CN100354166C - Controlling device for vehicle braking force - Google Patents
Controlling device for vehicle braking force Download PDFInfo
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- CN100354166C CN100354166C CNB2004100824968A CN200410082496A CN100354166C CN 100354166 C CN100354166 C CN 100354166C CN B2004100824968 A CNB2004100824968 A CN B2004100824968A CN 200410082496 A CN200410082496 A CN 200410082496A CN 100354166 C CN100354166 C CN 100354166C
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Abstract
The present invention relates to a vehicle braking force controlling device. When a communication control valve is opened in the actuation process of an automatic brake device, the unnecessary braking force is applied to wheels because high pressure actuating liquid counter flows to a braking general pump to make the pressure of the braking general pump rise. When a linear valve is abnormal in the process of implementing the action control, the communication control valve (24L) or (24R) is opened (S10-90). The target braking pumping pressure (Pti) (S180-200) of each wheel is calculated only on the basis of a treading stroke (St) of a stroke sensor (70) from the time when the communication control valve is opened to the specified time. Therefore, the present invention can prevent the unnecessary braking force being applied to the wheels because high-pressure oil close to the braking pumping pressure side of the communication control valve counter flows to the braking general pump, and the target braking pumping pressure is calculated on the basis of the rise of the braking general pump pressure.
Description
Technical field
The present invention relates to the vehicle braked force control device, more detailed saying relates to the gradual braking device of so-called electronic control type.
Background technology
A kind of as gradual braking device, connection control cock with connection of the wheel cylinder of in vehicles such as automobile, controlling master cylinder and each wheel, to close the state that is communicated with control cock, at least based on master cylinder pressure, use the pressure in high-pressure source, control the wheel cylinder pressure of each wheel, the gradual braking device of being put down in writing in the following patent documentation 1 of known in the past applicant's application that the application for example arranged, it constitutes: the stroke of trampling that detects master cylinder pressure and brake pedal, the stroke of trampling based on master cylinder pressure and brake pedal, the target wheel cylinder pressure of each wheel of computing, thereby the control increase and decrease is pressed and is used control cock, makes the wheel cylinder pressure of each wheel reach target wheel cylinder pressure.
In addition, in the vehicle of tool by the gradual braking device of aforesaid connection control cock, known in the past also have following automatic brake arrangement: the braking force that can irrespectively control each wheel with driver's brake operating, therefore for example when the action of vehicle worsens, pay braking force and the action of stablizing vehicle from the wheel of trend regulation, when dangerous that vehicle and the place ahead obstacle collide arranged and and front vehicles between spacing when very little, pay braking force and make the vehicle automatic deceleration from the trend wheel.
Patent documentation 1: the spy opens the 2002-316630 communique
Generally, when the either party by gradual braking device and automatic brake arrangement controls the braking force of wheel, use the pressure in high-pressure source to have closed the state that is communicated with control cock, controlled the wheel cylinder pressure of each wheel, but if when unusual and uncontrollable wheel cylinder pressure takes place on increase and decrease pressure-controlled valve, this wheel is then opened the connection control cock, and the wheel cylinder of this wheel becomes and master cylinder bonded assembly state.
Therefore, if under the situation of the braking force of controlling the regulation wheel by automatic brake arrangement, on the increase and decrease pressure-controlled valve of regulation wheel, take place unusual, thereby cooresponding connection control cock is opened, the high pressure that is communicated with control cock by the wheel cylinder side do hydrodynamic through this connection control cock adverse current to master cylinder, master cylinder pressure moment sharply rises.Therefore, based on the master cylinder pressure that rises, the very big target wheel cylinder pressure that computing is unnecessary, cause the defective of paying unnecessary braking force to wheel because of the wheel cylinder pressure of each wheel is controlled as target wheel cylinder pressure, this defective is particularly remarkable when being provided with opening on master cylinder for improving the brake operation sense.
Summary of the invention
The present invention proposes in view of the problems referred to above of the existing gradual braking device of following formation and automatic brake arrangement: under the state by the connection that is communicated with control cock blocking-up master cylinder and wheel cylinder, by control wheel cylinder pressure, the braking force of control wheel, major subjects of the present invention is, in the start process of automatic brake arrangement, open when being communicated with control cock, restriction can prevent to pay unnecessary braking force to wheel based on the braking force of the master cylinder pressure control wheel that rises to master cylinder because of high pressure start liquid countercurrent.
Above-mentioned major subjects, if adopt the present invention, a kind of vehicle braked force control device can be provided, connection control cock with connection of the wheel cylinder of controlling master cylinder and each wheel, at the state of closing aforementioned connection control cock, at least based on master cylinder pressure, use the pressure in high-pressure source, control the wheel cylinder pressure of each wheel, it is characterized in that possessing automatic brake arrangement, vehicle and driver are irrelevant by the brake operating that the brake operating parts carry out, and use the pressure in high-pressure source, control the wheel cylinder pressure of each wheel; In the start process of aforementioned automatic brake arrangement when aforementioned connection control cock when closing the valve state and switch to out the valve state, to specified time, restriction is based on the wheel cylinder pressure (formation of scheme 1) of each wheel of master cylinder pressure control from this switching instant; Or a kind of vehicle braked force control device, connection control cock with connection of the wheel cylinder of controlling master cylinder and each wheel, at the state of closing aforementioned connection control cock,, use the pressure in high-pressure source at least based on master cylinder pressure, control the wheel cylinder pressure of each wheel, it is characterized in that possessing automatic brake arrangement, vehicle and driver are irrelevant by the brake operating that the brake operating parts carry out, and use the pressure in high-pressure source, control the wheel cylinder pressure of each wheel; In the start process of aforementioned automatic brake arrangement when aforementioned connection control cock switches to out the valve state from closing the valve state, to carried out brake operating by the driver till, restriction is reached based on the control (formation of scheme 2) of the wheel cylinder pressure of each wheel of master cylinder pressure.
