CN100418818C - brake control device - Google Patents

Abstract

A brake control device is provided, which is capable of providing a precise diagnosis on a trouble on a hydraulic pressure valve etc., so as to provide an appropriate output hydraulic pressure corresponding to a stroke amount of a brake pedal. In this device, an electromagnetic valve is provided on a hydraulic pressure passage allowing an auxiliary hydraulic pressure chamber to communicate with an accumulator, and is controlled to open when such a trouble occurs that output hydraulic pressure from the hydraulic pressure valve becomes lower than a predetermined range; and an electromagnetic valve is also provided on a hydraulic pressure passage allowing the auxiliary hydraulic pressure chamber to communicate with a reservoir, and is controlled to open when such a trouble occurs that the output hydraulic pressure from the hydraulic pressure valve becomes insufficiently reduced.

Description

brake control device

technical field

The present invention relates to a brake control device; more particularly, the present invention relates to a brake control device for controlling a hydraulic brake.

Background technique

As the conventional hydraulic brake device disclosed in JP-A-2002-264795, the conventional hydraulic brake device includes: a hydraulic source for accumulating working fluid pressure; a pressure regulating valve of the supplied hydraulic pressure; a master cylinder operated by the hydraulic pressure supplied from the pressure regulating valve into the auxiliary hydraulic pressure chamber so as to generate and output hydraulic pressure according to the hydraulic pressure of the auxiliary hydraulic pressure chamber; and a wheel brake cylinder, the The wheel cylinders are operated by hydraulic output from the master cylinder, thereby applying braking force to the wheels of the vehicle.

Therefore, with little foot effort on the brake pedal, the hydraulic pressure regulated by the pressure regulating valve can provide a large braking force. In conventional hydraulic braking, when regenerative cooperative control is performed, the regenerative cooperative control switching valve is used, and the wheel brake cylinder communicates with the pressure regulating valve or with the accumulator in order to adjust the hydraulic pressure in the wheel brake cylinder at an appropriate pressure .

However, in the hydraulic brake device as disclosed in JP-A-2002-264795, if there is such a failure that a foreign matter is clogged in the hydraulic passage on the output side of the pressure regulating valve, when the braking action is performed, from the pressure regulation The hydraulic pressure output from the valve to the auxiliary hydraulic chamber decreases below a predetermined range. This prevents the output of the hydraulic pressure corresponding to the pedal stroke amount. Therefore, sufficient hydraulic pressure cannot be output from the pressure regulator valve to the master cylinder side.

Another malfunction may occur: the spool pushed into the output hydraulic chamber by actuating the brake pedal against the force of the spring will not return completely even after the pedal is released due to the spring being caught on the surrounding surface of the output hydraulic chamber . This prevents the output hydraulic pressure from being supplied corresponding to the stroke amount of the brake pedal. Therefore, an appropriately reduced output hydraulic pressure output to the master cylinder side cannot be provided.

Therefore, in order to overcome the above disadvantages, when a malfunction occurs at a pressure regulating valve or the like, it is necessary to accurately detect the malfunction and diagnose its condition to provide an appropriate action to overcome it.

Contents of the invention

In view of the above-mentioned disadvantages, the object of the present invention is to provide a brake control device, which is able to perform a precise operation for the failure situation of the pressure regulating valve or switching valve Diagnose to output the appropriate output hydraulic pressure corresponding to the amount of brake pedal stroke.

According to a first aspect of the present invention, the brake control device includes:

A hydraulic pressure generating device comprising: a pump for drawing working fluid from a reservoir; and an accumulator for accumulating the working fluid drawn by the pump;

a pressure regulating valve for regulating and outputting hydraulic pressure supplied from the accumulator corresponding to a stroke amount of the brake operating member; and

A hydraulically operated device operated by output hydraulic pressure from a pressure regulating valve;

a valve that is normally closed and located on a hydraulic passage that allows the accumulator side to communicate with the hydraulically operated device via the hydraulic input side of the pressure regulating valve;

hydraulic pressure value detection means for detecting a hydraulic pressure value supplied from the accumulator into the pressure regulating valve;

an output hydraulic value detection device, the output hydraulic value detection device is used to detect the value of the output hydraulic pressure output from the hydraulic pressure output side of the pressure regulating valve to the hydraulic operating device;

stroke amount detection means for detecting a stroke amount of the brake operating member; and

control means for controlling the opening and closing of the valve based on each value detected from the hydraulic pressure value detection means, the output hydraulic pressure value detection means and the stroke amount detection means,

Wherein: when it is determined that the pressure regulating valve has failed, the control device controls the normally closed valve to open, so that the hydraulic pressure output from the accumulator side passes through the hydraulic pressure input side of the pressure regulating valve output into said hydraulically operated device,

Wherein: if the following conditions are determined, the control device determines that the failure occurs in the pressure regulating valve:

the hydraulic pressure within a suitable range is output from the accumulator to the hydraulic pressure input side of the pressure regulating valve based on the information on the detected value input from the hydraulic pressure value detecting means;

Based on the information on the detection value input from the output hydraulic pressure value detection means, at the time of brake operation by the brake operating member, the output hydraulic pressure output from the hydraulic pressure output side of the pressure regulating valve a value lower than a reference output pressure based on information on the stroke amount of the brake operation input from the stroke amount detection means; and

A difference between the value of the output hydraulic pressure and the reference output pressure is greater than a predetermined value.

The brake control device according to the first aspect of the present invention further includes: a valve that is normally closed and disposed at a hydraulic pressure that connects the accumulator and the hydraulic pressure output side of the pressure regulating valve to the hydraulic operating device. On the hydraulic passage connected by the passage;

Wherein: when it is determined that the pressure regulating valve has malfunctioned, the control device controls the normally closed valve to open so that, through the hydraulic passage on which the valve is arranged, the A part of the output hydraulic pressure output from the hydraulic pressure input side is output to the accumulator,

Wherein: if the following conditions are determined, the control device determines that the pressure regulating valve is out of order:

the hydraulic pressure within a suitable range is output from the accumulator to the hydraulic pressure input side of the pressure regulating valve based on the information on the detected value input from the hydraulic pressure value detecting means;

Based on the information on the detection value input from the output hydraulic pressure value detection means, at the time of brake operation by the brake operating member, the output hydraulic pressure output from the hydraulic pressure output side of the pressure regulating valve a value higher than a reference output pressure based on information on the stroke amount of the brake operation input from the stroke amount detection means; and

A difference between the value of the output hydraulic pressure and the reference output pressure is higher than a predetermined value.

