CN100418818C - brake control device - Google Patents
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- CN100418818C CN100418818C CNB200610051579XA CN200610051579A CN100418818C CN 100418818 C CN100418818 C CN 100418818C CN B200610051579X A CNB200610051579X A CN B200610051579XA CN 200610051579 A CN200610051579 A CN 200610051579A CN 100418818 C CN100418818 C CN 100418818C
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Abstract
Description
技术领域 technical field
本发明涉及一种制动控制装置;更具体地说,本发明涉及一种用于控制液压制动的制动控制装置。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.
背景技术 Background technique
如JP-A-2002-264795中公开的传统液压制动装置,传统液压制动装置包括:用于积蓄工作流体压力的液压源;用于对应于制动踏板上的推力调节和输出从液压源供应的液压的压力调节阀;主缸,所述主缸由从压力调节阀供应到辅助液压室中的液压操作,从而根据辅助液压室的液压产生和输出液压;和车轮制动缸,所述车轮制动缸由来自主缸的液压输出操作,从而将制动力施加到车辆的车轮上。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.
因此,利用制动踏板上很小的脚力,由压力调节阀调节的液压能够提供很大的制动力。在传统的液压制动中,当执行再生协作控制时,使用再生协作控制切换阀,而车轮制动缸与压力调节阀或与储蓄器连通,以便以适合的压力调节车轮制动缸中的液压。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 .
然而,在如JP-A-2002-264795中公开的液压制动装置中,如果出现异物阻塞在压力调节阀的输出侧的液压通路中的这种故障,当执行制动动作时,从压力调节阀输出到辅助液压室的液压会减小到预定范围以下。这防碍了液压对应于踏板行程量的输出。因此,足够的液压不能从压力调节阀输出到主缸侧。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.
还可能出现另一故障:由于弹簧被卡在输出液压室的周围表面上,即使在松开踏板后,通过致动制动踏板抵抗弹簧力推入输出液压室中的阀芯也不会完全返回。这防止了对应于制动踏板行程量提供输出液压。因此,无法提供被输出到主缸侧的适当减小的输出液压。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.
因此,为了克服上述缺点,当在压力调节阀等处出现故障时,需要精确检测故障及诊断其情况以提供克服它的适当动作。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.
发明内容 Contents of the invention
考虑到上述缺点,本发明的目的是提供一种制动控制装置,即使在压力调节阀或切换阀出现故障时,所述制动控制装置也能够对压力调节阀或切换阀的故障情况执行精确诊断,以便对应于制动踏板行程量输出适合的输出液压。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.
根据本发明的第一方面,制动控制装置包括:According to a first aspect of the present invention, the brake control device includes:
液压产生装置,该液压产生装置包括:用于从储蓄器(reservoir)抽取工作流体的泵;和用于积蓄由所述泵抽取的所述工作流体的积蓄器;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;
压力调节阀,所述压力调节阀用于对应于制动操作部件的行程量调节和输出从所述积蓄器提供的液压;和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
由自压力调节阀输出的输出液压操作的液压操作装置;A hydraulically operated device operated by output hydraulic pressure from a pressure regulating valve;
通常关闭且设置在液压通路上的阀,所述液压通路允许积蓄器侧经所述压力调节阀的液压输入侧与所述液压操作装置连通;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;
液压值检测装置,所述液压值检测装置用于检测自所述积蓄器供应到所述压力调节阀中的液压值;hydraulic pressure value detection means for detecting a hydraulic pressure value supplied from the accumulator into the pressure regulating valve;
输出液压值检测装置,所述输出液压值检测装置用于检测从所述压力调节阀的液压输出侧输出到所述液压操作装置中的所述输出液压的值;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;
用于检测所述制动操作部件的行程量的行程量检测装置;和stroke amount detection means for detecting a stroke amount of the brake operating member; and
控制装置,所述控制装置用于根据自所述液压值检测装置、所述输出液压值检测装置和所述行程量检测装置检测的每个值,控制所述阀的开启和关闭,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,
其中:当确定所述压力调节阀已出现故障时,所述控制装置控制通常关闭的所述阀开启,以便将自所述积蓄器侧输出的液压经所述压力调节阀的所述液压输入侧输出到所述液压操作装置中,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,
其中:如果确定如下情况,所述控制装置确定所述压力调节阀出现所述故障:Wherein: if the following conditions are determined, the control device determines that the failure occurs in the pressure regulating valve:
基于有关从所述液压值检测装置输入的检测值的信息,适合范围内的所述液压从所述积蓄器输出到所述压力调节阀的所述液压输入侧;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;
基于有关从所述输出液压值检测装置输入的检测值的信息,在利用所述制动操作部件的制动操作时,从所述压力调节阀的所述液压输出侧输出的所述输出液压的值低于根据有关从所述行程量检测装置输入的所述制动操作的所述行程量的信息的参考输出压力;和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
所述输出液压的值与所述参考输出压力之间的差大于预定值。A difference between the value of the output hydraulic pressure and the reference output pressure is greater than a predetermined value.