In addition, if adopt the present invention, for reaching above-mentioned major subjects, formation as above-mentioned scheme 1 or 2, have and detect the brake operating check implement of driver, limit being controlled at of aforementioned wheel cylinder pressure and detect by aforementioned brake operating check implement and to carry out (formation of scheme 3) when aforementioned brake operating parts not being carried out brake operating the brake operating of brake operating parts.
In addition, if adopt the present invention, for reaching above-mentioned major subjects, formation as above-mentioned scheme 1 to 3, aforementioned gradual braking device calculates the target wheel cylinder pressure of each wheel at least based on master cylinder pressure, wheel cylinder pressure control with each wheel becomes cooresponding target wheel cylinder pressure simultaneously, carries out when limiting the controlling quantity of the wheel cylinder pressure that is controlled at based target wheel cylinder pressure of aforementioned wheel cylinder pressure (formation of scheme 4).
In addition, if adopt the present invention, for reaching above-mentioned major subjects, formation as above-mentioned scheme 1 to 4, the operation displacement of the brake operating parts that aforementioned gradual braking device carries out based on master cylinder pressure with by the driver, calculate the target wheel cylinder pressure of each wheel, wheel cylinder pressure control with each wheel becomes cooresponding target wheel cylinder pressure simultaneously, by the effect degree of reduction with the cooresponding master cylinder pressure of target wheel cylinder pressure, restriction is based on the control (formation of scheme 5) of the wheel cylinder pressure of each wheel of master cylinder pressure.
In addition, if adopt the present invention, for reaching above-mentioned major subjects, formation as above-mentioned scheme 5, aforementioned gradual braking device only based on by the target wheel cylinder pressure of driver to each wheel of operation displacement computing of brake operating parts, will be reduced to the effect degree of the cooresponding master cylinder pressure of target wheel cylinder pressure 0 (formation of scheme 6).
If adopt the formation of such scheme 1, be communicated with control cock in the start process of automatic brake arrangement when closing the valve state and switch to out the valve state, from this switching instant to specified time, restriction is based on the wheel cylinder pressure of each wheel of master cylinder pressure control, be switched to open mode even therefore be communicated with control cock, owing to high pressure start liquid countercurrent rises master cylinder pressure to master cylinder, by the braking force of restriction, can prevent effectively that unnecessary braking force from being paid wheel based on the master cylinder pressure control wheel of this rising.
In addition, if adopt the formation of such scheme 2, when the connection control cock switches to out the valve state from closing the valve state in the start process of automatic brake arrangement, to carry out brake operating by the driver till, restriction is based on the control of the wheel cylinder pressure of each wheel of master cylinder pressure, therefore can prevent effectively that unnecessary braking force from being paid wheel, can guarantee to reflect really the control of braking force of driver's braking wish simultaneously.
In addition, if adopt the formation of such scheme 3, being controlled to be detected by the brake operating check implement of restriction wheel cylinder pressure carried out when the brake operating parts not being carried out brake operating, therefore when the driver carries out brake operating, do not limit the control of wheel cylinder pressure, even master cylinder pressure rises and the braking force of wheel is risen, the driver also can be by carrying out the adjusting of brake operating amount to the brake operating parts, guarantee the vehicle deceleration hoped, can prevent from really when the driver carries out brake operating, not pay unnecessary braking force simultaneously to wheel.
In addition, if adopt the formation of such scheme 4, at least calculate the target wheel cylinder pressure of each wheel based on master cylinder pressure, wheel cylinder pressure control with each wheel becomes cooresponding target wheel cylinder pressure simultaneously, carry out during the controlling quantity of the wheel cylinder pressure that is controlled at based target wheel cylinder pressure of restriction wheel cylinder pressure, therefore can prevent to carry out for no reason the control of restriction wheel cylinder pressure.
In addition, if adopt the formation of such scheme 5, the operation displacement of the brake operating parts that carry out based on master cylinder pressure with by the driver, calculate the target wheel cylinder pressure of each wheel, wheel cylinder pressure control with each wheel becomes cooresponding target wheel cylinder pressure simultaneously, by the effect degree of reduction with the cooresponding master cylinder pressure of target wheel cylinder pressure, restriction is based on the control of the wheel cylinder pressure of each wheel of master cylinder pressure, therefore with master cylinder pressure the situation that the effect degree of target wheel cylinder pressure is not lowered is compared, can be reduced the drawback of paying unnecessary braking force to wheel.
In addition, if adopt the formation of such scheme 6, only based on by the target wheel cylinder pressure of driver to each wheel of operation displacement computing of brake operating parts, target master cylinder pressure is reduced to 0 to the effect degree of wheel cylinder pressure, even therefore, also can prevent from really to pay unnecessary braking force to wheel owing to high pressure start liquid countercurrent rises master cylinder pressure to master cylinder.
If adopt a kind of optimal way of the present invention, formation as above-mentioned scheme 1, gradual braking device is being closed the state that is communicated with control cock, at least based on master cylinder pressure, by control increase and decrease pressure-controlled valve, use the pressure in high-pressure source, control the wheel cylinder pressure of each wheel, be communicated with control cock and on cooresponding increase and decrease control cock, take place to switch to the valve state that closes (optimal way 1) by opening the valve state when unusual.
If adopt another kind of optimal way of the present invention, as the formation of above-mentioned scheme 1, can be by the brake operating that the driver carries out according to the operation displacement that the brake operating parts carry out being judged (optimal way 2) by the driver.