According to a second aspect of the present invention, a brake control device includes:

a hydraulic pressure generating device comprising: a pump for drawing working fluid from an accumulator; and an accumulator for accumulating the working fluid drawn by the pump;

a pressure regulating valve that regulates hydraulic pressure supplied from the accumulator corresponding to a stroke amount of the brake operating member; and

Hydraulically operated devices operated by output hydraulic pressure from pressure regulating valves;

automatic brake control switching valve means capable of switching at least the current state to a state in which the hydraulically operated means communicates with the pressure regulating valve and is cut off from the accumulator; and is capable of switching the current state to a state wherein the hydraulically operated device is in communication with the accumulator and cut off from the pressure regulating valve;

hydraulic pressure value detection means for detecting a value of hydraulic pressure supplied from the accumulator into the pressure regulating valve;

a first output hydraulic value detection device, the first output hydraulic value detection device is used to detect the value of the output hydraulic pressure output from the hydraulic output side of the pressure regulating valve;

a second output hydraulic value detection device, the second output hydraulic value detection device is used to detect the value of hydraulic pressure for operating the hydraulic operating device;

stroke amount detection means for detecting a stroke amount of the brake operating member; and

A control device, the control device comprising:

a reference pressure determining section for determining a predetermined reference output pressure based on the stroke amount detected by the stroke amount detection means; and

The fault determination section determines the fault according to the correlation between the detection value of the first output hydraulic pressure value detection means, the detection value of the second output hydraulic pressure value detection means, and the reference output pressure determined by the reference pressure determination section. The OK section identifies failures.

The brake control device according to the second aspect of the present invention further includes regeneration cooperative control switching valve means capable of switching at least a current state to a state in which the hydraulic operating device communicates with the pressure regulating valve. , and a state disconnected from the accumulator; and capable of switching the current state to a state in which the hydraulic operating device communicates with the accumulator and is cut off from the pressure regulating valve.

The failure determination section determines the failure if it is determined that:

said detected value of said first output hydraulic pressure value detecting means is approximately equal to said reference output pressure determined by said reference pressure determining section; and

said detection value of said second output hydraulic pressure value detection means is greater than said detection value of said first output hydraulic pressure value detection means and said reference output pressure determined by said reference pressure determination section; and

Wherein: the control device further includes a control section that controls the regeneration cooperative control switching valve device so as to reduce the hydraulic pressure that operates the hydraulic operating device when the failure is determined.

The failure determination section also determines the failure if it is determined that:

said detected value of said first output hydraulic pressure value detecting means is approximately equal to said reference output pressure determined by said reference pressure determining section; and

said detection value of said second output hydraulic pressure value detection means is smaller than said detection value of said first output hydraulic pressure value detection means and said reference output pressure determined by said reference pressure determination section; and

Wherein: when the failure is determined, the control portion controls the automatic brake control switching valve device so as to increase the hydraulic pressure operating the hydraulic operating device.

The failure determination section also determines the failure if it is determined that:

The detection value of the first output hydraulic value detection device is approximately equal to the detection value of the second output hydraulic value detection device;

the reference output pressure determined by the reference pressure determining section is greater than the detection value of the first output hydraulic pressure value detection means and the detection value of the second output hydraulic pressure value detection means; and

Each detection value of said first output hydraulic pressure value detecting means and said second output hydraulic pressure value detecting means is in a non-increasing state; and

Wherein: when the failure is determined, the control portion controls the automatic brake control switching valve device so as to increase the hydraulic pressure operating the hydraulic operating device.

The failure determination section also determines the failure if it is determined that:

The detection value of the first output hydraulic pressure value detection means and the detection value of the second output hydraulic pressure value detection means are approximately equal; and the reference output pressure determined by the reference pressure determination section is less than the said detected value of said first output hydraulic pressure value detecting means and said detected value of said second output hydraulic pressure value detecting means; and

the detected value of the stroke amount detecting means becomes smaller, and

Wherein: when the malfunction is determined, the control section controls the regeneration cooperative control switching valve device so as to reduce the hydraulic pressure operating the hydraulic pressure operating device.

Description of drawings

1 is a block diagram of a brake control device according to a first embodiment of the present invention;

2 is a block diagram showing a brake control device according to a first embodiment of the present invention when a brake pedal is actuated;

3 is a block diagram of a brake control device according to a second embodiment of the present invention;

FIG. 4 is a flowchart illustrating the procedure of processing executed by the ECU shown in FIG. 3 .

Detailed ways

Embodiments of the present invention will be described below with reference to FIGS. 1 to 4 .

1 to 3 are block diagrams showing a brake control device according to an embodiment of the present invention. Each figure shows a sketch of each brake control device, including a cutaway view of the hydraulic booster in the motor vehicle configuration. Note: Components of the second embodiment that are identical to components of the first embodiment are indicated by the same reference numerals of the first embodiment.

(first embodiment)

Brake control device 1 mainly includes: hydraulic pressure source 10 ; pressure regulating valve 20 ; auxiliary hydraulic pressure chamber 61 ; master cylinder 50 ; wheel brake cylinders 70 a , 70 b , 71 a , 71 b ;

Referring to FIG. 1 , each component of the brake control device 1 will be described in detail below.

<part>

The hydraulic pressure source 10 generates a predetermined hydraulic pressure of working fluid for wheel braking. Specifically, the hydraulic pressure source 10 includes: an accumulator 10a; a pressure sensor 10b; a DC motor 10c; a hydraulic pump 10d; The accumulator 10a accumulates and holds working fluid at a predetermined pressure. This pressure sensor 10b (also referred to as "hydraulic pressure value detection device") detects the hydraulic pressure P1 of the working fluid accumulated in the accumulator 10a.

The accumulator 10e stores working fluid at atmospheric pressure. The DC motor 10c is driven and stopped according to instructions from the ECU 80 . When the DC motor 10c is driven, the working fluid 10a is supplied to the accumulator 10a by the hydraulic pump 10d. Based on the value detected by the pressure sensor 10b, the ECU 80 sends instructions.

The pressure regulating valve 20 is configured in such a way that the hydraulic pressure P1 of the working fluid supplied from the accumulator 10a is adjusted to the hydraulic pressure P2 according to the stroke amount of the brake pedal (also referred to as “brake operating member”) 30 . The details of this institution will be explained later. The pressure regulating valve 20 includes: a valve body 20a accommodated in a cylinder 60; a pressure regulating valve spool 20b capable of sliding movement in x1 and x2 directions to seal the open end of the valve body 20a; and a pressure regulating valve spool pushed in the x1 direction The spring 20c of 20b. These springs 20c are accommodated in an output chamber 20f defined by the inner wall of the valve body 20a and one end of the pressure regulating valve spool 20b. Through a valve hole 203 formed on the valve 20a, the output chamber 20f communicates with a hydraulic passage R5 leading to an auxiliary hydraulic chamber 61 (described later).

By accommodating the valve 20a and the pressure regulating valve spool 20b, the pressure regulating valve 20 defines a low pressure chamber 20e with the inner wall of the valve body 20a, the inner wall of the cylinder 60 and the outer peripheral wall of the pressure regulating valve spool 20b. The low-pressure chamber 20e is in permanent communication with the accumulator 10e via the hydraulic passage R2, and its internal pressure is maintained at atmospheric pressure. The low pressure chamber 20e further communicates with the output chamber 20f via the valve hole 201 and the through hole 204 respectively formed on the valve 20a.

The pressure regulating valve 20 also defines a high pressure chamber 20d with the inner wall of the cylinder 60 and the outer peripheral wall of the pressure regulating valve spool 20b. The high-pressure chamber 20d is in permanent communication with the accumulator 10a via the hydraulic passage R1. The high pressure chamber 20d permanently holds the hydraulic pressure P1 of the working fluid supplied from the accumulator 10a.

