| 摘要 |
PURPOSE: A slip index detecting method detects actual slip index of wheels by changing constant according to slip rate and variate of deceleration to provide braking control with responsibility. CONSTITUTION: A slip index detecting method comprises a step to calculate slip rate from the detected wheel speed dependingly on whether the braking force is generated on a driving car and determine whether the detected slip rate is lower than the critical value(S101, S102, S103), a step to set an arbitrary value detected through learning as a first constant if the slip rate is lower than the critical value(S104), a step to detect deceleration from the detected wheel speed and determine whether the absolute value of the deceleration is lower than the critical value to set up a second constant of the deceleration(S113, S111, S110) and a step to calculate the slip index from the detected slip rate, deceleration and the first and the second constant(S120). If the slip rate of the wheels and the absolute value of the detected deceleration are over the critical values, the first constant(Kp) is set to 1 and the second constant(Ki) to -0.15. If the slip rate of the wheels and the absolute value of the detected deceleration are under the critical values, Kp is set to 1 and Ki to -0.01. The slip index=Kp*the slip rate+Ki*the deceleration.
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