If adopt another kind of optimal way of the present invention, as the formation of above-mentioned scheme 3, the brake operating check implement can detect the operation displacement (optimal way 3) that the brake operating parts is carried out by the driver.
If adopt another kind of optimal way of the present invention, formation as above-mentioned scheme 4, gradual braking device based on master cylinder pressure and by the driver to the operation displacement that the brake operating parts carry out, calculate the target wheel cylinder pressure (optimal way 4) of each wheel.
If adopt another kind of optimal way of the present invention, formation as above-mentioned scheme 5, gradual braking device is according to based on the target amount of braking control of master cylinder pressure with based on the weight sum of the operation displacement of the brake operating parts that undertaken by the driver, calculate the target wheel cylinder pressure of each wheel, by reducing weight, reduce the effect degree (optimal way 5) of master cylinder pressure to target wheel cylinder pressure based on the target amount of braking control of master cylinder pressure.
If adopt another kind of optimal way of the present invention,, be communicated with the electromagnetic opening and closing valve (optimal way 6) of control cock for often opening as the formation of above-mentioned scheme 1 to 6.
Description of drawings
Fig. 1 possesses summary pie graph as the oil hydraulic circuit of the embodiment of the vehicle braked force control device of the present invention that is applicable to vehicle of the motion control device of automatic brake arrangement for expression.(embodiment 1)
Fig. 2 is the block diagram of the control system of gradual braking device and motion control device among the expression embodiment 1.(embodiment 1)
Fig. 3 is the diagram of circuit of the first half of brake-power control program among the expression embodiment 1.(embodiment 1)
Fig. 4 is the diagram of circuit of the latter half of brake-power control program among the expression embodiment 1.(embodiment 1)
Fig. 5 is the diagram of circuit of the latter half of brake-power control program among the expression embodiment 2.(embodiment 2)
Fig. 6 is the average value P ma of expression master cylinder pressure and the diagram of curves of the relation between the desired deceleration Gpt.(embodiment 1 and 2)
Fig. 7 is the diagram of curves that concerns between stroke St and the desired deceleration Gpt of trampling of expression brake pedal.(embodiment 1 and 2)
Fig. 8 for expression last time ultimate aim deceleration/decel Gtf and the weight to desired deceleration Gtf between the diagram of curves that concerns.(embodiment 1 and 2)
The diagram of curves of Fig. 9 for concerning between expression desired deceleration Gtf and the weight.(embodiment 2)
The specific embodiment
Below, with reference to accompanying drawing, several preferred embodiments of the present invention are described.
(embodiment 1)
Fig. 1 possesses summary pie graph as the oil hydraulic circuit of the embodiment 1 of the vehicle braked force control device of the present invention that is applicable to vehicle of the motion control device of automatic brake arrangement for expression, and Fig. 2 is the block diagram of the control system of gradual braking device and motion control device among the expression embodiment 1.And, in Fig. 1, omitted the solenoidal diagram of each valve for simplification.
For Fig. 1,10 expressions are by the brake gear of the hydraulic type of electric control, and brake gear 10 has master cylinder 14, in response to the operation that the driver tramples brake pedal 12, and the force feed brake solution.Be provided with between brake pedal 12 and the master cylinder 14 and do stroke simulator 16.
Master cylinder 14 has the first master cylinder chamber 14A and the second master cylinder chamber 14B, has connected an end of the brake solution pressure-controlled conduit 20 that brake oil pressure supplying duct 18 that the near front wheel uses and off front wheel use respectively in these master cylinder chambers.The wheel cylinder 22FL and the 22FR that have been connected the braking force of control the near front wheel and off front wheel at the brake solution pressure-controlled conduit 18 and 20 the other end respectively.
Be respectively equipped with electromagnetic opening and closing valve (total transfer valve) 24L and the 24R of open type in the centre of brake oil pressure supplying duct 18 and 20, electromagnetic opening and closing valve 24L and 24R play a part the blocked valve of the connection of control wheel cylinder 22FL and 24FL respectively, and described wheel cylinder is corresponding with the first master cylinder chamber 14A and the second master cylinder chamber 14B.And on the brake oil pressure supplying duct 18 between master cylinder 14 and the electromagnetic opening and closing valve 24FL, the electromagnetic opening and closing valve (normally closed valve) 26 by closed type has connected wet stroke simulator 28.
On master cylinder 14, connect fuel tank 30, on fuel tank 30, connected an end of oil pressure supplying duct 32.Be provided with the oil pump 36 that drives by electrical motor 34 in the centre of oil pressure supplying duct 32, on the oil pressure supplying duct 32 of the exhaust end of oil pump 36, connected the accumulator 38 of accumulating the high pressure oil pressure.An end that on the oil pressure supplying duct 32 between fuel tank 30 and the oil pump 36, has connected oil pressure discharge conduit 40.Fuel tank 30, oil pump 36, accumulator 38 play a part to be used to increase the high-pressure source of the pressure in wheel cylinder 22FL, 22FR, the 22RR like back described.
Though it is not shown in Figure 1, but be provided with the conduit of the oil pressure supplying duct 32 of the oil pressure supplying duct 32 of the suction side that connects oil pump 36 and exhaust end, be provided with discharge-service valve in the middle of this conduit, thereby when the pressure in the accumulator 38 surpasses a reference value, open, and make oil turn back to the oil pressure supplying duct 32 of suction side from the oil pressure supplying duct 32 of exhaust end.