The supply valve 20g supplies the hydraulic pressure P1 to the output chamber 20f side. Through the through hole 204, the discharge valve 20h discharges the hydraulic pressure P2 in the output chamber 20f to the low-pressure chamber 20e side.

In the cylinder 60, an auxiliary hydraulic chamber 61 is defined by the inner wall of the cylinder 60, one outer end of the valve 20a, and the outer surface of the first piston 50a (described later). The auxiliary hydraulic pressure chamber 61 communicates with the hydraulic pressure passage R5, and the hydraulic pressure passage R5 communicates with the output chamber 20f.

The master cylinder 50 includes: a first piston 50a and a second piston 50b, both of which are slidingly fitted to the cylinder 60; a first master cylinder hydraulic chamber 50e facing the recess of the first piston 50a; and a face The second master cylinder hydraulic chamber 50f is recessed to the second piston 50b.

The first master cylinder hydraulic chamber 50e stores a spring 50c that urges the first piston 50a in the x1 direction and the second piston 50b in the x2 direction. The second master cylinder hydraulic chamber 50f accommodates a spring 50d that urges the second piston 50b in the x1 direction.

A communication hole 501 is provided on the first piston 50a, and the communication hole 501 communicates with the hydraulic passage R8 leading to the accumulator 10e. A communication hole 502 is provided on the second piston 50b, and the communication hole 502 communicates with the hydraulic passage R9 leading to the accumulator 10e. Therefore, as in the state of FIG. 1 , when the brake pedal 30 is not actuated, the first master cylinder hydraulic chamber 50 e and the second master cylinder hydraulic chamber 50 f communicate with the accumulator 10 e.

The first master cylinder hydraulic chamber 50e communicates with a hydraulic passage R4 leading to the wheel cylinders 70a, 70b for applying braking force to the two rear wheels. The second master cylinder hydraulic chamber 50f communicates with the hydraulic passage R6 leading to the wheel cylinders 71a, 71b for applying braking force to the two front wheels.

The pressure sensor 32 (also referred to as “output hydraulic pressure detecting means”) is provided on the hydraulic pressure passage R5 communicating with the auxiliary hydraulic pressure chamber 61 . The high-pressure chamber 20d of the pressure regulating valve 20 communicates with the hydraulic passage R3, and a solenoid valve 34 (normally closed, namely EV 34 in FIGS. 1 and 2 ) is arranged on the hydraulic passage R3. The low-pressure chamber 20e of the pressure regulating valve 20 communicates with the hydraulic passage R5 via a hydraulic passage R7 branched from the hydraulic passage R5. A solenoid valve 36 (passage closed, ie EV36 in FIGS. 1 and 2 ) is provided on the hydraulic passage R7.

Hereinafter, the gist of the brake control device 1 will be described with respect to the general operation of the brake control device 1 .

<General operation of the brake control unit 1>

First, the principle of the pressure regulating valve 20 will be described.

According to the relationship between the force in the x1 direction and the force in the x2 direction, the pressure regulating valve 20 regulates the hydraulic pressure P1 in the high pressure chamber 20d to the hydraulic pressure P2.

Specifically, by balancing the forward thrust of the pressure adjustment valve spool 20b in the x2 direction generated by the stroke of the brake pedal 30 and the pressure adjustment in the x1 direction as {the pressure of the output chamber 20f×the pressure facing the output chamber 20f The area of the valve spool 20b+the restoring force of the spring 20c} pushes backward to obtain the hydraulic pressure P2.

A description will be given below regarding the operation of the brake control device when the brake pedal 30 is actuated with reference to FIG. 2 .

In this case, when the pressure regulating valve spool 20b moves in the x2 direction from the position in FIG. 1 to the position in FIG. 2, the output chamber 20f is cut off from the low-pressure chamber 20e, and then the output chamber 20f communicates with the high-pressure chamber 20d. . At this time, by stepping on the pedal 30, the pressure regulating valve spool 20b is pushed in the x2 direction, and is also forced in the x1 direction by the hydraulic pressure P2 and the spring 20c.

This movement closes the discharge valve 20h, and then opens the supply valve 20g, so that the hydraulic pressure P1 in the high pressure chamber 20d is introduced into the output chamber 20f through the supply valve 20g and the through hole 204, and in the output chamber 20f, P1 is adjusted to the hydraulic pressure P2. of. The regulated hydraulic pressure P2 is output to the auxiliary hydraulic chamber 61 through the valve hole 203 and the hydraulic passage R5. In a second embodiment of the present invention described later, the solenoid valve 32 and the solenoid proportional valve 31 are provided on this hydraulic passage R5.

In the auxiliary hydraulic pressure chamber 61, the hydraulic pressure P3 is generated by inputting the hydraulic pressure P2 from the output chamber 20f, so that the hydraulic pressure P3 pushes the piston 50a in the x2 direction. Along with the movement of the first piston 50a, the communication hole 501 of the first piston 50a also moves in the x2 direction, so that the communication hole 501 is cut off from the hydraulic passage R8 leading to the accumulator 10e. Then, the hydraulic pressure P4 of the first master cylinder hydraulic pressure chamber 50e is output to the wheel cylinders 70a, 70b via the hydraulic pressure passage R4. Thus, braking force is applied to both rear wheels.

Simultaneously, with the movement of the first piston 50a, the second piston 50b moves in the x2 direction, so that the communication hole 502 of the second piston 50b is cut off from the hydraulic passage R9 leading to the accumulator 10e. Then, the hydraulic pressure P4 of the second master cylinder hydraulic pressure chamber 50f is output to the wheel cylinders 71a, 71b via the hydraulic pressure passage R6. Thus, braking force is applied to both front wheels.

<Pressure regulating valve 20 failure>

Case 1 P2 drop from output chamber 20f

How to control the brake control device 1 in case the hydraulic pressure P2 from the output chamber 20f drops due to a failure of the pressure regulating valve 20 will be explained below.

Assume that although the hydraulic pressure P1 is output from the accumulator 10a into the high-pressure chamber 20d at a suitable pressure, foreign matter or the like is blocked in the valve hole 203 of the valve body 20a. In this case, at the time of the brake operation as shown in FIG. 2 , the hydraulic pressure P2 output from the output chamber 20f into the auxiliary hydraulic pressure chamber 61 may drop severely although it is considered to be at an appropriate pressure. As a result, the hydraulic pressure P2 cannot be output at an appropriate pressure corresponding to the stroke amount of the brake pedal 30 .

According to the first embodiment of the present invention, in the case where the hydraulic pressure P2 output from the pressure regulating valve 20 has dropped below a predetermined pressure range, first, based on the information on the pressure input from the pressure sensor 10b, the ECU 80 determines whether the hydraulic pressure P1 Output at a suitable pressure from the accumulator 10a into the high-pressure chamber 20d of the pressure regulating valve 20 . Next, if the ECU 80 determines that the hydraulic pressure P2 output from the output chamber 20f has dropped below a predetermined range (also referred to as "detection value") based on the information on the pressure input from the pressure sensor 32, and if the ECU 80 If it is determined that the detected value is lower than the current reference output hydraulic pressure by a predetermined value based on the stroke amount information of the brake pedal 30, then the ECU 80 determines that a fault has occurred in the pressure regulating valve 20.

