CN100441453C - Semi-wire-control type apparatus for vehicles - Google Patents
Semi-wire-control type apparatus for vehicles Download PDFInfo
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- CN100441453C CN100441453C CNB2004800015779A CN200480001577A CN100441453C CN 100441453 C CN100441453 C CN 100441453C CN B2004800015779 A CNB2004800015779 A CN B2004800015779A CN 200480001577 A CN200480001577 A CN 200480001577A CN 100441453 C CN100441453 C CN 100441453C
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- 239000012530 fluid Substances 0.000 claims description 30
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- 238000010586 diagram Methods 0.000 description 17
- 230000014509 gene expression Effects 0.000 description 10
- 238000011156 evaluation Methods 0.000 description 3
- 239000002828 fuel tank Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
- B60T8/4081—Systems with stroke simulating devices for driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/82—Brake-by-Wire, EHB
Abstract
A brake controller of a vehicle in which such an inconvenience is prevented that improper feeling is imparted to a driver when a brake operator, e.g. A brake pedal, works furthermore even if the driver does not increase the stepping force, by not interconnecting a master cylinder with a stroke simulator when a control means is actuated by an actuating means. When the brake pedal (12) is stepped by a specified amount or more (s20) and an electronic controller (78) is actuated (s30) by stepping on the brake pedal (12), a solenoid valve (normally closed valve) (26) is sustained in closed state unless the stepping is released (40), and solenoid valves (shut-off valves) (24l, 24r) are closed or sustained in closed state (s90) while interrupting the master cylinder (14) and the stroke simulator (28). Brake force of each wheel is controlled by brake-by-wire system (s100-s130) in control mode at the time of actuating brake pedal stepping based on a final target deceleration gt being operated based on an average value pma of master cylinder pressures pm1 and pm2.
Description
Technical field
The present invention relates to a kind of vehicle braked control setup, more particularly, relate to a kind of braking force control system of so-called semi-wire-control type.
Background technology
Braking force control system as vehicles such as automobiles, for example, open as described in the flat 11-255107 communique as the spy, known all the time semi-wire-control type braking force control system comprises: trample the master cylinder that brake pedal drives by chaufeur, high-voltage hydraulic pressure supply source, the brake wheel cylinder that is provided with corresponding to each wheel, the shutoff valve that is communicated with between control master cylinder and the brake wheel cylinder, control is given row the increase and decrease pressure-controlled valve of power fluid by the hydraulic pressure supply source to master cylinder, link to each other with master cylinder and allow the stroke simulator that flows into working fluid from master cylinder, the normally closed valve that is communicated with between control master cylinder and the stroke simulator and being used for to shutoff valve, increase and decrease pressure-controlled valve, the electronic control package that normally closed valve is controlled.
Electronic control package starts by ignition lock being switched to open, shutoff valve is closed and block being communicated with between master cylinder and the brake wheel cylinder, and normally closed valve cuts out and make between master cylinder and the stroke simulator and be communicated with, by come the pressure of control brake wheel cylinder according to controls such as master cylinder pressure increase and decrease pressure-controlled valve, thus the braking force of wheel is controlled.
And, in the time of can't normally controlling the braking force of corresponding wheel when arbitrary increase and decrease pressure-controlled defective valve, electronic control package makes shutoff valve open and be communicated with between master cylinder and the brake wheel cylinder, and normally closed valve cuts out and block being communicated with between master cylinder and the stroke simulator, thereby guarantee to come pressure in the control brake wheel cylinder according to master cylinder pressure.
For this semi-wire-control type braking force control system, the semi-wire-control type braking force control system that comprises starting device also is known, sometimes under the ignition lock closing state, trample brake pedal by chaufeur, in order to control the braking force of wheel in this case, when trampling brake pedal by chaufeur under the ignition lock closing state, described starting device makes the electronic control package starting.
In comprising the existing semi-wire-control type braking force control system of above-mentioned starting device, when under the ignition lock closing state, trampling brake pedal by chaufeur, utilize starting device to make the electronic control package starting, with make the situation of electronic control package starting identical by ignition lock being switched to opening, shutoff valve is closed and block being communicated with between master cylinder and the brake wheel cylinder, make normally closed valve open and make between master cylinder and the stroke simulator and be communicated with.