The oil pressure supplying duct 32 of the exhaust end of oil pump 36 is connected with brake oil pressure supplying duct 18 between electromagnetic opening and closing valve 24L and the wheel cylinder 22FL by oil pressure control conduit 42, be connected with brake oil pressure supplying duct 20 between electromagnetic opening and closing valve 24R and the wheel cylinder 22FR by oil pressure control conduit 44, be connected with the wheel cylinder 22RL that left rear wheel is used by oil pressure control conduit 46, be connected with the wheel cylinder 22RR that off hind wheel is used by oil pressure control conduit 48.
Be respectively equipped with electromagnetic type linear valve 50FL, 50FR, 50RL, the 50RR of closed type in the centre of oil pressure control conduit 42,44,46,48.The oil pressure of linear valve 50FL, 50FR, 50RL, 50RR wheel cylinder 22FL, 22FR, 22RL, 22RR side control conduit 42,44,46,48 is connected with oil pressure discharge conduit 40 by oil pressure control conduit 52,54,56,58 respectively relatively, be respectively equipped with electromagnetic type linear valve 60FL, the 60FR of closed type in the centre of oil pressure control conduit 52,54, and be respectively equipped with open type electromagnetic type linear valve 60RL, the 60RR that price is lower than the electromagnetic type linear valve of closed type in the centre of oil pressure control conduit 56,58.
Linear valve 50FL, 50FR, 50RL, 50RR play respectively the pressure charging valve of wheel cylinder 22FL, 22FR, 22RL, 22RR (hold-off valve) are acted on, linear valve 60FL, 60FR, 60RL, 60RR play the reducing valve effect to wheel cylinder 22FL, 22FR, 22RL, 22RR respectively, therefore these linear valves play a role mutually jointly, are configured for controlling from the increase and decrease pressure-controlled valve of accumulator 38 inner high voltage oil to the supply/discharge of each wheel cylinder.
In addition, when each electromagnetic opening and closing valve, each linear valve and electrical motor 34 are not supplied with the non-control of drive current, electromagnetic opening and closing valve 24L and 24R keep out the valve state, electromagnetic opening and closing valve 26, linear valve 50FL～50RR, linear valve 60FL and 60FR keep the valve state that closes, and linear valve 60RL and 60RR keep out valve state (non-master mode).And, when linear valve 50FL～50RR, the some of linear valve 60FL～60RR break down, thereby can't be with the pressure control in the cooresponding wheel cylinder for just often, each electromagnetic opening and closing valve etc. also can be set at non-master mode, and the pressure in the wheel cylinder of left and right sides front-wheel can be directly by master cylinder 14 controls thus.
As shown in Figure 1, the brake solution pressure-controlled conduit 18 between the first master cylinder chamber 14A and electromagnetic opening and closing valve 24L is provided with first pressure sensor 66 that the pressure in this control conduit is detected as the first master cylinder pressure P m1.Equally, the brake solution pressure-controlled conduit 20 between the second master cylinder chamber 14B and electromagnetic opening and closing valve 24B is provided with second pressure sensor 68 that the pressure in this control conduit is detected as the second master cylinder pressure P m2.On brake pedal 12, be provided with and detect the stroke sensor 70 that the driver tramples the stroke St of brake pedal, on the oil pressure supplying duct 32 of the exhaust end of oil pump 34, be provided with the pressure sensor 72 that the pressure in this conduit is detected as the accumulator pressure Pa.
Be provided with on the brake oil pressure supplying duct 18 and 20 between electromagnetic opening and closing valve 24L and 24R and wheel cylinder 22FL and 22FR respectively pressure sensor 74FL and the 74FR of the pressure in the cooresponding conduit as wheel cylinder 22FL and 22FR internal pressure Pf1, Pfr detection.And, be provided with on the oil pressure supplying duct 46 and 48 between electromagnetic opening and closing valve 50RL and 50RR and wheel cylinder 22RL and 22RR respectively the pressure sensor 74RL and the 74RR of the pressure in the cooresponding conduit as wheel cylinder 22RL and 22RR internal pressure Pr1, Prr detection.
Electromagnetic opening and closing valve 24L and 24R, electromagnetic opening and closing valve 26, electrical motor 34, linear valve 50FL～50RR, linear valve 60FL～60RR are controlled by electronic control package shown in Figure 2 78 as described later in detail.Electronic control package 78 is made of microcomputer 80 and driving circuit 82.And microcomputer 80 is not shown specifically in Fig. 1, generally constitutes but for example also can be: have CPU and ROM and RAM and I/O mouth device, these connect by amphicheirality's common bus.
To the following signal of microcomputer 80 input: by pressure sensor 66 and 68 represent respectively the first master cylinder pressure P m1 and the second master cylinder pressure P m2 signal, by stroke sensor 70 expressions trample the signal of the stroke St of brake pedal 12, by the signal of pressure sensor 72 expression accumulator pressure Pa and the signal Pi (i=f1, fr, r1, rr) that represents the pressure in wheel cylinder 22FL～22RR by pressure sensor 74FL～74RR respectively.
By above explanation as can be known, microcomputer 80 constitutes control convenience: based on driver's brake operating amount, the target wheel cylinder pressure of each wheel of computing, and play a role jointly with each sensors such as electromagnetic opening and closing valve 24L and 24R, electromagnetic opening and closing valve 26, electrical motor 34, linear valve 50FL～50RR, linear valve 60FL～60RR, electronic control package 78 and pressure sensors 66, utilize the pressure in high-pressure source, under the state of closed electromagnetic open and close valve 24L and 24R, control, make the wheel cylinder pressure of each wheel become cooresponding target wheel cylinder pressure.