If it is determined that the pressure regulating valve 20 is malfunctioning, the ECU 80 sends a signal to the solenoid valve 34 to open its valve. At this time, the solenoid valve 36 remains closed. When the solenoid valve 34 is opened in response to this signal, the high pressure chamber 20d is allowed to communicate with the hydraulic pressure passage R3. Therefore, the hydraulic pressure P1 at an appropriate pressure output from the accumulator 10 a into the high-pressure chamber 20 d is output into the auxiliary hydraulic pressure chamber 61 via the hydraulic pressure passages R3 and R5 . At the same time, the hydraulic pressure lower than the predetermined range is also output to the auxiliary hydraulic pressure chamber 61 through the hydraulic pressure passage R5.

Then, based on the information on the pressure input from the pressure sensor 32, the ECU 80 controls the opening/closing operation of the solenoid valve 34 so that the output to the auxiliary hydraulic chamber 61 is equal to the current reference output based on the information on the pressure input from the pressure sensor 41. The pressure of the hydraulic pressure value, the current reference output hydraulic pressure value depends on the information about the stroke amount of the brake pedal 30 input from the stroke sensor 51 .

As described above, if the hydraulic pressure P2 output from the pressure regulating valve 20 becomes lower than the predetermined pressure range at the time of brake operation, the solenoid valve 34 is controlled to open/close the operation so that the output into the auxiliary hydraulic pressure chamber 61 is equal to the current reference output The pressure of the hydraulic pressure value, the current reference output hydraulic pressure value depends on the information on the stroke amount of the brake pedal 30 input from the stroke sensor 51, so that the hydraulic pressure corresponding to the stroke amount of the brake pedal 30 can be output from the high pressure chamber 20d side to the In the auxiliary hydraulic chamber 61. Accordingly, even when a malfunction occurs such that the hydraulic pressure P2 output from the pressure regulating valve 20 becomes lower than a predetermined range at the time of braking operation, it is possible to ensure that an appropriate braking force is applied to the wheel cylinders 70a, 70b, Each of 71a, 71b.

If the hydraulic pressure P2 output from the pressure regulating valve 20 becomes lower than a predetermined range at the time of the brake operation, the ECU 80 may also control the opening/closing operation of the solenoid valve 34 based on the information on the pressure input from the pressure sensor 32 so that A pressure higher than the current reference output hydraulic pressure value depending on the information on the stroke amount of the brake pedal 30 input from the stroke sensor 51 is output into the auxiliary hydraulic pressure chamber 61 . In this case, even when a failure occurs such that the hydraulic pressure P2 output from the pressure regulating valve 20 becomes lower than a predetermined range at the time of brake operation, it is possible to more surely apply the appropriate braking force to the wheel cylinders. Each of 70a, 70b, 71a, 71b.

Case 2: Insufficient reduction of P2 from output chamber 20f

Hereinafter, how the brake control device 1 is controlled in the case where the hydraulic pressure P2 output from the output chamber 20f decreases insufficiently will be described.

Assume that a malfunction occurs in which, at the time of the brake operation as shown in FIG. 20f on the peripheral wall, thus hindering the movement of the pressure regulating valve spool 20b. In this case, since the movement of the pressure regulating valve spool 20 b is blocked, it is impossible to output an appropriate hydraulic pressure corresponding to the stroke amount of the brake pedal 30 . That is, even if the stroke of the brake pedal 30 is reduced, the return of the pressure regulating valve spool 20b becomes insufficient, so that a sufficient reduction of the hydraulic pressure from the output chamber 20f into the auxiliary hydraulic pressure chamber 61 cannot be obtained. As a result, it is impossible to output the hydraulic pressure P2 at an appropriate pressure corresponding to the stroke amount of the brake pedal 30 .

According to the first embodiment of the present invention, if it is determined that the value of the hydraulic pressure P2 of the self-output chamber 20f becomes higher than the current output reference value by a predetermined value based on the information on the pressure input from the pressure sensor 32, the ECU 80 determines that the self-output chamber The hydraulic pressure P2 output at 20f fails, wherein the current output reference value depends on the information about the stroke amount of the brake pedal 30 input from the stroke sensor 51 .

If, as described above, it is determined that the pressure regulator valve 20 has a failure of insufficient hydraulic pressure reduction, the ECU 80 sends a signal to the solenoid valve 36 to open its valve. At this time, the solenoid valve 34 remains closed. When solenoid valve 36 is opened in response to this signal, high pressure chamber 20d is allowed to communicate with accumulator 10e via hydraulic passage R5, hydraulic passage R7 branching from hydraulic passage R5, low pressure chamber 20e, and hydraulic passage R2. Therefore, part of the hydraulic pressure output from output chamber 20f to hydraulic passage R5 is released into accumulator 10e via hydraulic passage R5, hydraulic passage R7 branching from hydraulic passage R5, low-pressure chamber 20e, and hydraulic passage R2. Therefore, it is possible to reduce the hydraulic pressure in the output chamber 20f.

The ECU 80 controls the opening/closing operation of the solenoid valve 36 so as to output to the auxiliary hydraulic pressure chamber 61 a hydraulic pressure equal to the current reference output hydraulic pressure value depending on the stroke of the brake pedal 30 input from the stroke sensor 51 amount of information. Thus, a part of the hydraulic pressure output from the output chamber 20f to the hydraulic passage R5 is discharged into the accumulator 10e via the hydraulic passage R7 side. Accordingly, it is possible to solve the failure that the hydraulic pressure in the output chamber 20f is insufficiently reduced.

As described above, if the pressure regulating valve 20 fails to reduce the hydraulic pressure insufficiently, the ECU 80 controls the opening/closing operation of the solenoid valve 36 so as to output a pressure equal to the current reference output hydraulic pressure value in the auxiliary hydraulic pressure chamber 61, which is The hydraulic pressure value depends on information on the stroke amount of the brake pedal 30 input from the stroke sensor 51 . Therefore, the failure of insufficient hydraulic pressure reduction can be resolved, and an appropriate hydraulic pressure corresponding to the stroke amount of the brake pedal 30 can be output into the auxiliary hydraulic pressure chamber 61 . Therefore, even when the pressure regulating valve 20 fails to reduce the hydraulic pressure insufficiently during the braking operation, it is possible to ensure that an appropriate braking force is applied to each of the wheel cylinders 70a, 70b, 71a, 71b.

The ECU 80 can also control the opening/closing operation of the electromagnetic valve 36 so as to output to the auxiliary hydraulic pressure chamber 61 a pressure lower than the current reference output hydraulic pressure value which depends on the brake pedal input from the stroke sensor 51 30 stroke volume information. In this case, it is possible to weaken the influence due to the insufficient reduction of the hydraulic pressure in the pressure regulating valve 20 and output the hydraulic pressure corresponding to the stroke amount of the brake pedal 30 into the auxiliary hydraulic pressure chamber 61 .

Second embodiment

Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 3 and 4 .

Mostly similar to the brake control device 1 in the first embodiment, the brake control device 100 mainly includes: a hydraulic pressure source 10; a pressure regulating valve 20; an auxiliary hydraulic chamber 61; a master cylinder 50; wheel brake cylinders 70a, 70b, 71a, 71b; and ECU 80;

Referring to FIG. 3 , the brake control device 100 will be described in detail below.