根据本发明的第一方面的制动控制装置还包括:阀,所述阀通常关闭且设置在使所述储蓄器与使所述压力调节阀的液压输出侧与所述液压操作装置连通的液压通路连通的液压通路上;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;
其中:当确定所述压力调节阀已出现故障时,所述控制装置控制通常关闭的所述阀以开启,以便经所述阀设置在其上的所述液压通路,将从所述压力调节阀的所述液压输入侧输出的所述输出液压的一部分输出到所述储蓄器中,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,
其中:如果确定如下情况,所述控制装置确定所述压力调节阀出现故障:Wherein: if the following conditions are determined, the control device determines that the pressure regulating valve is out of order:
基于有关从所述液压值检测装置输入的检测值的信息,适合范围内的所述液压从所述积蓄器输出到所述压力调节阀的所述液压输入侧;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;
基于有关从所述输出液压值检测装置输入的检测值的信息,在利用所述制动操作部件的制动操作时,从所述压力调节阀的所述液压输出侧输出的所述输出液压的值高于根据有关从所述行程量检测装置输入的所述制动操作的所述行程量的信息的参考输出压力;和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
所述输出液压的值与所述参考输出压力之间的差高于预定值。A difference between the value of the output hydraulic pressure and the reference output pressure is higher than a predetermined value.
根据本发明的第二方面,一种制动控制装置,包括:According to a second aspect of the present invention, a brake control device includes:
液压产生装置,该液压产生装置包括:用于从储蓄器抽取工作流体的泵;和用于积蓄由所述泵抽取的所述工作流体的积蓄器;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;
压力调节阀,所述压力调节阀对应于制动操作部件的行程量调节从所述积蓄器提供的液压;和a pressure regulating valve that regulates hydraulic pressure supplied from the accumulator corresponding to a stroke amount of the brake operating member; and
由从压力调节阀输出的输出液压操作的液压操作装置;Hydraulically operated devices operated by output hydraulic pressure from pressure regulating valves;
自动制动控制切换阀装置,所述自动制动控制切换阀装置至少能够将当前状态切换到其中所述液压操作装置与所述压力调节阀连通,并从所述积蓄器切断的状态;并能够将当前状态切换到其中所述液压操作装置与所述积蓄器连通,并从所述压力调节阀切断的状态;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;
液压值检测装置,所述液压值检测装置用于检测从所述积蓄器供应到所述压力调节阀中的液压的值;hydraulic pressure value detection means for detecting a value of hydraulic pressure supplied from the accumulator into the pressure regulating valve;
第一输出液压值检测装置,所述第一输出液压值检测装置用于检测自所述压力调节阀的所述液压输出侧输出的所述输出液压的值;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;
第二输出液压值检测装置,所述第二输出液压值检测装置用于检测操作所述液压操作装置的液压的值;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;
用于检测所述制动操作部件的行程量的行程量检测装置;和stroke amount detection means for detecting a stroke amount of the brake operating member; and
控制装置,所述控制装置包括:A control device, the control device comprising:
参考压力决定部分,所述参考压力决定部分用于根据由所述行程量检测装置检测的行程量,决定预定参考输出压力;和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
故障确定部分,根据所述第一输出液压值检测装置的检测值、第二输出液压值检测装置的检测值和由所述参考压力决定部分决定的所述参考输出压力的相互关系,所述故障确定部分确定故障。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.
根据本发明的第二方面的制动控制装置还包括:再生协作控制切换阀装置,所述再生协作控制切换阀装置至少能够将当前状态切换到其中所述液压操作装置与所述压力调节阀连通,并从所述储蓄器断开的状态;并能够将当前状态切换到其中所述液压操作装置与所述储蓄器连通,并从所述压力调节阀切断的状态。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.
如果确定如下情况,所述故障确定部分确定所述故障:The failure determination section determines the failure if it is determined that:
所述第一输出液压值检测装置的所述检测值与由所述参考压力决定部分决定的所述参考输出压力近似相等;和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
所述第二输出液压值检测装置的所述检测值大于所述第一输出液压值检测装置的所述检测值和由所述参考压力决定部分决定的所述参考输出压力;和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
其中:所述控制装置还包括控制部分,当所述故障被确定时,所述控制部分控制所述再生协作控制切换阀装置,以便减小操作所述液压操作装置的所述液压。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.
如果确定如下情况,所述故障确定部分也确定所述故障:The failure determination section also determines the failure if it is determined that:
所述第一输出液压值检测装置的所述检测值与由所述参考压力决定部分决定的所述参考输出压力近似相等;和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
所述第二输出液压值检测装置的所述检测值小于所述第一输出液压值检测装置的所述检测值和由所述参考压力决定部分决定的所述参考输出压力;和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
其中:当所述故障被确定时,所述控制部分控制所述自动制动控制切换阀装置,以便增加操作所述液压操作装置的所述液压。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.
如果确定如下情况,所述故障确定部分也确定所述故障:The failure determination section also determines the failure if it is determined that:
所述第一输出液压值检测装置的所述检测值和所述第二输出液压值检测装置的所述检测值近似相等;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;
由所述参考压力决定部分决定的所述参考输出压力大于所述第一输出液压值检测装置的所述检测值和所述第二输出液压值检测装置的所述检测值;和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
所述第一输出液压值检测装置和所述第二输出液压值检测装置的每个检测值处于不增加的状态中;和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
其中:当所述故障被确定时,所述控制部分控制所述自动制动控制切换阀装置,以便增加操作所述液压操作装置的所述液压。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.