In addition, in illustrated embodiment, the braking force of wheel is also controlled by the electronic control package 84 of action control setup.Electronic control package 84 comprises the microcomputer 86 that has with microcomputer 80 identical formations, and microcomputer 80 between the required information of transmitting-receiving.In microcomputer 86, be transfused to down column signal: the signal of the signal of the signal of acceleration/accel Gx before and after the signal of the signal of the expression deflection angle θ that detects by steering angle sensor 88, the expression vehicle yaw rate γ that detects by vehicle yaw rate sensor 90, the expression that detects by front and back acceleration pick-up 92, the expression transverse acceleration Gy that detects by transverse acceleration sensor 94 and the expression vehicle velocity V that detects by car speed sensor 96.
Though it is not shown in diagram of circuit, but microcomputer 86 based on vehicle travel and the vehicle state quantity that changes, computing is represented the slew mode amount SS of vehicle rotation degree and is represented the slip state amount DS of the slippage degree of vehicle, based on slew mode amount SS and slip state amount DS, computing makes the target braking force or the target sliding ratio of each wheel of the stable action control of vehicle action, under the state of closing electromagnetic opening and closing valve 24L and 24R, use the pressure in high-pressure source, irrespectively control the brake-pressure of each wheel with driver's brake operating according to target braking force or target sliding ratio, pay braking force to the wheel of regulation thus, thereby make the action of vehicle stable.
For example, microcomputer 86 is when vehicle is in slew mode, pay the torque of rotation restriction direction to vehicle by paying braking force to rotation outside front-wheel, the restriction rotation, when vehicle is in slip state, pay braking force by trailing wheel to the left and right and make car retardation, pay the torque of the auxiliary direction of rotation simultaneously to vehicle, limit slip.
In addition, in illustrated embodiment, though do not illustrate in diagram of circuit, 80 pairs of brake gears of microcomputer 10 carry out OBD (On-Board Diagnostics), according to its diagnostic result, necessaries are set.Particularly, microcomputer 80 is as the linear valve 50FL～50RR of the pressure charging valve of each wheel or unusual as some generations of the linear valve 60FL～60RR of reducing valve, thereby in the time of can't appropriately controlling wheel cylinder pressure, close cooresponding electromagnetic opening and closing valve 24L or 24R, connect wheel cylinder and master cylinder chamber 14A or 14B, in this technical field, carry out known replacement control.
Particularly, in illustrated embodiment, microcomputer 80 is under the electronic control package 84 by motion control device moves the situation of controlling, some linear valves of left and right sides front-wheel take place unusual, when thereby electromagnetic opening and closing valve 24L or 24R open, in principle only based on trampling stroke St opening from electromagnetic opening and closing valve 24L or 24R in the valve specified time constantly by what stroke sensor 70 detected, the target wheel cylinder pressure P t of each wheel of computing, based on the master cylinder pressure P m1 that rises to master cylinder 14 owing to high-voltage oily adverse current by the wheel cylinder side at electromagnetic opening and closing valve 24L or 24R, Pm2, computing target wheel cylinder pressure prevents to pay unnecessary braking force to wheel thus.
Then, based on the diagram of circuit shown in Fig. 2, describe for the brake-power control among the embodiment 1.And, based on the control of the diagram of circuit shown in Fig. 2, be activated according to microcomputer 80 and begin, in each specific time, carry out repeatedly.In addition, whether flag F a takes place unusually for some linear valves of expression left and right sides front-wheel, and the 1 a certain linear valve for expression left and right sides front-wheel takes place unusual.
At first, in step 10, whether judge mark Fa is 1, and some linear valves of promptly judging left and right sides front-wheel whether valve take place unusually, being judged as when negating, enter step 30, being judged as when sure, enters step 20.
In step 20, for example by judging whether the stroke St that tramples that is detected by stroke sensor 70 is more than a reference value Sto (positive constant), judges and whether has trampled brake pedal 12 by the driver, be judged as when sure, enter step 110,, enter step 60 being judged as when negating.
In step 30, judge whether driver's brake request, being judged as when negating, enter step 40, being judged as when sure, enter step 130.In addition, for the brake request that judges whether the driver, for example whether the average value P ma by judging the master cylinder pressure P m1 that detected by pressure sensor 66,68 and Pm2 is whether original bench mark value Pms (positive constant) is above or be above the carrying out of original bench mark value Sts (positive constant) by the stroke St that tramples that stroke sensor 70 detects.
In step 40, judge whether that by motion control device the near front wheel being paid braking force controls, being judged as when negating, enter step 60, being judged as when sure, enter step 50.
In step 50, for example linear valve 50FL or the 60FL to the near front wheel takes place thereby whether the near front wheel is changed to the brake-power control illegal state by the brake-power control enable state to judge unusually, be judged as when sure, enter step 100,, enter step 60 being judged as when negating.
In step 60, for example judge whether to be in the near front wheel and be changed in the specified time Tof1 (positive constant) that moment of brake-power control illegal state rises,, enter step 100 being judged as when sure by the brake-power control enable state, being judged as when negating, enter step 70.
Equally, in step 70, judge whether that paying braking force by motion control device subtend off front wheel controls,, enter step 90,, enter step 80 being judged as when sure being judged as when negating.
In step 80, for example linear valve 50FR or the 60FR to off front wheel takes place thereby whether off front wheel is changed to the brake-power control illegal state by the brake-power control enable state to judge unusually, be judged as when sure, enter step 100,, enter step 90 being judged as when negating.
In step 90, for example judging whether to be in off front wheel is changed in the specified time Tofr (positive constant) that moment of brake-power control illegal state rises by the brake-power control enable state, be judged as when sure, making flag F a set in step 100 is 1, being judged as when negating, in step 110, make flag F a be reset to 0.And specified time Tof1 and Tofr in the step 60 and 90 are set at: electromagnetic opening and closing valve 24L or 24R are opened, the time that the moment of master cylinder pressure P m1, Pm2 that high-voltage oily adverse current causes to master cylinder 14 rises and finishes.