<part>

In addition to the solenoid valve 34; solenoid valve 32; solenoid proportional valves 31, 33; pressure sensors 40, 41 for detecting each hydraulic pressure in the output chamber 20f and in the auxiliary hydraulic pressure chamber 61, the brake control device according to the second embodiment Each component of 100 is approximately the same as that of brake control device 1 in the first embodiment. Therefore, only these various components will be described in detail. As shown in FIG. 1 , similar parts are considered to be seen in <Parts> of the first embodiment.

First, the electromagnetic valves 34, 32 and the electromagnetic proportional valves 31, 33 will be described.

Normally open electromagnetic valve 32 (also referred to as "second valve", i.e. EV 32 in Fig. 3) and normally open electromagnetic proportional valve 31 (also referred to as "first proportional valve", i.e. EPV31 in Fig. 3) Set on the hydraulic passage R5. A check valve 32a is provided in parallel with the solenoid valve 32 to allow only upstream to downstream flow, and a check valve 31a is also provided in parallel with the solenoid valve 31 to allow only downstream to upstream flow.

On the downstream side of the electromagnetic proportional valve 31, the hydraulic passage R5 is branched from the hydraulic passage R3 leading to the high-pressure chamber 20d. A normally closed solenoid valve 34 (also referred to as "first valve", EV 34 in FIG. 3) is provided on this hydraulic passage R3. In the second embodiment, the two solenoid valves 32, 34 have an automatic braking control function, and hereinafter, the solenoid valves 32, 34 including such an automatic braking control function (described later) are referred to as automatic braking. Control switching valve device.

On the downstream side of the electromagnetic proportional valve 31, the hydraulic passage R7 is branched from the hydraulic passage R5 leading to the low-pressure chamber 20e. A normally closed electromagnetic proportional valve 33 (also called "second proportional valve", EPV 33 in FIG. 3 ) is provided on this hydraulic passage R7. In the second embodiment, the two electromagnetic proportional valves 31, 33 have a regenerative cooperative braking control function (described later), and hereinafter, the valves 31, 33 including such a regenerative cooperative braking control function are referred to as Regeneration cooperative control switching valve device. Note: The solenoid proportional valves 31, 33 can also be used as solenoid valves by providing duty control thereon.

The pressure sensors 40, 41 for detecting the pressures in the output chamber 20f and in the auxiliary hydraulic pressure chamber 61, respectively, will be described below.

The pressure sensor 40 (also referred to as "first output hydraulic pressure value detecting means") and the pressure sensor 41 (also referred to as "second hydraulic pressure value detecting means") are constructed so that: the pressure sensor 40 detects the hydraulic pressure P2 in the output chamber 20f, And the pressure sensor 41 detects the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 . Each of the pressure sensors 40, 41 outputs its detection value to the ECU 80.

The stroke sensor 51 detects the stroke amount of the brake pedal 30 and outputs the detected value to the ECU 80 .

The ECU 80 not only has conventional functions such as sending a drive command to the DC motor 10c, but also functions as a reference pressure determination section 80a, a failure determination section 80b, and a control section 80c. The functions of these sections 80a to 80c will be described later.

<General Operation of Brake Control Device 100>

Since the general operation of the brake control device 100 in the second embodiment is the same as that of the first embodiment, its description will be omitted in this embodiment (see <Brake control device 1 in the first embodiment General operation>)

<Trouble with the pressure regulating valve 20>

Case 1: Drop of P2 from output chamber 20f

How the brake control device 100 is controlled in the case where the hydraulic pressure P2 output from the output chamber 20f drops due to, for example, clogging in the pressure regulating valve 20 will be described below.

In order to solve the drop of the hydraulic pressure P2 output from the output chamber 20f due to the above reasons, the ECU 80 controls the solenoid valve 32 to close and controls the solenoid valve 34 to open. This control causes the hydraulic pressure P1 in the high pressure chamber 20d to be supplied from the solenoid valve 34 into the auxiliary hydraulic pressure chamber 61 via the hydraulic pressure passages R3 and R5. To maintain this increased hydraulic pressure P3, the solenoid valves 32 and 34 can be controlled closed.

Case 2: The reduction of the hydraulic pressure P2 from the output chamber 20f is insufficient

Hereinafter, how the brake control device 100 is controlled when the hydraulic pressure P2 output from the output chamber 20f is insufficiently reduced will be described. This failure occurs because, for example, the spring 20c is accidentally caught on the peripheral wall of the output chamber 20f, preventing the smooth movement of the pressure regulating valve spool 20b.

In order to solve the insufficient reduction of the hydraulic pressure P3 in the auxiliary hydraulic chamber 61 due to the above reasons, the ECU 80 controls the solenoid valve 32 to open and controls the solenoid valve 34 to close.

This control causes the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 to be introduced into the output chamber 20f via the solenoid valve 32, and then to the low pressure chamber 20e side through the discharge valve 20h, thereby reducing the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61.

If the brake pedal 30 is depressed during the automatic brake control operation, the hydraulic pressure P2 output from the pressure regulating valve 20 exceeds the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 of the automatic brake control operation, so that additional pressure is connected in parallel with the solenoid valve 32 The check valve 32a is applied to the hydraulic pressure P3.

<Regeneration cooperation control function>

Hereinafter, the regeneration-related control function by using the electromagnetic proportional valves 31, 33 will be described.

During operation of the regenerative cooperative control function, the ECU 80 provides the following control in order to distribute the required braking force caused by the stroke of the brake pedal 30 into, for example, regenerative braking force and friction (hydraulic) braking force in an electric vehicle.

In this function, for example, the ECU 80 controls the solenoid proportional valve 31 to close and controls the solenoid proportional valve 33 to open so that the hydraulic pressure P3 in the hydraulic chamber 61 is discharged into the low pressure chamber 20e side via the solenoid proportional valve 33. Accordingly, the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is reduced, thereby making it possible to adjust the distribution of the friction braking force corresponding to the ratio of the regenerative braking force at a desired ratio.

Note: If regenerative braking control is performed at the initial stage of depressing the brake pedal 30, the hydraulic pressure flowing from the output chamber 20f into the auxiliary hydraulic pressure chamber 61 can be cut off or reduced by controlling the electromagnetic proportional valve 31. This means that if the stroke amount of the brake pedal 30 is reduced during the regenerative braking control operation, and during the regenerative braking control operation, the hydraulic pressure P2 output from the pressure regulating valve 20 becomes smaller than the hydraulic pressure of the auxiliary hydraulic pressure chamber 61 P3, the hydraulic pressure P3 decreases through the check valve 31a provided in parallel with the electromagnetic proportional valve 31 .

Hereinafter, typical performance of the ECU 80 of the brake control device 100 will be described.

FIG. 4 shows a series of processing steps of the ECU 80. Next, the case where appropriate detection values are input from the pressure sensors 40, 41 and the stroke sensor 51 to the ECU 80 will be described.

More specifically, the ECU 80 receives the detected value of the hydraulic pressure P2 in the output chamber 20f and the detected value of the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61. The ECU 80 also receives a detected value indicating the stroke amount of the brake pedal 30 as the operation amount of the brake pedal 30.