But, trample brake pedal from chaufeur and open normally closed valve to the electronic control package starting and by electronic control package, life period lags behind, make under the state that master cylinder pressure rises by trampling brake pedal, because master cylinder links to each other with the stroke simulator of non-pressurised state, and trample counter-force decline, so even chaufeur does not increase pedal force, compare brake pedal with the initial state of trampling and further strengthen stroke, thereby also can make chaufeur feel uncomfortable inevitably.
Summary of the invention
The present invention promptly proposes in view of existing the problems referred to above in the existing semi-wire-control type braking force control system, the following formation of this semi-wire-control type braking force control system: when under the ignition lock closing state, trampling brake pedal by chaufeur, utilize starting device to make the electronic control package starting, normally closed valve is opened, be communicated with thereby make between master cylinder and the stroke simulator.Main purpose of the present invention is, when utilizing starting equipment to make the control convenience starting, be not communicated with by making between master cylinder and the stroke simulator, even prevent that chaufeur from not increasing pedal force and can further strengthen stroke because of the braking operation piece of brake pedal and so on yet and make chaufeur feel uncomfortable.
For reaching above-mentioned main purpose, vehicle semi-wire-control type braking force control system of the present invention comprises: braking operation piece is operated and the master cylinder that drives by chaufeur; The brake wheel cylinder that is provided with corresponding to each wheel; Control the shutoff valve that is communicated with between above-mentioned master cylinder and the above-mentioned brake wheel cylinder; Control is given row the increase and decrease pressure-controlled valve of power fluid to above-mentioned brake wheel cylinder; Link to each other with above-mentioned master cylinder and allow to flow into the stroke simulator of power fluid from above-mentioned master cylinder; Control the normally closed valve that is communicated with between above-mentioned master cylinder and the above-mentioned stroke simulator; The control convenience that above-mentioned shutoff valve, above-mentioned increase and decrease pressure-controlled valve, above-mentioned normally closed valve are controlled; And starting equipment, when under the state of above-mentioned control convenience unstart, above-mentioned braking operation piece being operated, make above-mentioned control convenience starting; It is characterized in that: when utilizing above-mentioned starting equipment that above-mentioned control convenience is started, make above-mentioned normally closed valve maintain closed condition.
According to said structure, when when above-mentioned control convenience unstart state following operated above-mentioned braking operation piece, though utilize starting equipment to make above-mentioned control convenience starting, but because control convenience makes normally closed valve maintain closed condition and does not open normally closed valve, so maintain the state that blocks between master cylinder and the stroke simulator, thereby can prevent following situation reliably, promptly, the stroke simulator that power fluid in the master cylinder that pressurizes by the operation of braking operation piece flows to non-pressurised state causes the stroke mal ground of braking operation piece to increase, and causes that thus chaufeur feels uncomfortable.
And according to the present invention, in said structure, above-mentioned control convenience preferably makes above-mentioned normally closed valve keep closed condition, up to operating the control operation part.
According to said structure, because normally closed valve is kept closed condition up to operating the control operation part, so only otherwise braking operation piece is operated, just can block master cylinder and stroke simulator reliably, thereby can prevent that the power fluid in the master cylinder from flowing to stroke simulator.
And according to the present invention, in said structure, preferably according to the hydraulic pressure of the amount of movement of above-mentioned braking operation piece, master cylinder, by above-mentioned braking operation piece is operated in the switch driven any detects the situation that above-mentioned braking operation piece is operated at least.
According to said structure, since according to the hydraulic pressure of the amount of movement of above-mentioned braking operation piece, above-mentioned master cylinder, green phase for the operation of above-mentioned braking operation piece and in the switch driven any detects the situation that above-mentioned braking operation piece is operated at least, thereby can detect reliably and whether braking operation piece is operated.
And according to the present invention, in said structure, after can't operating above-mentioned brake operating, above-mentioned control convenience can make above-mentioned normally closed valve open when operating once more.