In step 130, whether judge mark Fa is 0, judges promptly whether the linear valve of left and right sides front-wheel is normal, being judged as when negating, enters step 180, being judged as when sure, enters step 140.
In step 140, read in the signal of the expression master cylinder pressure P m1 that detects by pressure sensor 66 etc., based on the average value P ma of master cylinder pressure P m1 and Pm2, according to the cooresponding figure of diagram of curves shown in Figure 6, computing is based on the desired deceleration Gpt of master cylinder pressure.
In step 150, trample stroke St based on what detect by stroke sensor 70, by with the cooresponding figure computing of diagram of curves shown in Figure 7 based on the desired deceleration Gst that tramples stroke.
In step 160, based on ultimate aim deceleration/decel Gtf last time, according to the cooresponding figure of diagram of curves shown in Figure 8, weight (0≤α≤1) to computing desired deceleration Gpt, according to following formula 1, computing is as the ultimate aim deceleration/decel Gt of the weighting sum of desired deceleration Gpt and desired deceleration Gst simultaneously.And in illustrated embodiment, weight can be carried out computing but also can be revised as based target deceleration/decel Gpt or Gst based on ultimate aim deceleration/decel Gtf computing last time.
Gt＝α·Gpt+(1-α)Gst ……(1)
In step 170, the coefficient (considering the positive coefficient of the braking effect coefficient of each wheel) of the target wheel cylinder pressure of each wheel of relative ultimate aim deceleration/decel Gt is made as Ki (i=f1, fr, r1, rr), according to following formula 2, the target wheel cylinder pressure P ti (i=f1, fr, r1, rr) of each wheel of computing.
Pti＝Ki·Gt ……(2)
In step 180, identical with the situation of step 150, trample stroke St based on what detect, according to calculating based on the desired deceleration Gst that tramples stroke with the cooresponding figure of diagram of curves shown in Figure 7 by stroke sensor 70.
In step 190, ultimate aim deceleration/decel Gt is set to based on the desired deceleration Gst that tramples stroke, in step 190, is unusual wheel wheel in addition to linear valve, based target deceleration/decel Gs, computing target wheel cylinder pressure P t.
In step 210, feed back the wheel cylinder pressure P i that controls this wheel by oil pressure and make it to become target wheel cylinder pressure P ti.And,, therefore this wheel is not carried out the control of braking force when target wheel cylinder pressure P ti during computing, is opened with cooresponding electromagnetic opening and closing valve 24L of each wheel or 24R in step 190.
Then, to the situation of gradual braking device, branch situation and the start of illustrated embodiment is described.
(1) when linear valve etc. carries out brake operating under normal condition
At whole linear valve etc. is under the normal situation, after carrying out brake operating by the driver, carry out negative evaluation in step 10, simultaneously in step 20 and 130, carry out affirmative determination, in step 140～170, based on the average value P ma of master cylinder pressure P m1 and Pm2 and trample stroke St, the target wheel cylinder pressure P ti of each wheel of computing, in step 210, under electromagnetic opening and closing valve 24L and the pent state of 24R, be controlled to be the line traffic control brake type, make the expected value kinetic pressure Pti of the wheel cylinder pressure P i of each wheel greater than master cylinder pressure P m1, Pm2.
(2) when linear valve etc. moves control under normal condition
At whole linear valve etc. is under the normal situation, when moving control by motion control device, electromagnetic opening and closing valve 24L and 24R are closing under the state of valve, the wheel cylinder pressure P i of the wheel of regulation and driver's brake operating are irrespectively controlled according to the vehicle operating state, make the action of vehicle stable thus.
(3) take place when unusual when the linear valve of front-wheel in the action when the non-brake operating control
Do not carry out the driver under the situation of brake operating, by some generations of the left and right sides front-wheel when unusual, the electromagnetic opening and closing valve 24L or the 24R of this wheel are opened in the fulfillment process of action control, and action control is interrupted.And, in this case,, be judged as negatively at first in step 10 and 30, in step 40 and 50, be judged as certainly, thus,, be 1 with flag F a set in step 100, be judged as negative in step 130.
After the next circulation, in step 60, be judged as negative, therefore in step 10, be judged as certainly, in step 20, be judged as negative, thus electromagnetic opening and closing valve 24L or 24R from moment of opening through specified time Tof1 till, flag F a is maintained 1, according in step 130, be judged as negative, in step 180～200 only based on the target wheel cylinder pressure P ti that tramples each wheel of stroke St computing.
Do not carry out brake operating in this case, and trample stroke St is 0, therefore being based on the desired deceleration Gst that tramples stroke and still being ultimate aim deceleration/decel Gt all is 0, therefore the target wheel cylinder pressure P ti of each wheel also becomes 0, can prevent from really to pay unnecessary braking force to each wheel.Therefore, even owing to electromagnetic opening and closing valve 24L or 24R to master cylinder 14 master cylinder pressure is risen by the high-voltage oily adverse current of wheel cylinder side, can prevent really that also the target wheel cylinder pressure P ti computing of each wheel that the master cylinder pressure because of this rising causes from being very big value.
When (4) after the linear valve of front-wheel in action control takes place unusually, carrying out brake operating
When the moment of opening from electromagnetic opening and closing valve 24L or 24R when before specified time, carrying out brake operating, in step 10 and 20, be judged as certainly, is 0 in step 110 with flag F a set, thus, the master mode of above-mentioned (3) promptly limits based on the control end of master cylinder pressure to wheel cylinder pressure.In addition, when the moment of opening from electromagnetic opening and closing valve 24L or 24R when after specified time, carrying out brake operating, be judged as negatively in step 10, be judged as certainly in step 30.