如果确定如下情况,所述故障确定部分也确定所述故障:The failure determination section also determines the failure if it is determined that:
所述第一输出液压值检测装置的所述检测值和所述第二输出液压值检测装置的所述检测值近似相等;和由所述参考压力决定部分决定的所述参考输出压力小于所述第一输出液压值检测装置的所述检测值和所述第二输出液压值检测装置的所述检测值;和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
所述行程量检测装置的检测值变小,和the detected value of the stroke amount detecting means becomes smaller, and
其中:当所述故障被确定时,所述控制部分控制所述再生协作控制切换阀装置,以便减小操作所述液压操作装置的所述液压。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.
附图说明 Description of drawings
图1是根据本发明的第一实施例的制动控制装置的框图;1 is a block diagram of a brake control device according to a first embodiment of the present invention;
图2是显示当制动踏板被致动时,根据本发明的第一实施例的制动控制装置的框图;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;
图3是根据本发明的第二实施例的制动控制装置的框图;3 is a block diagram of a brake control device according to a second embodiment of the present invention;
图4是说明图3所示的ECU执行的处理的步骤的流程图。FIG. 4 is a flowchart illustrating the procedure of processing executed by the ECU shown in FIG. 3 .
具体实施方式 Detailed ways
以下将参照图1到4描述本发明的实施例。Embodiments of the present invention will be described below with reference to FIGS. 1 to 4 .
图1到图3是显示根据本发明的实施例的制动控制装置的框图。每张图都显示了每个制动控制装置的略图,包括机动车辆配置的液压助力器的剖视图。注意:与第一实施例的部件相同的第二实施例的部件由第一实施例的相同标号指示。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.
(第一实施例)(first embodiment)
制动控制装置1主要包括:液压源10;压力调节阀20;辅助液压室61;主缸50;车轮制动缸70a,70b,71a,71b;和ECU(电子控制单元)80。
参照图1,以下将对制动控制装置1的每个部件进行详细描述。Referring to FIG. 1 , each component of the
<部件><part>
该液压源10产生预定液压的用于车轮制动的工作流体。具体而言,液压源10包括:积蓄器10a;压力传感器10b;DC电机10c;液压泵10d;以及储蓄器10e。该积蓄器10a以预定压力积蓄和保持工作流体。该压力传感器10b(也称作″液压值检测装置″)检测积蓄在积蓄器10a中的工作流体的液压P1。The
该储蓄器10e储存处于大气压的工作流体。DC电机10c根据ECU80的指令驱动和停止。当DC电机10c驱动时,利用液压泵10d,工作流体10a供应到积蓄器10a。根据压力传感器10b检测的值,ECU 80发送指令。The
压力调节阀20以如下方式构造:根据制动踏板(也称作“制动操作部件”)30的行程量,从积蓄器10a供应的工作流体的液压P1被调节为液压P2。有关这一机构的细节将在以后进行说明。该压力调节阀20包括:容纳在缸60中的阀体20a;可沿x1和x2方向滑动运动以密封阀体20a的敞开端的压力调节阀阀芯20b;和沿x1方向推动压力调节阀阀芯20b的弹簧20c。这些弹簧20c容纳在由阀体20a的内壁和压力调节阀阀芯20b的一端确定的输出室20f中。经在阀20a上形成的阀孔203,输出室20f与通向辅助液压室61(以后描述)的液压通路R5连通。The
通过容纳阀20a和压力调节阀阀芯20b,压力调节阀20利用阀体20a的内壁、缸60的内壁和压力调节阀阀芯20b的外周壁确定了低压室20e。低压室20e经液压通路R2与储蓄器10e永久连通,而其内压保持在大气压力。经分别在阀20a上形成的阀孔201和通孔204,低压室20e进一步与输出室20f连通。By accommodating the
利用缸60的内壁和压力调节阀阀芯20b的外周壁,压力调节阀20还确定了高压室20d。高压室20d经液压通路R1与积蓄器10a永久连通。高压室20d永久保持从积蓄器10a供应的工作流体的液压P1。The
供应阀20g将液压P1供应到输出室20f侧。经通孔204,排放阀20h将输出室20f中的液压P2排放到低压室20e侧。The
在缸60中,辅助液压室61由缸60的内壁、阀20a的一个外端和第一活塞50a(以后描述)的外部表面确定。辅助液压室61与液压通路R5连通,而液压通路R5与输出室20f连通。In the
主缸50包括:第一活塞50a和第二活塞50b,第一活塞50a和第二活塞50b均滑动配合到缸60;面对第一活塞50a的凹部的第一主缸液压室50e;和面对第二活塞50b的凹部的第二主缸液压室50f。The
第一主缸液压室50e存储沿x1方向推动第一活塞50a和向x2方向推动第二活塞50b的弹簧50c。第二主缸液压室50f容纳向x1方向推动第二活塞50b的弹簧50d。The first master cylinder