According to said structure, because can make normally closed valve after can't operating above-mentioned braking operation piece when operating once more opens, so when the brake operating that carries out after 2 times, the stroke that can prevent braking operation piece reliably is restricted during as brake operating first, and the sense of discomfort that prevents to cause thus chaufeur.
And, in said structure, when the control convenience unstart, can make normally closed valve maintain closed condition according to the present invention, make shutoff valve maintain out the valve state.
And according to the present invention, in said structure, control convenience can followingly constitute: also start by ignition lock being switched to open, when opening when making the control convenience starting by ignition lock is switched to, normally closed valve to be opened and shutoff valve is closed; When utilizing starting equipment to start, normally closed valve is maintained closed condition and shutoff valve is closed.
And according to the present invention, in said structure, control setup can followingly constitute: when opening when making the control convenience starting by ignition lock is switched to, calculate the target braking pressure of each wheel according to the stroke of master cylinder pressure and braking operation piece, when utilizing starting equipment to start, calculate the target brake-pressure of each wheel according to master cylinder pressure, and increase and decrease pressure-controlled valve is controlled the braking that makes each wheel press and reach the target brake-pressure.
Description of drawings
Fig. 1 is the summary construction diagram of hydraulic circuit of an embodiment of expression vehicle semi-wire-control type braking force control system according to the invention;
Fig. 2 is the block diagram of expression control system embodiment illustrated in fig. 1;
Fig. 3 is the diagram of circuit of the control of braking process in the expression illustrated embodiment;
Fig. 4 is the diagram of curves that concerns between expression master cylinder pressure average value P ma and the desired deceleration Gpt;
Fig. 5 is the diagram of curves that concerns between stroke St and the desired deceleration Gpt of trampling of expression brake pedal;
Fig. 6 is the diagram of curves that concerns between expression ultimate aim deceleration/decel Gtf last time and the weighting α with respect to desired deceleration Gpt.
The specific embodiment
Hereinafter be described with reference to the accompanying drawings the preferred embodiment of the present invention.
Fig. 1 is the summary construction diagram of hydraulic circuit of an embodiment of expression vehicle semi-wire-control type braking force control system according to the invention, and Fig. 2 is the block diagram of expression control system embodiment illustrated in fig. 1.And in Fig. 1,, omitted the solenoidal diagram of each valve in order to simplify.
In Fig. 1, the automatically controlled fluid pressure type brake equipment of 10 expressions, brake equipment 10 have in response to chaufeur to be operated and the master cylinder 14 of force feed brake noise trampling of brake pedal 12.Between brake pedal 12 and master cylinder 14, dry trip simulator 16 is set.
Electromagnetic valve (main shutoff valve) 24L and the 24R of closed type are set respectively in the centre of brake fluid pressure control conduit 18 and 20, electromagnetic valve 24L and 24R play a role as shutoff valve, control being communicated with between the first master cylinder chamber 14A, the second master cylinder chamber 14B and pairing brake wheel cylinder 22FL, the 22FR respectively.And the electromagnetic valve (normally closed valve) 26 by closed type on the control of the brake fluid pressure between master cylinder 14 and electromagnetic valve 24FL conduit 18 is connected with wet stroke simulator 28.
On master cylinder 14, be connected with fuel tank 30, on fuel tank 30, connect an end of hydraulic pressure supply conduit 32.Be provided with the oil pump 36 that drives by electrical motor 34 in the centre of hydraulic pressure supply conduit 32, on the hydraulic pressure supply conduit 32 of the discharge side of oil pump 36, connect the accumulator 38 that is used to save high-pressure and hydraulic.The end that hydraulic pressure is discharged conduit 40 is connected on the hydraulic pressure supply conduit 32 between fuel tank 30 and the oil pump 36.
Though not expression among Fig. 1, but the conduit that the hydraulic pressure supply conduit 32 that is provided for making oil pump 36 suction sides is communicated with the hydraulic pressure supply conduit 32 of discharging side, centre at this conduit is provided with safety valve, when the pressure of accumulator 38 surpasses a reference value, open described safety valve, make oil turn back to the hydraulic pressure supply conduit 32 of suction side from the hydraulic pressure supply conduit 32 of discharging side.