Then, based on the detection value of the stroke sensor 51, the reference pressure determination section 80a of the ECU 80 determines the reference pressure value. In the case where the hydraulic pressure source 10 operates normally and a suitable hydraulic pressure is accumulated in the accumulator 10a, this determination depends on the relationship between the predetermined detection value and the hydraulic pressure from the output chamber 20f.

In this case, the failure determination section 80b of the ECU 80 determines whether only the hydraulic pressure P3 is too large (S1). Here, "only the hydraulic pressure P3 is too large" means: the hydraulic pressure P2 is approximately equal to the reference pressure, and the hydraulic pressure P3 is greater than these two values.

The judgment as to whether "P2 and the reference pressure are approximately equal" or "P3 is greater than them" can be made using a threshold. For example, if the difference between the hydraulic pressure P2 and the reference pressure is smaller than the threshold value, it is determined that "P2 and the reference pressure are approximately equal". If both the difference between P2 and P3, and the difference between the reference pressure and P3 are equal to or greater than the threshold value, it is determined that "P3 is greater than these two values".

If the determination is "only P3 is too large" ("YES" at S1), the fault determination section 80b determines that the fault is a leakage of the solenoid valve 34 or a blockage in the solenoid valve 32 (S2), and then proceeds to S3.

At S3, by controlling the electromagnetic proportional valve 33, the control portion 80c of the ECU 80 performs the FS operation to decrease the hydraulic pressure P3. Note: FS is short for "fail safe". More precisely, the electromagnetic proportional valve 33 is controlled to open. Therefore, the working fluid in the auxiliary hydraulic chamber 61 is discharged into the accumulator 20e via the electromagnetic proportional valve 33, the low pressure chamber 20e, so that the hydraulic pressure P3 in the auxiliary hydraulic chamber 61 is reduced.

Otherwise, at S1, if the ECU 80 determines that not only P3 is too large ("No" at S1), the failure determination section 80b determines whether only P3 is too small based on the relationship between P2, P3 and the reference pressure described above. Here "only P3 is too small" means that the hydraulic pressure P2 is approximately the same as the reference pressure, and the hydraulic pressure P3 is smaller than these two values.

The determination as to whether "P2 and the reference pressure are approximately equal" is the same as at S1, and the determination as to whether "P3 is smaller than them" can be determined using a threshold value. For example, if the difference between P2 and P3, and the difference between the reference pressure and P3 are both less than the threshold, it belongs to "P3 is less than these two values".

If it is determined that "only P3 is too small" (YES at S4), the failure determination section 80b determines that the failure is a leakage of the electromagnetic proportional valve 33 or a blockage in the electromagnetic proportional valve 31 (S5), and then proceeds to S6.

At S6, by controlling the solenoid valve 34, the failure determination portion 80b performs the FS action to apply additional pressure to the hydraulic pressure P3. Specifically, the solenoid valve 34 is controlled to be opened so that the working fluid in the high pressure chamber 20 d is supplied into the auxiliary hydraulic chamber 61 via the solenoid valve 34 to be applied with additional pressure to the hydraulic pressure P3 in the auxiliary hydraulic chamber 61 .

Otherwise, for the judgment of S4, if the judgment is not that only P3 is too small ("No" in S4), then the fault determination part 80b continues to S11, so as to determine whether only the reference pressure is too large according to the relationship between the above-mentioned three, that is, , only the stroke of the brake pedal 30 is too large. Here "only the reference pressure is too high" means that P2 and P3 are approximately equal, and the reference pressure is greater than these two values. In this case, this judgment is made by using a threshold.

If the determination is "only the stroke of the brake pedal 30 is too large" ("YES" at S7), the failure determination section 80b proceeds to S8 to determine whether P2 and P3 are in a state where they do not rise. If the fault determination section 80b judges that they do not rise (YES at S8), it proceeds to S9.

At S9, the failure determination section 80b determines that the failure is clogging in the supply valve 20g, and then proceeds to S10.

At S10, by controlling the solenoid valve 34, the control portion 80c performs the FS action to apply additional pressure to the hydraulic pressure P3. Specifically, the solenoid valve 34 is controlled to be opened so that the working fluid in the high pressure chamber 20 d is supplied into the auxiliary hydraulic pressure chamber 61 through the solenoid valve 34 . Therefore, further pressure is applied to the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 .

On the other hand, for the determination of S7, if it is determined that only the stroke of the brake pedal 30 is too large ("No" in S7), the failure determination part 80b proceeds to S11 to determine whether only the brake pedal The stroke of moving pedal 30 is too small. Here, "it's not just that the stroke of the brake pedal 30 is too small" means that P2 and P3 are approximately equal, and the reference pressure is smaller than these two values. In this case, this judgment is made by using a threshold.

If the determination is "only the stroke of the brake pedal 30 is too small" (YES at S11), the failure determination section 80b proceeds to S12, and determines whether there is a stroke (decreasing change). At this step, if the detection value about the stroke sensor 51 is not "0", the failure determination section 80b determines that there is a stroke.

If the determination is "there is a stroke" (YES at S12), the failure determination section 80b proceeds to S13, and determines that the failure is clogging in the discharge valve 20h, and then proceeds to S14.

At S14, by controlling the electromagnetic proportional valve 33 to open, the failure determination section 80b of the ECU 80 performs the FS action to reduce the hydraulic pressure P3. Therefore, the working fluid in the auxiliary hydraulic chamber 61 is discharged to the low-pressure chamber 20e side via the solenoid valve 33, so that the hydraulic pressure P3 in the auxiliary hydraulic chamber 61 is reduced.

For example, if the determination is "only P2 is too large" based on the above-mentioned correlation of the three, the failure determining section 80b determines that the pressure sensor 40 is malfunctioning.

As described above, the ECU 80 diagnoses the possibility that there is a malfunction in the pressure regulating valve 20 such as the supply valve 20g, the solenoid valves 32, 34, or the solenoid proportional valves 31, 33, and performs an appropriate operation for the malfunction by providing the FS action according to the diagnosis result. .

Note: the present invention is not limited to the specific embodiments described above, and various modifications can be made to the structure of the brake control device according to the embodiments of the present invention without departing from the scope and spirit of the present invention defined in the claims . For example, although the above description shows an example in which master cylinder 50 is disposed, hydraulic pressure P2 may be directly applied to each of wheel cylinders 70a, 70b, 71a, 71b without using master cylinder 50.

A sensor for detecting the pedal force on the brake pedal 30 may be provided together with the stroke sensor 51 .

When a failure is determined at S2, S5, S9 or S13, the failure determination section 80b may also output the result to a remote display device (not shown in the figure). This allows the driver to check the possibility of a failure of the boost function, etc. The stroke sensor 51 may have a dual function to perform self-diagnosis to determine its "normal" or "abnormal". In this case, S8 and S12 can be ignored.

The automatic brake control function can increase the hydraulic pressure P3 on the wheel cylinder side (auxiliary hydraulic pressure chamber 61 ) by applying additional pressure to the hydraulic pressure P2 output from the hydraulic pressure control valve 20 . Therefore, this function can be used for control to increase the pressure multiplication ratio normally fixed by the structure of the pressure regulating valve 20 , or for brake assist control when the brake pedal 30 is depressed urgently.