连通孔501设置在第一活塞50a上,该连通孔501与通向储蓄器10e的液压通路R8连通。连通孔502设置在第二活塞50b上,连通孔502与通向储蓄器10e的液压通路R9连通。因此,如在图1的状态中,当制动踏板30未被致动时,第一主缸液压室50e和第二主缸液压室50f与储蓄器10e连通。A
第一主缸液压室50e与通向车轮制动缸70a,70b的液压通路R4连通,用于将制动力施加在两个后轮上。第二主缸液压室50f与通向车轮制动缸71a,71b的液压通路R6连通,用于将制动力施加在两个前轮上。The first master cylinder
压力传感器32(也称作“输出液压检测装置”)设置在与辅助液压室61连通的液压通路R5上。压力调节阀20的高压室20d与液压通路R3连通,在液压通路R3上设置有电磁阀34(通常关闭,即图1,2中的EV 34)。经从液压通路R5分支的液压通路R7,压力调节阀20的低压室20e与液压通路R5连通。电磁阀36(通路关闭,即图1,2中的EV36)设置在该液压通路R7上。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
以下,将针对制动控制装置1的一般操作描述制动控制装置1的要点。Hereinafter, the gist of the
<制动控制装置1的一般操作><General operation of the
首先,将描述压力调节阀20的原理。First, the principle of the
根据沿x1方向的力与沿x2方向的力之间的关系,压力调节阀20将高压室20d中的液压P1调节为液压P2。According to the relationship between the force in the x1 direction and the force in the x2 direction, the
具体而言,通过平衡由制动踏板30的行程产生的沿x2方向的压力调节阀阀芯20b的向前推力和沿x1方向、作为{输出室20f的压力×面对输出室20f的压力调节阀阀芯20b的面积+弹簧20c的恢复力}的向后推力,取得液压P2。Specifically, by balancing the forward thrust of the pressure
以下将参照图2,给出当制动踏板30被致动时,有关制动控制装置的操作的说明。A description will be given below regarding the operation of the brake control device when the
在这种情况下,当压力调节阀阀芯20b沿x2方向从图1中的位置移动到图2中的位置时,输出室20f从低压室20e切断,而然后输出室20f与高压室20d连通。此时,通过踩踏板30,压力调节阀阀芯20b被推向x2方向,并且也由液压P2和弹簧20c沿x1方向施加力。In this case, when the pressure regulating
这种运动使排放阀20h关闭,而然后供应阀20g开启,以便高压室20d中的液压P1经供应阀20g和通孔204,被导入输出室20f,在输出室20f,P1被调节为液压P2的。经阀孔203和液压通路R5,调节后的液压P2被输出到辅助液压室61中。在后面描述的本发明的第二实施例中,电磁阀32和电磁比例阀31设置在该液压通路R5上。This movement closes the
在辅助液压室61中,液压P3通过从输出室20f输入液压P2而产生,这样液压P3沿x2方向推动活塞50a。随着第一活塞50a的运动,第一活塞50a的连通孔501也沿x2方向运动,以便连通孔501被从通向储蓄器10e的液压通路R8切断。然后,经液压通路R4,第一主缸液压室50e的液压P4被输出到车轮制动缸70a,70b。由此,制动力被施加在两个后轮上。In the auxiliary
同时,随着第一活塞50a的运动,第二活塞50b沿x2方向运动,以便第二活塞50b的连通孔502从通向储蓄器10e的液压通路R9切断。然后,经液压通路R6,第二主缸液压室50f的液压P4被输出到车轮制动缸71a,71b。由此,制动力被施加在两个前轮上。Simultaneously, with the movement of the
<压力调节阀20出现故障><Pressure regulating
情况1自输出室20f的P2下降
以下将说明:在自输出室20f的液压P2由于压力调节阀20出现故障而下降的情况下,如何控制制动控制装置1。How to control the
假设:虽然液压P1以合适的压力从积蓄器10a输出到高压室20d中,但是异物等被阻塞在阀体20a的阀孔203中。在这种情况下,在如图2中所示的制动操作时,从输出室20f输出到辅助液压室61中的液压P2尽管被认为处于合适的压力,但是可能出现严重下降。结果,液压P2不能以与制动踏板30的行程量对应的适合的压力输出。Assume that although the hydraulic pressure P1 is output from the
根据本发明的第一实施例,在从压力调节阀20输出的液压P2已下降到预定压力范围以下的情况下,首先,根据有关自压力传感器10b输入的压力的信息,ECU 80确定液压P1是否以适合的压力从积蓄器10a输出到压力调节阀20的高压室20d中。接下来,如果ECU 80根据有关自压力传感器32输入的压力的信息,确定自输出室20f输出的液压P2已下降而低于预定范围(也称作“检测值”),并且如果ECU 80根据有关制动踏板30的行程量的信息,还确定检测值比当前参考输出液压低过预定值,则ECU 80确定已在压力调节阀20出现故障。According to the first embodiment of the present invention, in the case where the hydraulic pressure P2 output from the