The hydraulic pressure supply conduit 32 that oil pump 36 is discharged sides is connected on the brake fluid pressure supplying duct 18 between electromagnetic valve 24L and the brake wheel cylinder 22FL by fluid control conduit 42, be connected on the brake fluid pressure supplying duct 20 between electromagnetic valve 24R and the brake wheel cylinder 22FR by fluid control conduit 44, be connected on the brake wheel cylinder 22RL that left rear wheel uses by fluid control conduit 46, be connected on the brake wheel cylinder 22RR that off hind wheel uses by fluid control conduit 48.
Closed type electromagnetic type linear valve 50FL, 50FR, 50RL, 50RR are set respectively in the centre of fluid control conduit 42,44,46,48.With respect to electromagnetic type linear valve 50FL, 50FR, 50RL, 50RR, be connected on the fluid control conduit 40 by the fluid control conduit 42,44,46,48 of fluid control conduit 52,54,56,58 respectively, closed type electromagnetic type linear valve 60FL, 60FR, 60RL, 60RR are set respectively in the centre of fluid control conduit 52,54,56,58 brake wheel cylinder 22FL, 22FR, 22RL, 22RR side.
Linear valve 50FL, 50FR, 50RL, 50RR are respectively as for the pressure charging valve (hold-off valve) of brake wheel cylinder 22FL, 22FR, 22RL, 22RR and the performance function, linear valve 60FL, 60FR, 60RL, 60RR are respectively as bringing into play function for the reducing valve of brake wheel cylinder 22FL, 22FR, 22RL, 22RR, therefore, these linear valves link mutually, are configured for controlling by giving row the increase and decrease pressure-controlled valve of high pressure oil to each brake wheel cylinder in the accumulator 38.
In addition, not when each electromagnetic valve, each linear valve and electrical motor 34 are supplied with the non-control of drive current, make electromagnetic valve 24L and 24R maintain closed condition, make electromagnetic valve 26, linear valve 50FL～50RR, linear valve 60FL～60RR maintain closed condition (non-master mode).In addition, even any inefficacy in linear valve 50FL～50RR, linear valve 60FL～60RR and can not normally control pressure in the cooresponding brake wheel cylinder time, also each electromagnetic valve etc. non-master mode can be set at, the pressure in the brake wheel cylinder of master cylinder 14 each wheels of control can be directly utilized thus.
As shown in Figure 1, on the control of the brake fluid pressure between the first master cylinder chamber 14A and electromagnetic valve 24L conduit 18 first pressure sensor 66 is set, this first pressure sensor 66 detects the interior pressure of this control conduit as the first master cylinder pressure Pm1.Similarly, on the control of the brake fluid pressure between the second master cylinder chamber 14B and electromagnetic valve 24R conduit 20 second pressure sensor 68 is set, this second pressure sensor 68 detects the interior pressure of this control conduit as the second master cylinder pressure Pm2.The brake pedal that is provided for detecting chaufeur on brake pedal 12 is trampled the stroke sensor 70 of stroke St, on the hydraulic pressure supply conduit 32 of oil pump 34 discharge sides pressure sensor 72 is set, this pressure sensor 72 detects the interior pressure of this conduit as accumulator pressure Pa.
On the brake fluid pressure supplying duct between electromagnetic valve 24L, 24R and brake wheel cylinder 22FL, the 22FR 18,20 pressure sensor 74FL and 74FR are set respectively, described pressure sensor 74FL, 74FR detect the interior pressure of cooresponding conduit as the pressure P fl in brake wheel cylinder 22FL, the 22FR, Pfr.And on the fluid control conduit between electromagnetic valve 50RL, 50RR and brake wheel cylinder 22RL, the 22RR 46,48, pressure sensor 74RL and 74RR being set, described pressure sensor 74RL and 74RR detect the interior pressure of cooresponding conduit as the pressure P rl in brake wheel cylinder 22RL, the 22RR, Prr.
