22) is detected and the torque of a rotative drive source (24) for actuating the expander piston is detected. A braking force used for each of the brakes is then computed from the detected position of the expander piston and the detected torque of the rotative drive source at the detected position. Further, friction coefficients of a road surface are estimated from the braking force thus computed and a target slip ratio is estimated from the estimated friction coefficients so as to carry out the optimum braking. Accordingly, the optimum target slip ratio can be estimated depending on high and low µ roads, thereby making it possible to provide satisfactory braking.

Method of and system for controlling brakes

An embodiment of a method of deploying a cable into a wellbore penetrating a subterranean formation comprises providing a cable, wherein the cable comprises at least one insulated conductor, at least one armor wire layer surrounding the insulated conductor, a polymeric material disposed in interstitial spaces formed between armor wires forming the at least one armor wire layer, and interstitial spaces formed between the at least one armor wire layer and insulated conductor, the polymeric material forming a continuously bonded layer which separates and encapsulates the armor wires forming the at least one armor wire layer, and whereby the polymeric material is extended to form a smooth polymeric jacket around the at least one armor wire layer, introducing the cable into a wellbore and performing at least one operation in the wellbore utilizing the cable.

Methods Of Using Enhanced Wellbore Electrical Cables

The circuit is used to determine the transverse speed of a vehicle and/or its float angle It estimates the transverse speed from the parameters, longitudinal speed, yaw angular rate and steering angle using a model supported estimation technique The float angle is then derived by forming the ratio of the vehicle transverse speed to its longitudinal speed USE/ADVANTAGE - For use in evaluating and controlling the stability of a vehicle The method is implemented more economically then conventional ones It requires only a pass-produced steering angle sensor and the vehicle speed is obtained from an ABS system

Model supported estimation of float angle - using vehicle speed from ABS system, steering angle sensor to derive transverse speed and hence float angle

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.

Method for predicting a speed of a vehicle which is equipped with an antilock brake device

Verfahren zur schaetzung der fahrzeuggeschwindigkeit eines vierrad-motorfahrzeugs

A first vehicle body speed is calculated based on a wheel rotational speed detected in a speed sensor for an object wheel. The largest value of speeds based on the wheel rotational speeds detected in speed sensors for four wheels is corrected by a correction value based on an inner and outer wheel speed difference during the turning of a vehicle so as to calculate a second vehicle body speed for every object wheel. A higher one of the first and second vehicle body speeds is selected as an estimated vehicle body speed for use in the anti-lock control for the object wheel. This enables a substantially accurate estimation of an estimated vehicle body speed during the turning of the vehicle.

Vehicle body speed estimating method in anti-lock control system for vehicle

The present invention relates to a method for estimating vehicle speeds independently on front and rear wheels of a four-wheel motor vehicle on the basis of front wheel speeds and rear wheel speeds, for use as a basis for determining slip rates for front and rear wheels. According to the first method of the invention, a reference wheel speed determined by the vehicle speed as estimated from the left and right wheel speeds cannot be unnecessarily increased during turning of the vehicle. According to the second and third methods of the invention, the estimated vehicle speed largely does not deviate from the actual vehicle speed in the event of a phase difference of variants produced between the left and right wheels due to an anti-lock control during the turning of the vehicle. According to other features of the invention, corrections can be performed with respect to the inner and outer wheel differences during turning of the vehicle based on an index representative of the traveling speed, lateral acceleration of the vehicle and steering angle.

Method for estimating a reference vehicle speed of a four-wheel motor vehicle

A traction control method for a vehicle according to the present invention for generating braking forces in the brake devices for driving wheels when excessive slipping has occurred in the drive wheels involves an independent control mode for independently controlling respective braking forces of the plurality of drive-wheel brake devices and a collective control mode for collectively controlling the braking forces. These two control modes are interchangeable with each other. This enables traction control which can insure both reliable driving force and high stability.

Tsuyoshi Satoh

Papers

Method for predicting a speed of a vehicle which is equipped with an antilock brake device

Verfahren zur schaetzung der fahrzeuggeschwindigkeit eines vierrad-motorfahrzeugs

Vehicle body speed estimating method in anti-lock control system for vehicle

Method for estimating a reference vehicle speed of a four-wheel motor vehicle

Traction control through collective or independent wheel braking