Therefore, before specified time, the situation of carrying out the situation of brake operating and carrying out brake operating after specified time in any case, be judged as certainly in step 130, thus, the replacement pattern when step 140～170 and step 210 are unusual with linear valve is carried out based on the average value P ma of master cylinder pressure P m1 and Pm2 and the control of wheel cylinder pressure P i of trampling each wheel of stroke St.
(5) take place when unusual when the linear valve of front-wheel in the action control process when brake operating
In this case, also be judged as negative in step 10, be judged as certainly in step 30, therefore, be judged as certainly in step 130, thus, the replacement pattern when step 140～170 and step 210 are unusual with linear valve is carried out based on the average value P ma of master cylinder pressure P m1 and Pm2 and the control of wheel cylinder pressure P i of trampling each wheel of stroke St.Therefore, do not limit based on master cylinder pressure, to the control of wheel cylinder pressure, but in this case, master cylinder pressure also becomes higher value, compares during therefore with non-brake operating, and oil reduces to the adverse current of master cylinder.
As mentioned above, if adopt illustrated embodiment 1, when taking place in the action control during at non-brake operating of the linear valve of front-wheel when unusual, electromagnetic opening and closing valve 24L or 24R open and rise constantly to the process specified time, only based on trampling stroke St, the target wheel cylinder pressure P t of each wheel of computing, the target wheel cylinder pressure P ti of each wheel becomes 0, therefore, really prevent to pay unnecessary braking force to wheel, can prevent really that thus vehicle from carrying out unnecessary brake snub, and the moment of opening from electromagnetic opening and closing valve 24L or 24R to when carrying out brake operating by the driver before the specified time, can finish really to limit based on of the control of master cylinder pressure to wheel cylinder pressure.
Particularly, if adopt illustrated embodiment 1, in step 20 based on trampling stroke St, judge and whether trample brake pedal 12 by the driver, therefore, with for example step 30, based on the average value P ma of master cylinder pressure or trample and compare when stroke St judges whether to have trampled brake pedal 12, can reduce following drawback really: can't judge correctly because of high-voltage oily adverse current rises master cylinder pressure to cause to master cylinder whether brake pedal 12 is trampled.
(embodiment 2)
Fig. 5 possesses diagram of circuit as the latter half of brake-power control program among the embodiment 2 of the vehicle braked force control device of the present invention that is applicable to vehicle of the motion control device of automatic brake arrangement for expression.And, in Fig. 5 to the step identical with step shown in Figure 3 be marked with Fig. 3 in the identical number of steps of number of steps.
In this embodiment, the situation of step 10～120 and the above embodiments 1 is carried out in the same manner, but is judged as when sure or step 100 or 110 when finishing in step 30, steps performed 140 and 150.In addition, if step 150 finishes, whether the step 130 in step 155 and the foregoing description 1 judge mark Fa in the same manner is 0, whether the linear valve of promptly judging left and right sides front-wheel is normal, being judged as when sure, enters step 160, being judged as when negating, enter step 185.In step 185, based target deceleration/decel Gpt is by the weight of the cooresponding figure computing of diagram of curves shown in Figure 9 to desired deceleration Gpt, simultaneously according to above-mentioned formula 1, calculate the ultimate aim deceleration/decel Gt of the weighted sum of desired deceleration Gpt and desired deceleration Gst, enter step 190 afterwards.
And, if adopt illustrated embodiment 2, the linear valve of front-wheel takes place when unusual in the action control process when non-brake operating, by reducing weight, reduce the effect degree of average value P ma of the master cylinder pressure of relative target wheel cylinder pressure P ti, and when carrying out brake operating after the linear valve of front-wheel takes place unusually in the action control process, weight stops to reduce, based on the average value P ma of master cylinder pressure with trample stroke St and calculate target wheel cylinder pressure P ti, therefore, identical with the situation of the above embodiments 1, can prevent from really to pay unnecessary braking force to each wheel, thus, can prevent really that vehicle is carried out unnecessary brake snub, and from moment that electromagnetic opening and closing valve 24L or 24R open to through before the specified time, when carrying out brake operating, can finish really to limit based on of the control of master cylinder pressure to wheel cylinder pressure by the driver.
Particularly, if adopt illustrated embodiment 2, weight can be set to the more little variableness of the big more weight of desired deceleration according to desired deceleration Gpt, therefore big more based on the desired deceleration of master cylinder pressure, can reduce the effect degree of the average value P ma of master cylinder pressure more to target wheel cylinder pressure P ti, simultaneously only when the desired deceleration Gpt that has based on master cylinder pressure restriction based on of the control of master cylinder pressure to wheel cylinder pressure.
More than, have been described in detail for specific embodiment of the present invention, but the invention is not restricted to the embodiments described, and those of ordinary skill in the art can implement other all embodiment in this scope.
For example, in each above-mentioned embodiment, move by electronic control package 84 control situation under, some linear valves take place unusual, open electromagnetic opening and closing valve 24L or 24R, only based on the moment that is opened from electromagnetic opening and closing valve 24L or 24R to specified time (Tof1, Tofr) trample stroke St by what stroke sensor 70 detected in, calculate the target wheel cylinder pressure P ti of each wheel, specified time is certain, but also can be revised as: this specified time basis target wheel cylinder pressure P tf1 last time, Ptfr is by variable setting, so that cooresponding target wheel cylinder pressure P tf1, Ptfr is big more, and this specified time is long more.
In addition, in each above-mentioned embodiment, do not move by electronic control package 84 control situation under, some linear valves take place unusual, when opening electromagnetic opening and closing valve 24L or 24R, in step 20, judge whether to trample brake pedal 12, can be revised as, carry out based on trampling stroke St and parking light switch but judge whether brake pedal 12 is trampled also by the driver based on trampling stroke St.
