US 11,738,728 B2
Road surface step determination device for vehicles
Masato Terasaka, Ichinomiya (JP); and Chisa Kitahara, Nagoya (JP)
Assigned to ADVICS CO., LTD., Kariya (JP)
Appl. No. 17/274,244
Filed by ADVICS CO., LTD., Kariya (JP)
PCT Filed Sep. 24, 2019, PCT No. PCT/JP2019/037286
§ 371(c)(1), (2) Date Mar. 8, 2021,
PCT Pub. No. WO2020/067018, PCT Pub. Date Apr. 2, 2020.
Claims priority of application No. 2018-180193 (JP), filed on Sep. 26, 2018.
Prior Publication US 2021/0347344 A1, Nov. 11, 2021
Int. Cl. B60T 8/1761 (2006.01); B60T 8/172 (2006.01); B60T 8/173 (2006.01)
CPC B60T 8/1761 (2013.01) [B60T 8/172 (2013.01); B60T 8/173 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A road surface step determination device comprising:
an operation amount sensor configured to detect a magnitude of an operation amount of a braking operation member of a vehicle; and
a controller configured to calculate an actual variable amount by using the wheel speed, and calculate an estimated variable amount corresponding to the actual variable amount by using the magnitude of the operation amount, the calculation of the actual variable amount being different from the calculation of the estimated variable amount, and determine a presence or absence of a step by using the actual variable amount and the estimated variable amount, wherein the actual variable amount and the estimated variable amount correspond to an amount based on the wheel speed which is different from a body speed of the vehicle, and adjust a start threshold value of anti-skid control based on the determined presence or absence of the step, and start the anti-skid control when the start threshold value is met.