Import following signal to microcomputer 80: utilize pressure sensor 66,68 show the signal of the first master cylinder pressure Pm1 and the second master cylinder pressure Pm2 respectively, utilize stroke sensor 70 to show the signal of trampling stroke St of brake pedal 12, utilize pressure sensor 72 to show the signal of accumulator pressure Pa, utilize pressure sensor 74FL～74RR to show the pressure P i (i=fl that brake wheel cylinder 22FL～22FR is interior respectively, fr, rl, rr) signal and the signal that utilizes brake switch (BKSW) 84 demonstration brake pedals 12 whether to be trampled.
When trampling brake pedal 12 and make brake switch 84 become opening, brake lamp 86 bright lamps, and drive electric power loop 88,90 as starting equipment, thereby utilize electric power loop 88 to each sensor supply drive current, and utilize electric power loop 90 to microcomputer 80 and driving loop 82 supply drive currents.Also electric power loop 90 is driven by ignition lock (IGSW) 92 is switched to opening, when electric power loop 90 is driven by in brake switch 84 and the ignition lock 92 any, to microcomputer 80 and driving loop 82 sustainable supply drive currents, switch to closed condition up to ignition lock 92.
As mentioned below, microcomputer 80 stores the control program of diagram of circuit shown in Figure 3, when making microcomputer 80 starting by ignition lock 92 driving power loops 90, as long as trample just energy opens solenoid valve 26 of brake pedal 12, and close electromagnetic valve 24L, 24R, under this state, according to by pressure sensor 66,68 detected master cylinder pressure Pm1, Pm2 and by stroke sensor 70 detected trample stroke St, calculate the target pressure of wheel cylinder Pti (i=fl of each wheel, fr, rl, rr), control each linear valve 50FL～50RR and 60FL～60RR (normal master mode), make the brake-pressure Pi of each wheel reach target pressure of wheel cylinder Pti.
And, according to diagram of circuit shown in Figure 3, when under ignition lock 92 closing state when making microcomputer 80 starting by brake switch 84 driving power loops 90, as long as trample brake pedal 12, can make electromagnetic valve 26 still keep opens solenoid valve 24L under the closing state, 24R, under this state, according to by pressure sensor 66,68 detected master cylinder pressure Pm1, Pm2 calculates the target pressure of wheel cylinder Pti (i=fl of each wheel, fr, rl, rr), control each linear valve 50FL～50RR and 60FL～60RR, make the brake-pressure Pi of each wheel reach target pressure of wheel cylinder Pti (master mode when brake pedal is trampled starting).
Especially in illustrated embodiment, when under ignition lock 92 closed conditions when making microcomputer 80 starting by brake switch 84 driving power loops 90, remove after the trampling of brake pedal 12 temporary transient, when trampling brake pedal 12 once more, opens solenoid valve 26 and close electromagnetic valve 24L, 24R, brake-pressure to each wheel is controlled, and the main points of its main points when being made microcomputer 80 starting by ignition lock 92 driving power loops 90 are identical.That is, the master mode master mode of trampling when starting from brake pedal is converted to normal master mode.
Then, with reference to diagram of circuit shown in Figure 2 control of braking in the illustrated embodiment is described.In addition, the control of diagram of circuit shown in Figure 2 comes into effect to switch to up to ignition lock 92 and closes by starting electronic control package 78, and carries out repeatedly every specified time.
At first, in step 10, judge whether brake pedal 12 is trampled more than the specified amount, when drawing negative evaluation, in step 20, make electromagnetic valve 26 close or keep closed condition, and make electromagnetic valve 24L, 24R open or keep opening; When drawing affirmative determination, enter step 30.
And, also can carry out the judgement whether brake pedal 12 is trampled more than the specified amount by carrying out arbitrary judgement in the following judgement or the combination in any in the following judgement: brake switch 84 whether be in open mode judgement, by the average value P ma of pressure sensor 66,68 detected master cylinder pressure Pm1, Pm2 whether the above judgement of a reference value Pmo (positive constant), by stroke sensor 70 detected trample the whether judgement more than a reference value Sto (just constant) of stroke St.
In step 30, judge whether to make electronic control package 78 startings by trampling brake pedal 12, when drawing negative evaluation, promptly judge when ignition lock 92 being switched to opening start, enter step 50; When drawing affirmative determination, enter step 40.