如果确定压力调节阀20出现故障,则ECU 80向电磁阀34发送信号以开启其阀。此时,电磁阀36保持关闭。当电磁阀34响应该信号开启时,高压室20d被允许与液压通路R3连通。因此,经液压通路R3和R5,以从积蓄器10a输出到高压室20d中的适合压力的液压P1被输出到辅助液压室61中。同时,低于预定范围的液压也经液压通路R5,被输出到辅助液压室61中。If it is determined that the
然后,根据有关自压力传感器32输入的压力的信息,ECU 80控制电磁阀34的开启/关闭操作,以便根据有关自压力传感器41输入的压力的信息,输出到辅助液压室61中等于当前参考输出液压值的压力,该当前参考输出液压值取决于自行程传感器51输入的有关制动踏板30行程量的信息。Then, based on the information on the pressure input from the
如上所述,如果在制动操作时,自压力调节阀20输出的液压P2变得低于预定压力范围,电磁阀34被控制开启/关闭操作,以便输出到辅助液压室61中等于当前参考输出液压值的压力,该当前参考输出液压值取决于自行程传感器51输入的有关制动踏板30的行程量的信息,从而对应于制动踏板30的行程量的液压能够从高压室20d侧输出到辅助液压室61中。相应地,即使当出现故障,从而在制动操作时,自压力调节阀20输出的液压P2变得低于预定范围时,也可以保证将适合的制动力施加到车轮制动缸70a,70b,71a,71b的每一个。As described above, if the hydraulic pressure P2 output from the
如果在制动操作时,自压力调节阀20输出的液压P2变得低于预定范围,ECU 80也可以根据有关自压力传感器32输入的压力的信息,控制电磁阀34的开启/关闭操作,以便输出到辅助液压室61中高于当前参考输出液压值的压力,该当前参考输出液压值取决于有关自行程传感器51输入的制动踏板30的行程量的信息。在这种情况下,即使当出现故障,从而在制动操作时,自压力调节阀20输出的液压P2变得低于预定范围时,也可以更加确保将适合的制动力施加到车轮制动缸70a,70b,71a,71b的每一个。If the hydraulic pressure P2 output from the
情况2:自输出室20f的P2减小不足Case 2: Insufficient reduction of P2 from
在下文中,将说明在自输出室20f输出的液压P2减小不足的情况下,如何控制制动控制装置1。Hereinafter, how the
假定出现如下故障:在如图2所示的制动操作时,虽然液压P1从积蓄器10a以适合的压力输出到压力调节阀20的高压室20d中,但是由于例如弹簧20c被卡在输出室20f的周壁上,因此妨碍了压力调节阀阀芯20b的运动。在这种情况下,由于压力调节阀阀芯20b的运动受阻,因此不可能输出对应于制动踏板30的行程量的适合的液压。即,即使制动踏板30的行程减小,压力调节阀阀芯20b的返回也变得不足,从而无法获得从输出室20f到辅助液压室61中的液压的充分减小。结果,就不可能以对应于制动踏板30的行程量的适合压力输出液压P2。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
根据本发明的第一实施例,如果基于有关自压力传感器32输入的压力的信息,确定自输出室20f的液压P2的值变得比当前输出参考值高过预定值,ECU 80确定自输出室20f输出的液压P2出现故障,其中当前输出参考值取决于自行程传感器51输入的有关制动踏板30的行程量的信息。According to the first embodiment of the present invention, if it is determined that the value of the hydraulic pressure P2 of the self-
如果如上所述,确定压力调节阀20出现液压减小不足的故障,则ECU 80向电磁阀36发送信号以开启其阀。此时,电磁阀34保持关闭。当电磁阀36响应该信号开启时,高压室20d被允许经液压通路R5、从液压通路R5分支的液压通路R7、低压室20e和液压通路R2与储蓄器10e连通。因此,经液压通路R5、从液压通路R5分支的液压通路R7、低压室20e和液压通路R2,自输出室20f输出到液压通路R5的液压的一部分被释放到储蓄器10e中。因此,就可以减小输出室20f中的液压。If, as described above, it is determined that the
ECU 80控制电磁阀36的开启/关闭操作,以便输出到辅助液压室61中等于当前参考输出液压值的液压,该当前参考输出液压值取决于自行程传感器51输入的有关制动踏板30的行程量的信息。从而,经液压通路R7侧,从输出室20f输出到液压通路R5的液压的一部分被排放到储蓄器10e中。相应地,能够解决输出室20f中的液压减小不足的故障。The
如上所述,如果压力调节阀20出现液压减小不足的故障,ECU 80控制电磁阀36的开启/关闭操作,以便输出到辅助液压室61中等于当前参考输出液压值的压力,该当前参考输出液压值取决于自行程传感器51输入的有关制动踏板30的行程量的信息。因此,能够解决液压减小不足的故障,而对应于制动踏板30的行程量的适合的液压能够被输出到辅助液压室61中。因此,即使制动操作时压力调节阀20出现液压减小不足的故障时,可以保证将适合的制动力施加到车轮制动缸70a,70b,71a,71b中的每一个。As described above, if the
ECU 80还可以控制电磁阀36的开启/关闭操作,以便输出到辅助液压室61中低于当前参考输出液压值的压力,该当前参考输出液压值取决于来自行程传感器51输入的有关制动踏板30的行程量的信息。在这种情况下,可以弱化由于压力调节阀20中液压减小不足引起的影响,而将对应于制动踏板30的行程量的液压输出到辅助液压室61中。The
第二种实施例Second embodiment
以下,将参照图3和图4描述本发明的第二实施例。Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 3 and 4 .