The brake control devices according to the embodiments of the present invention have been described as examples in which they are configured on vehicles, but they may also be applied to other moving objects such as airplanes.

In the event of a failure of the pressure regulator valve, the present invention provides accurate diagnosis of the failure condition in order to perform appropriate action on the failure. Therefore, even if the output hydraulic pressure from the pressure regulating valve becomes lower than a predetermined range at the time of the brake operation, or even if the output hydraulic pressure from the pressure regulating valve cannot be sufficiently reduced, the hydraulic pressure corresponding to the stroke amount of the brake pedal can be output. Suitable for output hydraulic pressure.

Claims (17)

1. braking force control system comprises:

The hydraulic pressure generation device, this hydraulic pressure generation device comprises: the pump that is used for extracting from reservoir working fluid; With the accumulator that is used to put aside the described working fluid that extracts by described pump;

Pressure-modulation valve, described pressure-modulation valve are used for the hydraulic pressure that path increment is regulated and output provides from described accumulator corresponding to the brake operating parts; With

By output hydraulically operated apply device from pressure-modulation valve output;

Usually close and be arranged on the valve on the hydraulic path, described hydraulic path allows the accumulator side to be communicated with described apply device through the hydraulic pressure input side of described pressure-modulation valve;

The hydraulic pressure value detection device, described hydraulic pressure value detection device is used for detecting the value that is fed to the hydraulic pressure of described pressure-modulation valve from described accumulator;

Output hydraulic pressure value detection device, described output hydraulic pressure value detection device is used for detecting the value that outputs to the described output hydraulic pressure of described apply device from the hydraulic pressure outgoing side of described pressure-modulation valve;

Be used to detect the path increment detecting device of the path increment of described brake operating parts; With

Control setup, described control setup are used for controlling described opening of valves and closing according to each value from described hydraulic pressure value detection device, described output hydraulic pressure value detection device and the detection of described path increment detecting device,

Wherein: when definite described pressure-modulation valve has broken down, the described opening of valves that described control setup control is closed usually, so that will output in the described apply device through the described hydraulic pressure input side of described pressure-modulation valve from the hydraulic pressure of described accumulator side output

Wherein: if determine following situation, described control setup determines that described fault appears in described pressure-modulation valve:

Based on the information of relevant detected value from the input of described hydraulic pressure value detection device, be fit to described hydraulic pressure in the scope is outputed to described pressure-modulation valve from described accumulator described hydraulic pressure input side;

Information based on relevant detected value from the input of described output hydraulic pressure value detection device, when utilizing the brake operating of described brake operating parts, be lower than reference delivery pressure according to the information of the described path increment of relevant described brake operating from described path increment detecting device input from the value of the described output hydraulic pressure of the described hydraulic pressure outgoing side output of described pressure-modulation valve; With

The value of described output hydraulic pressure and described with reference to the difference between the delivery pressure greater than predetermined value.

2. braking force control system according to claim 1, wherein: described control setup is controlled described opening of valves and is closed, when determining that with box lunch described pressure-modulation valve breaks down, will output in the described apply device with the described hydraulic pressure that equates with reference to the value of delivery pressure.

3. braking force control system according to claim 1, wherein: described control setup is controlled described opening of valves and is closed, when determining that with box lunch described pressure-modulation valve breaks down, will output in the described apply device with reference to the high hydraulic pressure of the value of delivery pressure than described.

4. braking force control system comprises:

The hydraulic pressure generation device, this hydraulic pressure generation device comprises: the pump that is used for extracting from reservoir working fluid; With the accumulator that is used to put aside the described working fluid that extracts by described pump;

Pressure-modulation valve, described pressure-modulation valve is corresponding to the hydraulic pressure that path increment is regulated and output provides from described accumulator of brake operating parts; With

By output hydraulically operated apply device from pressure-modulation valve output;

Valve, described valve are closed usually and are arranged on the hydraulic path, and the hydraulic path that this hydraulic path makes described reservoir and the hydraulic pressure outgoing side that makes described pressure-modulation valve be communicated with described apply device is communicated with;

The hydraulic pressure value detection device, described hydraulic pressure value detection device is used to detect the value that is fed to the hydraulic pressure of described pressure-modulation valve from described accumulator;

Output hydraulic pressure value detection device, described output hydraulic pressure value detection device is used for detecting the value that outputs to the described output hydraulic pressure of described apply device from the hydraulic pressure outgoing side of described pressure-modulation valve;

Be used to detect the path increment detecting device of the path increment of described brake operating parts; With

Control setup, described control setup are used for according to the information about each value of detecting from described hydraulic pressure value detection device, described output hydraulic pressure value detection device and described path increment detecting device, and control described opening of valves and close,

Wherein: when definite described pressure-modulation valve has broken down, the described opening of valves that described control setup control is closed usually, so that through described valve described hydraulic path disposed thereon, to output to the described reservoir from the part of the described output hydraulic pressure of the described hydraulic pressure input side output of described pressure-modulation valve

Wherein: if determine following situation, described control setup determines that described fault appears in described pressure-modulation valve:

Based on the information of relevant detected value from the input of described hydraulic pressure value detection device, be fit to described hydraulic pressure in the scope outputs to described pressure-modulation valve from described accumulator described hydraulic pressure input side;

Information based on relevant detected value from the input of described output hydraulic pressure value detection device, when utilizing the brake operating of described brake operating parts, be higher than reference delivery pressure according to the information of the described path increment of relevant described brake operating from described path increment detecting device input from the value of the described output hydraulic pressure of the described hydraulic pressure outgoing side output of described pressure-modulation valve; With

The value of described output hydraulic pressure and described with reference to the difference between the delivery pressure greater than predetermined value.

5. braking force control system according to claim 4, wherein: described control setup is controlled described opening of valves and is closed, when determining that with box lunch described pressure-modulation valve breaks down, will output in the described apply device with the described hydraulic pressure that equates with reference to the value of delivery pressure.

6. braking force control system according to claim 4, wherein: described control setup is controlled described opening of valves and is closed, when determining that with box lunch described pressure-modulation valve breaks down, will output in the described apply device with reference to the high hydraulic pressure of the value of delivery pressure than described.

7. braking force control system comprises:

The hydraulic pressure generation device, this hydraulic pressure generation device comprises: the pump that is used for extracting from reservoir working fluid; With the accumulator that is used to put aside the described working fluid that extracts by described pump;

Pressure-modulation valve, described pressure-modulation valve is regulated the hydraulic pressure that provides from described accumulator corresponding to the path increment of brake operating parts; With

By output hydraulically operated apply device from pressure-modulation valve output;

Autobrake control selector valve device, described autobrake control selector valve device can switch to current state wherein said apply device at least and be communicated with described pressure-modulation valve, and from the state of described accumulator cut-out; And current state can be switched to wherein said apply device and be communicated with, and the state that cuts off from described pressure-modulation valve with described accumulator;

The hydraulic pressure value detection device, described hydraulic pressure value detection device is used for detecting the value that is fed to the hydraulic pressure of described pressure-modulation valve from described accumulator;

The first output hydraulic pressure value detection device, the described first output hydraulic pressure value detection device is used to detect the value of the described output hydraulic pressure of exporting from the described hydraulic pressure outgoing side of described pressure-modulation valve;

The second output hydraulic pressure value detection device, the described second output hydraulic pressure value detection device is used for the value of the hydraulic pressure of the described apply device of detecting operation;

Be used to detect the path increment detecting device of the path increment of described brake operating parts; With

Control setup, described control setup comprises:

Reference pressure deciding section, described reference pressure deciding section are used for according to the path increment by described path increment detecting device detection, decision predetermined reference delivery pressure; With

The fault determining section, described fault determining section is used for determining fault according to the detected value of the described first output hydraulic pressure value detection device, the detected value of the second output hydraulic pressure value detection device and the described interrelation with reference to delivery pressure that is determined by described reference pressure deciding section.