In step 40, judge by trampling of brake off pedal 12 whether after trampling brake pedal 12 to make electronic control package 78 startings, when drawing negative evaluation, enter step 90, when draw machine uh when judging surely, enter step 50.
And, also can carry out the releasing of trampling of brake pedal by carrying out the arbitrary judgement in the following judgement or the combination in any of following judgement: brake switch 84 whether from open switch to the judgement of closing, by the average value P ma of pressure sensor 66,68 detected master cylinder pressure Pm1, Pm2 whether the judgement below a reference value Pmo, by stroke sensor 70 detected trample the whether judgement below a reference value Sto of stroke St.
In step 50, make electromagnetic valve 26 unlatchings or maintain opening, make electromagnetic valve 24L, 24R close or maintain closed condition.
In step 60, reading displayed is by the signal lamp of the detected master cylinder pressure Pm1 of pressure sensor 66, according to the average value P ma of master cylinder pressure Pm1, Pm2, from the cooresponding map of diagram of curves shown in Figure 4 calculate desired deceleration Gpt based on master cylinder pressure.
In step 70, according to by stroke sensor 70 detected trample stroke St, from the cooresponding map of diagram of curves shown in Figure 5 calculate based on the desired deceleration Gst that tramples stroke.
In step 80, ultimate aim deceleration/decel Gtf according to last time, from with the cooresponding map of diagram of curves shown in Figure 6, calculating is to the weighting α (0≤α≤1) of desired deceleration Gpt, and calculate ultimate aim deceleration/decel Gt according to following formula 1, as the weighted sum of desired deceleration Gpt and desired deceleration Gst.In addition, in the above-described embodiments,, also can calculate according to desired deceleration Gpt or Gst though can calculate weighting α according to the ultimate aim deceleration/decel Gtf of last time.
Gt＝α·Gpt+(1-α)Gst…(1)
In step 90, can make electromagnetic valve 26 maintain closed condition, and can make electromagnetic valve 24L, 24R open or maintain opening.
In step 100, with above-mentioned steps 60 in the same manner, according to the average value P ma of master cylinder pressure Pm1, Pm2, from with the cooresponding map of diagram of curves shown in Figure 4, calculate based on master cylinder pressure ground desired deceleration Gpt, in step 110, Gt is set at desired deceleration Gpt with the ultimate aim deceleration/decel.
In step 120, to be made as Ki (i=fl, fr, rl, rr) for the coefficient (considering the positive coefficient of the braking effectiveness factor of each wheel) of the target pressure of wheel cylinder of each wheel of ultimate aim deceleration/decel Gt, can calculate the target pressure of wheel cylinder Pti (i=fl, fr, rl, rr) of each wheel according to following formula 2, in step 130, control by the hydraulic pressure feedback, make the pressure of wheel cylinder of each wheel reach target brake-pressure Pti.
Pti＝Ki·Gt …(2)
In accordance with the embodiments illustrated, trampled specified amount when above when in step 10, judging brake pedal 12, then in step 30, judge whether to make electronic control package 78 startings by trampling brake pedal 12, when judging when ignition lock 92 being switched to open mode and make electronic control package 78 startings, in step 50, make electromagnetic valve 26 unlatchings or keep opening, and make electromagnetic valve 24L, 24R close or keep closed condition.In step 60～80,120,130, calculate ultimate aim deceleration/decel Gt according to the average value P ma of master cylinder pressure Pm1, Pm2 and the stroke St that tramples of brake pedal 12, according to ultimate aim deceleration/decel Gt, the brake-power control with each wheel under normal master mode is a wire-control type.
With respect to this, when in step 30, judging when trampling brake pedal 12 and make electronic control package 78 startings, in step 40, judge whether trampling of brake off pedal 12, if judge not trampling of brake off pedal 12, then in step 90, make electromagnetic valve 26 still keep making under the closing state electromagnetic valve 24L, 24R closes or keeps closed condition, in step 100～130, according to master cylinder pressure Pm1, the average value P ma of Pm2 calculates ultimate aim deceleration/decel Gt, according to ultimate aim deceleration/decel Gt, the brake-power control with each wheel under the master mode when brake pedal is trampled starting is a wire-control type.