大部分类似于第一实施例中的制动控制装置1,制动控制装置100主要包括:液压源10;压力调节阀20;辅助液压室61;主缸50;车轮制动缸70a,70b,71a,71b;和ECU 80;Mostly similar to the
参照图3,以下将对制动控制装置100进行详细描述。Referring to FIG. 3 , the
<部件><part>
除了电磁阀34;电磁阀32;电磁比例阀31,33;用于检测输出室20f中和辅助液压室61中的每一液压的压力传感器40,41,根据第二实施例的制动控制装置100的每一个部件近似与第一实施例中的制动控制装置1的部件相同。因此,仅对这些不同部件进行具体描述。如图1所示,类似部件被认为在第一实施例的<部件>中可以看到。In addition to the
首先,将对电磁阀34,32和电磁比例阀31,33进行描述。First, the
通常开启的电磁阀32(也称作“第二阀”,即图3中的EV 32)和通常开启的电磁比例阀31(也称作“第一比例阀”,即图3中的EPV31)设置在液压通路R5上。止回阀32a与电磁阀32并联设置,以便仅允许从上游向下游的流动,而止回阀31a也与电磁阀31并联设置,以便仅允许从下游向上游的流动。Normally open electromagnetic valve 32 (also referred to as "second valve", i.e.
在电磁比例阀31的下游侧,液压通路R5从通向高压室20d的液压通路R3分支。通常关闭的电磁阀34(也称作“第一阀”,即在图3中的EV 34)设置在该液压通路R3上。在第二实施例中,这两个电磁阀32,34具有自动制动控制功能,而下文中,包括这种自动制动控制功能(以后描述)的电磁阀32,34被称作自动制动控制切换阀装置。On the downstream side of the electromagnetic
在电磁比例阀31的下游侧,液压通路R7从通向低压室20e的液压通路R5分支。通常关闭的电磁比例阀33(也称作“第二比例阀”,即图3中的EPV 33)设置在该液压通路R7上。在第二实施例中,这两个电磁比例阀31,33具有再生协作制动控制功能(在以后描述),而在下文中,包括这种再生协作制动控制功能的阀31,33被称作再生协作控制切换阀装置。注意:通过在其上提供负载控制(duty control),电磁比例阀31,33也能够用作电磁阀。On the downstream side of the electromagnetic
以下将对分别用于检测输出室20f中和辅助液压室61中的压力的压力传感器40,41进行描述。The
压力传感器40(也称作“第一输出液压值检测装置”)和压力传感器41(也称作“第二液压值检测装置”)被构造以便:压力传感器40检测输出室20f中的液压P2,而压力传感器41检测辅助液压室61中的液压P3。压力传感器40,41的每个将其检测值输出到ECU 80。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
行程传感器51检测制动踏板30的行程量并将其检测值输出到ECU80。The
ECU 80不仅具有诸如向DC电机10c发送驱动指令的常规功能,而且也用作参考压力确定部分80a、故障确定部分80b和控制部分80c。这些部分80a到80c的功能将在以后进行描述。The
<制动控制装置100的一般操作><General Operation of
由于第二实施例中的制动控制装置100的一般操作与第一实施例的一般操作相同,所以其描述将在本实施例中省略(参见第一实施例中的<制动控制装置1的一般操作>)Since the general operation of the
<有关压力调节阀20的故障><Trouble with the
情况1:自输出室20f的P2的下降Case 1: Drop of P2 from
以下将对在由于例如压力调节阀20中的阻塞而从输出室20f输出的液压P2下降的情况下,如何控制制动控制装置100进行说明。How the
为了解决由于上述原因自输出室20f输出的液压P2的下降,ECU80控制电磁阀32关闭和控制电磁阀34开启。该控制使高压室20d中的液压P1经液压通路R3和R5从电磁阀34被供应到辅助液压室61中。为了保持这种增加的液压P3,电磁阀32和34可以被控制关闭。In order to solve the drop of the hydraulic pressure P2 output from the
情况2:自输出室20f的液压P2减小不足Case 2: The reduction of the hydraulic pressure P2 from the
以下,将对在从输出室20f输出的液压P2出现减小不足的情况下,如何控制制动控制装置100进行说明。该故障由于例如弹簧20c偶然被卡在输出室20f的周壁上,妨碍压力调节阀阀芯20b平滑运动而出现。Hereinafter, how the
为了解决由于上述原因在辅助液压室61中液压P3减小不足,ECU80控制电磁阀32开启和控制电磁阀34关闭。In order to solve the insufficient reduction of the hydraulic pressure P3 in the auxiliary
该控制使辅助液压室61中的液压P3经电磁阀32被导入输出室20f中,然后经排放阀20h到低压室20e侧,从而减小辅助液压室61中的液压P3。This control causes the hydraulic pressure P3 in the auxiliary
如果在自动制动控制操作期间踏下制动踏板30,自压力调节阀20输出的液压P2超出自动制动控制操作的辅助液压室61中的液压P3,以便另外的压力经与电磁阀32并联的止回阀32a施加给液压P3。If the
<再生协作控制功能><Regeneration cooperation control function>
以下,将对通过使用电磁比例阀31,33的有关再生协作控制功能进行说明。Hereinafter, the regeneration-related control function by using the electromagnetic
在操作再生协作控制功能期间,为了将由制动踏板30的行程引起的所需制动力分配成例如电动车辆中的再生制动力和摩擦(液压)制动力,ECU 80提供了如下控制。During operation of the regenerative cooperative control function, the
在这种功能中,例如,ECU 80控制电磁比例阀31关闭,并控制电磁比例阀33开启,从而经电磁比例阀33,液压室61中的液压P3被排放到低压室20e侧中。因此,辅助液压室61中的液压P3被减小,从而使得可以以期望的比例调节对应于再生制动力的比例的摩擦制动力的分布。In this function, for example, the