In addition, in each above-mentioned embodiment, based on the target brake-pressure Pti of each wheel when common, be the average value P ma of master cylinder pressure P m1, Pm2 of the value of expression driver's brake operating amount and the tread-on quantity St of brake pedal, the computing driver requires deceleration/decel Gt, the deceleration/decel Gt that requires based on the computing driver calculates the target brake-pressure Pti of each wheel, but as long as the target brake-pressure Pti of each wheel when common calculates based on master cylinder pressure at least, then the control of braking force self can the known any thought in this technical field be carried out.
In addition, in the above-described embodiment, with driver's brake operating be motion control device irrespectively to the automatic brake arrangement that wheel is paid braking force, but automatic brake arrangement so long as with by the driver brake operating parts are carried out that brake operating irrespectively uses the pressure in high-pressure source and the wheel cylinder pressure of controlling the regulation wheel, can also be for example when vehicle and the place ahead obstacle collide, to pay braking force and any automatic brake arrangement of the automatic brake arrangement that automatically vehicle slowed down all can from the trend wheel.
In addition, in the above-described embodiment, the increase and decrease pressure-controlled valve of wheel cylinder pressure P i of controlling each wheel is by constituting as the linear valve 50FL～50RR of supercharger control valve with as the linear valve 60FL～60RR of reducing valve, but these valves are also replaceable for having the control cock that function was pressed and kept in increase and decrease.
In addition, master cylinder pressure is detected by two pressure sensors 66 and 68, is detected by a pressure sensor but also can be revised as master cylinder pressure.
Claims (9)
1. vehicle braked force control device, connection control cock with connection of the wheel cylinder of controlling master cylinder and each wheel, at the state of closing described connection control cock, this gradual braking device is at least based on master cylinder pressure, use the pressure in high-pressure source, control the wheel cylinder pressure of each wheel, it is characterized in that
Vehicle possesses automatic brake arrangement, and this automatic brake arrangement and driver are irrelevant by the brake operating that the brake operating parts carry out, and use the pressure in high-pressure source, control the wheel cylinder pressure of each wheel; In the start process of described automatic brake arrangement when described connection control cock when closing the valve state and switch to out the valve state, to specified time, restriction is based on the wheel cylinder pressure of each wheel of master cylinder pressure control from this switching instant.
2. vehicle braked force control device as claimed in claim 1 is characterized in that,
Described specified time, from this switching instant to carry out brake operating by the driver till.
3. vehicle braked force control device as claimed in claim 1, wherein,
Have and detect the brake operating check implement of driver,, limit the control of described wheel cylinder pressure detecting by described brake operating check implement when described brake operating parts not being carried out brake operating to the brake operating of brake operating parts.
4. vehicle braked force control device as claimed in claim 2, wherein,
Have and detect the brake operating check implement of driver to the brake operating of brake operating parts, detected by described brake operating check implement when described brake operating parts not being carried out brake operating, restriction is to the control of described wheel cylinder pressure.
5. as each the described vehicle braked force control device in the claim 1 to 4, wherein,
Described gradual braking device calculates the target wheel cylinder pressure of each wheel at least based on master cylinder pressure, wheel cylinder pressure control with each wheel becomes cooresponding target wheel cylinder pressure simultaneously, when the controlling quantity of the wheel cylinder pressure that based target wheel cylinder pressure is arranged, restriction is to the control of described wheel cylinder pressure.
6. as each the described vehicle braked force control device in the claim 1 to 4, wherein,
The operation displacement of the brake operating parts that described gradual braking device carries out based on master cylinder pressure with by the driver, calculate the target wheel cylinder pressure of each wheel, wheel cylinder pressure control with each wheel becomes cooresponding target wheel cylinder pressure simultaneously, by the effect degree of reduction with the cooresponding master cylinder pressure of target wheel cylinder pressure, restriction is based on the control of the wheel cylinder pressure of each wheel of master cylinder pressure.
7. vehicle braked force control device as claimed in claim 5, wherein,
The operation displacement of the brake operating parts that described gradual braking device carries out based on master cylinder pressure with by the driver, calculate the target wheel cylinder pressure of each wheel, wheel cylinder pressure control with each wheel becomes cooresponding target wheel cylinder pressure simultaneously, by the effect degree of reduction with the cooresponding master cylinder pressure of target wheel cylinder pressure, restriction is based on the control of the wheel cylinder pressure of each wheel of master cylinder pressure.
8. vehicle braked force control device as claimed in claim 6, wherein, described gradual braking device only based on by the target wheel cylinder pressure of driver to each wheel of operation displacement computing of brake operating parts, will be reduced to 0 with the effect degree of the cooresponding master cylinder pressure of target wheel cylinder pressure.
9. vehicle braked force control device as claimed in claim 7, wherein, described gradual braking device only based on by the target wheel cylinder pressure of driver to each wheel of operation displacement computing of brake operating parts, will be reduced to 0 with the effect degree of the cooresponding master cylinder pressure of target wheel cylinder pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100824968A CN100354166C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle braking force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100824968A CN100354166C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle braking force |
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| CN1751929A CN1751929A (en) | 2006-03-29 |
| CN100354166C true CN100354166C (en) | 2007-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100824968A Active CN100354166C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle braking force |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101624049B (en) * | 2009-08-06 | 2012-07-25 | 清华大学 | Vehicle electromechanical hydraulic braking system |
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| CN1132157A (en) * | 1995-03-31 | 1996-10-02 | 株式会社优尼希雅杰克斯 | Brake hydraulic control unit |
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