8. braking force control system according to claim 7, wherein: braking force control system also comprises: regenerative cooperative control selector valve device, described regenerative cooperative control selector valve device can switch to current state wherein said apply device at least and be communicated with described pressure-modulation valve, and from the open circuited state of described reservoir; And current state can be switched to wherein said apply device and be communicated with, and the state that cuts off from described pressure-modulation valve with described reservoir.

9. braking force control system according to claim 8,

If wherein determine following situation, described fault determining section is determined described fault:

The described detected value of the described first output hydraulic pressure value detection device described approximately equal with by described reference pressure deciding section decision with reference to delivery pressure; With

The described detected value of the described second output hydraulic pressure value detection device is greater than the described detected value of the described first output hydraulic pressure value detection device and the described reference pressure that is determined by described reference pressure deciding section; With

Wherein: described control setup also comprises control part, and described control part is used for when described fault is determined, and controls described regenerative cooperative control selector valve device, so that reduce to operate the described hydraulic pressure of described apply device.

10. braking force control system according to claim 8,

If wherein determine following situation, described fault determining section is determined described fault:

The described detected value of the described first output hydraulic pressure value detection device described approximately equal with by described reference pressure deciding section decision with reference to delivery pressure; With

The described detected value of the described second output hydraulic pressure value detection device is less than the described detected value of the described first output hydraulic pressure value detection device and the described reference pressure that is determined by described reference pressure deciding section; With

Wherein: described control setup also comprises control part, and described control part is used for when described fault is determined, and controls described autobrake control selector valve device, so that increase the described hydraulic pressure of the described apply device of operation.

11. according to claim 7 or 8 described braking force control systems,

If wherein determine following situation, described fault determining section is determined described fault:

The described detected value of the described detected value of the described first output hydraulic pressure value detection device and the described second output hydraulic pressure value detection device is approximately equal;

The described described detected value of exporting the hydraulic pressure value detection device with reference to delivery pressure greater than the described detected value and described second of the described first output hydraulic pressure value detection device by described reference pressure deciding section decision; With

Each detected value of described first output hydraulic pressure value detection device and the described second output hydraulic pressure value detection device is in the state that does not rise; With

Wherein: described control setup also comprises control part, and described control part is used for when described fault is determined, and controls described autobrake control selector valve device, so that increase the hydraulic pressure of the described apply device of operation.

12. braking force control system according to claim 8,

If wherein determine following situation, described fault determining section is determined described fault:

The described detected value of the described detected value of the described first output hydraulic pressure value detection device and the described second output hydraulic pressure value detection device is approximately equal, and exports the described detected value of hydraulic pressure value detection device and the described detected value of described second output hydraulic pressure value detection device with reference to delivery pressure less than described first by the described of described reference pressure deciding section decision; With

The detected value of described path increment detecting device diminish and

Wherein: described control setup also comprises control part, and described control part is used for when described fault is determined, and controls described regenerative cooperative control selector valve device, so that reduce to operate the hydraulic pressure of described apply device.

13. braking force control system according to claim 7,

Wherein: described autobrake control selector valve device comprises: first valve, described first valve can switch to current state wherein said apply device and be communicated with described pressure-modulation valve, and from the state of described accumulator cut-out; With second valve, described second valve can switch to current state wherein said apply device and be communicated with described accumulator, and the state that cuts off from described pressure-modulation valve.

14. braking force control system according to claim 8,

Wherein: described regenerative cooperative control selector valve device comprises: first apportioning valve, described first apportioning valve can switch to current state wherein said apply device and be communicated with described pressure-modulation valve, and from the open circuited state of described reservoir; With second apportioning valve, described second apportioning valve can switch to current state wherein said apply device and be communicated with described reservoir, and the state that cuts off from described pressure-modulation valve.

15. a braking force control system comprises:

The hydraulic pressure generation device, this hydraulic pressure generation device comprises: the pump that is used for extracting from reservoir working fluid; With the accumulator that is used to put aside the described working fluid that extracts by described pump;

Pressure-modulation valve, described pressure-modulation valve is regulated the hydraulic pressure that provides from described accumulator corresponding to the path increment of brake operating parts; With

By output hydraulically operated apply device from pressure-modulation valve output;

Regenerative cooperative control selector valve device, described regenerative cooperative control selector valve device can switch to current state wherein said apply device at least and be communicated with described pressure-modulation valve, and from the open circuited state of described reservoir; And current state can be switched to wherein said apply device and be communicated with, and the state that cuts off from described pressure-modulation valve with described reservoir;

The hydraulic pressure value detection device, described hydraulic pressure value detection device is used for detecting the value that is fed to the hydraulic pressure of described pressure-modulation valve from described accumulator;

The first output hydraulic pressure value detection device, the described first output hydraulic pressure value detection device is used to detect the output hydraulic pressure from the described hydraulic pressure outgoing side output of described pressure-modulation valve;

The second output hydraulic pressure value detection device, the described second output hydraulic pressure value detection device is used for the value of the hydraulic pressure of the described apply device of detecting operation;

Be used to detect the path increment detecting device of the path increment of described brake operating parts; With

Control setup, described control setup comprises:

Reference pressure deciding section, described reference pressure deciding section are used for according to the path increment by described path increment detecting device detection, decision predetermined reference delivery pressure; With

The fault determining section, described fault determining section is used for determining fault according to the detected value of the described first output hydraulic pressure value detection device, the detected value of the second output hydraulic pressure value detection device and the described interrelation with reference to delivery pressure that is determined by described reference pressure deciding section.

16. braking force control system according to claim 15,

If wherein determine following situation, described fault determining section is determined described fault:

The described detected value of the described detected value of the described first output hydraulic pressure value detection device and the described second output hydraulic pressure value detection device is approximately equal, and exports the described detected value of hydraulic pressure value detection device and the described detected value of described second output hydraulic pressure value detection device with reference to delivery pressure less than described first by the described of described reference pressure deciding section decision; With

The detected value of described path increment detecting device diminish and

Wherein: described control setup also comprises control part, and described control part is used for when described fault is determined, and controls described regenerative cooperative control selector valve device, so that reduce to operate the hydraulic pressure of described apply device.

17. braking force control system according to claim 15,

Wherein: described regenerative cooperative control selector valve device comprises: first apportioning valve, described first apportioning valve can switch to current state wherein said apply device and be communicated with described pressure-modulation valve, and from the open circuited state of described reservoir; With second apportioning valve, described second apportioning valve can switch to current state wherein said apply device and be communicated with described reservoir, and the state that cuts off from described pressure-modulation valve.

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