注意:如果在踏下制动踏板30的最初阶段执行再生制动控制,通过控制电磁比例阀31,从输出室20f流入辅助液压室61中的液压可以切断或减小。这意味着:如果制动踏板30的行程量在再生制动控制操作期间被减小,并且在再生制动控制操作期间,自压力调节阀20输出的液压P2变得小于辅助液压室61的液压P3,则通过与电磁比例阀31并联设置的止回阀31a,液压P3减小。Note: If regenerative braking control is performed at the initial stage of depressing the
以下,将说明制动控制装置100的ECU 80的典型性能。Hereinafter, typical performance of the
图4显示了ECU 80的一系列的处理步骤。下面将对适合的检测值从压力传感器40,41和行程传感器51输入ECU 80的情况进行说明。FIG. 4 shows a series of processing steps of the
更具体而言,ECU 80接收输出室20f中的液压P2的检测值和辅助液压室61中的液压P3的检测值。ECU 80还接收指示作为制动踏板30的操作量的制动踏板30的行程量的检测值。More specifically, the
然后,根据行程传感器51的检测值,ECU 80的参考压力决定部分80a决定参考压力值。在液压源10正常工作而适合的液压积蓄在积蓄器10a中的情况下,这种决定取决于预定检测值与自输出室20f的液压之间的关系。Then, based on the detection value of the
在这种情况下,根据自压力传感器40的检测值中指示的液压P2、自压力传感器41的检测值中指示的液压P3和参考压力的相互关系,ECU 80的故障确定部分80b确定是否仅液压P3过大(S1)。这里“仅液压P3过大”代表:液压P2和参考压力近似相等,而液压P3比这两个值更大。In this case, the
有关是否“P2和参考压力近似相等”或“P3大于它们”的判断可使用阈值进行。例如,如果液压P2和参考压力之间的差别小于阈值,确定属于“P2和参考压力近似相等”。如果P2与P3之间的差,和参考压力与P3之间的差都等于或大于阈值,确定属于“P3大于这两个值”。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".
如果确定是“仅P3过大”(在S1的“是”),故障确定部分80b确定故障是电磁阀34泄漏或电磁阀32中阻塞(S2),然后继续到S3。If the determination is "only P3 is too large" ("YES" at S1), the
在S3,通过控制电磁比例阀33,ECU 80的控制部分80c执行FS操作以减小液压P3。注意:FS是“失效保护”的缩写。更确切地说,电磁比例阀33被控制开启。因此,经电磁比例阀33、低压室20e,辅助液压室61中的工作流体被排放到储蓄器20e中,从而辅助液压室61中的液压P3被减小。At S3, by controlling the electromagnetic
否则,在S1处,如果ECU 80确定不是仅P3过大(在S1的“否”),根据上述P2、P3和参考压力的关系,故障确定部分80b确定是否仅P3太小。这里“仅P3太小”指液压P2和参考压力近似相同,而液压P3比这两个值更小。Otherwise, at S1, if the
有关是否“P2和参考压力近似相等”的确定与在S1相同,而有关是否“P3小于它们”的确定可使用阈值进行确定。例如,如果P2和P3之间的差,和参考压力和P3之间的差都小于阈值,属于“P3小于这两个值”。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".
如果确定“仅P3太小”(在S4的“是”),故障确定部分80b确定故障是电磁比例阀33泄漏或电磁比例阀31中阻塞(S5),然后继续到S6。If it is determined that "only P3 is too small" (YES at S4), the
在S6,通过控制电磁阀34,故障确定部分80b执行FS动作以将另外的压力施加到液压P3。具体而言,电磁阀34被控制开启,从而高压室20d中的工作流体经电磁阀34被供应到辅助液压室61中,以另外的压力被施加到辅助液压室61中的液压P3。At S6, by controlling the
否则,对S4的判断,如果判断不是仅P3太小(在S4的“否”),则故障确定部分80b继续到S11,以便根据上述三者的相互关系,确定是否仅参考压力过大,即,仅制动踏板30的行程过大。这里“仅参考压力过大”指P2和P3近似相等,而参考压力大于这两个值。在这种情况下,通过使用阈值进行这种判断。Otherwise, for the judgment of S4, if the judgment is not that only P3 is too small ("No" in S4), then the
如果确定是“仅制动踏板30的行程过大”(在S7的“是”),故障确定部分80b继续到S8以便确定是否P2和P3是处于它们并不上升的情况。如果故障确定部分80b判断它们并不上升(在S8的“是”),则它继续到S9。If the determination is "only the stroke of the
在S9,故障确定部分80b确定故障是供应阀20g中阻塞,然后继续到S10。At S9, the
在S10,通过控制电磁阀34,控制部分80c执行FS动作以向液压P3施加另外的压力。具体而言,电磁阀34被控制开启,从而高压室20d中的工作流体经电磁阀34被供应到辅助液压室61中。因此,另外的压力(further pressure)被施加到辅助液压室61中的液压P3。At S10, by controlling the
另一方面,对于S7的确定,如果确定仅制动踏板30的行程过大(在S7的“否”),故障确定部分80b继续到S11,以便根据上述三者的相互关系,确定是否仅制动踏板30的行程太小。这里“不是仅制动踏板30的行程太小”指P2和P3近似相等,而参考压力小于这两个值。在这种情况下,通过使用阈值进行这种判断。On the other hand, for the determination of S7, if it is determined that only the stroke of the
如果确定是“仅制动踏板30的行程太小”(在S11的“是”),故障确定部分80b继续到S12,并确定是否存在行程(减小的变化)。在该步骤,如果有关行程传感器51的检测值不是“0”,故障确定部分80b确定存在行程。If the determination is "only the stroke of the
如果确定是“存在行程”(在S12的“是”),故障确定部分80b继续到S13,并确定故障是排放阀20h中阻塞,然后继续到S14。If the determination is "there is a stroke" (YES at S12), the
在S14,通过控制电磁比例阀33开启,ECU 80的故障确定部分80b执行FS动作以减小液压P3。因此,经电磁阀33,辅助液压室61中的工作流体被排放到低压室20e侧,以便辅助液压室61中的液压P3被减小。At S14, by controlling the electromagnetic