Therefore, in accordance with the embodiments illustrated, when when trampling brake pedal 12 and make electronic control package 78 starting, need only not trampling of brake off pedal 12, electromagnetic valve 26 is just kept closed condition, thereby keep the state that blocks between master cylinder 14 and the wet stroke simulator 28, therefore, can prevent from reliably to cause the stroke mal ground of trampling of brake pedal 12 to increase, and can prevent from reliably to cause thus that chaufeur feels discomfort because of trampling the wet stroke simulator 28 that brake pedal 12 makes power fluids in the pressurized master cylinder 14 flow to non-pressurised state.
And in this case, though brake pedal 12 only strengthens stroke by the action of dry trip simulator 16, the stroke of comparing brake pedal 12 during with normal control diminishes, even but to compare with the existing situation that the pedal force stroke that does not increase brake pedal 12 also can mal ground increases, the uncomfortable degree that chaufeur is felt is much smaller far away.
Especially in accordance with the embodiments illustrated, when making electronic control package 78 startings by trampling brake pedal 12, and not during the trampling of brake off pedal 12, because can be according to master cylinder pressure Pm1, the average value P ma of Pm2 calculates ultimate aim deceleration/decel Gt, and can control the braking force of each wheel according to ultimate aim deceleration/decel Gt, so make electronic control package 78 startings by trampling brake pedal 12, and not under the situation of trampling of brake off pedal 12, also can control the braking force of each wheel reliably according to the brake operating amount of chaufeur.
And, in accordance with the embodiments illustrated, even start by trampling brake pedal 12 owing in step 30, judge, removed trampling of brake pedal 12 if judge in step 40, then enter step 50, the master mode of master mode when brake pedal starts is converted to normal master mode, so when carrying out 2 later brake operatings, the action of brake equipment 10 is with identical when ignition lock 92 being switched to open mode and make electronic control package 78 starting, when carrying out 2 later brake operatings, restricted the master mode when stroke that can prevent brake pedal 12 reliably starts as brake pedal, and can prevent to cause thus the sense of discomfort of chaufeur.Since can according to the average value P ma of master cylinder pressure Pm1, Pm2 and brake pedal 12 trample stroke St, calculate ultimate aim deceleration/decel Gt, so can control the braking force of each wheel exactly according to the brake operating amount of chaufeur.
More than specific embodiment of the present invention is had been described in detail, but the present invention is not limited to the foregoing description, it will be apparent to one skilled in the art that to implement other various embodiment within the scope of the invention.
For example in the above-described embodiments, though under normal master mode, trample stroke St according to the average value P ma of master cylinder pressure Pm1, the Pm2 of the value that is used to show chaufeur brake operating amount and brake pedal 12, what can calculate chaufeur requires deceleration/decel Gt, and can calculate the target brake-pressure Pti of each wheel according to the deceleration/decel Gt that requires of chaufeur, but the control self of the braking force under the normal master mode does not constitute main points of the present invention, can implement according to the known any main points in the present technique field yet.
And in the above-described embodiments, though under the master mode when brake pedal is trampled starting, can be according to master cylinder pressure Pm1, the average value P ma of Pm2 of the value of the brake operating amount that is used to show chaufeur, what calculate chaufeur requires deceleration/decel Gt, and can press Pti according to the target braking that requires deceleration/decel Gt to calculate each wheel of chaufeur, but under the master mode when brake pedal is trampled starting, the control of braking force does not constitute main points of the present invention yet, can implement according to the known any main points in the present technique field.
And in the above-described embodiments, though the increase and decrease pressure-controlled valve of pressure of wheel cylinder Pi that is used to control each wheel also can be pressed these valve replacements and have the control cock that keeps function by forming as the linear valve 50FL～50RR of supercharger control valve with as the 60FL～60RR of pressure reduction control valve for increase and decrease.