例如,如果根据上述三者的相互关系,确定是“仅P2过大”,故障确定部分80b确定压力传感器40出现故障。For example, if the determination is "only P2 is too large" based on the above-mentioned correlation of the three, the
如上所述,ECU 80诊断诸如供应阀20g的压力调节阀20,电磁阀32,34或电磁比例阀31,33存在故障的可能性,并根据诊断结果,通过提供FS动作执行对故障的适合操作。As described above, the
注意:本发明并不局限于上述具体实施例,而在不背离权利要求中确定的本发明的范围和精神的情况下,可以对根据本发明实施例的制动控制装置的结构进行各种修改。例如,虽然上述说明显示了其中配置主缸50的实例,但是不使用主缸50,液压P2可以直接施加到车轮制动缸70a,70b,71a,71b的每一个上。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
用于检测制动踏板30上的脚踏力的传感器可连同行程传感器51一起设置。A sensor for detecting the pedal force on the
当在S2,S5,S9或S13确定故障时,故障确定部分80b还可将该结果输出到远地显示装置(图中未示出)。这允许驾驶员检验助推功能失效等的可能性。行程传感器51可具有双重功能以执行自诊断以确定其“正常”或“异常”。在这种情况下,S8和S12可被忽略。When a failure is determined at S2, S5, S9 or S13, the
通过将另外的压力施加到自液压控制阀20输出的液压P2,自动制动控制功能能够增加车轮制动缸侧(辅助液压室61)的液压P3。因此,这种功能可用于增大通常由压力调节阀20的结构固定的倍压比的控制,或用于紧急踩下制动踏板30时制动辅助控制。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
根据本发明的实施例的制动控制装置已作为其中它们被配置在车辆上的实例进行描述,但它们也可能应用到诸如飞机的其它移动物体上。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.
如果压力调节阀出现故障,本发明提供对故障情况的精确诊断以便执行对故障的适合操作。因此,即使在制动操作时,自压力调节阀的输出液压变得低于预定范围,或即使自压力调节阀的输出液压不能充分地减小,也能够输出对应于制动踏板的行程量的适合输出液压。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.
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- 2005-03-04 JP JP2005061183A patent/JP4473751B2/en not_active Expired - Fee Related
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2006
- 2006-03-06 CN CNB200610051579XA patent/CN100418818C/en not_active Expired - Fee Related
Patent Citations (8)
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CN1009999B (en) * | 1987-05-20 | 1990-10-17 | 塞佩尔·奥顿哥阿 | Control method of motor vehicle hydraulic deceleration brake |
CN1014225B (en) * | 1988-04-18 | 1991-10-09 | 卢卡斯工业有限公司 | Method of controlling brake pressure in anti-lock vehicle brake system |
CN1098055A (en) * | 1993-03-31 | 1995-02-01 | 丰田自动车株式会社 | Vehicle brake pressure control apparatus having means for assuring improved accuracy of control of wheel brake pressure |
CN1132157A (en) * | 1995-03-31 | 1996-10-02 | 株式会社优尼希雅杰克斯 | Brake hydraulic control unit |
EP1125809A2 (en) * | 2000-02-14 | 2001-08-22 | Toyota Jidosha Kabushiki Kaisha | Vehicular brake control apparatus and vehicular brake control method |
US20030141759A1 (en) * | 2000-03-08 | 2003-07-31 | Andreas Erban | Method and device for the control of a brake system |
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Also Published As
Publication number | Publication date |
---|---|
CN1827437A (en) | 2006-09-06 |
JP4473751B2 (en) | 2010-06-02 |
JP2006240542A (en) | 2006-09-14 |
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Correction item: Priority Correct: 2005.03.31 JP 2005-105134 False: Lack of priority second Number: 36 Page: The title page Volume: 22 |
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Effective date of registration: 20160708 Address after: Tokyo, Japan, Japan Patentee after: Honda Motor Co., Ltd. Patentee after: AUTOLIV NISSIN BRAKE SYSTEMS JAPAN CO., LTD. Address before: Tokyo, Japan, Japan Patentee before: Honda Motor Co., Ltd. Patentee before: Nissin Industry Co., Ltd. |
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