And, in the above-described embodiments, though the brake operating amount of judging chaufeur whether more than a reference value and chaufeur whether carry out brake operating, can carry out by the arbitrary judgement in the following judgement or the combination in any of above-mentioned judgement: brake switch 84 whether be in open mode judgement, master cylinder pressure average value P ma whether at the stroke St of the judgement more than a reference value Pmo, brake pedal 12 whether more than a reference value So; But also can replace above-mentioned judgement, and make up with above-mentioned arbitrary judgement and judge, for example judge the pedal force sensor detected to the pedal force of brake pedal 12 whether more than a reference value.
Similarly, in the above-described embodiments, though can carry out according to the arbitrary judgement in the following judgement or its combination in any the judgement of trampling releasing of brake pedal 12: whether brake switch 84 switches to the judgement of closing, master cylinder pressure average value P ma whether in the whether judgement below a reference value So of the stroke St of the judgement below a reference value Pmo, brake pedal 12 from opening; But also can replace these judgements, or make up and judge with arbitrary judgement wherein, whether the pedal force of for example judging the detected brake pedal of pedal force sensor 12 is below a reference value.
In addition, though can detect master cylinder pressure, also can detect master cylinder pressure by a pressure sensor by two pressure sensors 66,68.
Claims (5)
1. the semi-wire-control type braking force control system of a vehicle comprises: braking operation piece is operated and the master cylinder that drives by chaufeur; The brake wheel cylinder that is provided with corresponding to each wheel; Control the shutoff valve that is communicated with between described master cylinder and the brake wheel cylinder; Control is given row the increase and decrease pressure-controlled valve of power fluid to described brake wheel cylinder; Be connected on the described master cylinder and allow to flow into the stroke simulator of power fluid from described master cylinder; Control the normally closed valve that is communicated with between described master cylinder and the described stroke simulator; Control the control convenience of described shutoff valve, described increase and decrease pressure-controlled valve, described normally closed valve; And starting equipment, when under the state of the described control convenience of unstart, described braking operation piece being operated, make described control convenience starting, it is characterized in that: when utilizing described starting equipment that described control convenience is started, make described normally closed valve maintain closed condition.
2. the semi-wire-control type braking force control system of vehicle as claimed in claim 1, it is characterized in that: described control convenience makes described normally closed valve maintain closed condition up to operating described braking operation piece.
3. the semi-wire-control type braking force control system of vehicle as claimed in claim 1 or 2, it is characterized in that: according to the hydraulic pressure of the amount of movement of described braking operation piece, described master cylinder and by described braking operation piece is operated in the switch driven at least any, detect the situation that described braking operation piece is operated.
4. the semi-wire-control type braking force control system of vehicle as claimed in claim 1 or 2 is characterized in that: when operating once more after can't operating described braking operation piece, described control convenience is opened described normally closed valve.
5. the semi-wire-control type braking force control system of vehicle as claimed in claim 3 is characterized in that: when operating once more after can't operating described braking operation piece, described control convenience is opened described normally closed valve.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2004/013470 WO2006027852A1 (en) | 2004-09-09 | 2004-09-09 | Semi brake-by-wire brake controller of vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1894125A CN1894125A (en) | 2007-01-10 |
| CN100441453C true CN100441453C (en) | 2008-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004800015779A Active CN100441453C (en) | 2004-09-09 | 2004-09-09 | Semi-wire-control type apparatus for vehicles |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN100441453C (en) |
| WO (1) | WO2006027852A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009208486A (en) * | 2008-02-29 | 2009-09-17 | Toyota Motor Corp | Brake control apparatus |
| CN102303595A (en) * | 2011-06-27 | 2012-01-04 | 上海理工大学 | Stable brake control device for vehicle |
| WO2013011565A1 (en) * | 2011-07-19 | 2013-01-24 | トヨタ自動車株式会社 | Brake control device |
| WO2013042620A1 (en) * | 2011-09-20 | 2013-03-28 | 日産自動車株式会社 | Vehicle brake control system |
| CN113665545B (en) * | 2021-08-25 | 2022-05-10 | 的卢技术有限公司 | Steering controlled maintaining method and system under forced situation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002029396A (en) * | 2000-07-14 | 2002-01-29 | Nissan Motor Co Ltd | Brake control device |
| US20020067071A1 (en) * | 2000-11-09 | 2002-06-06 | Akihito Kusano | Brake control device for a vehicle |
| US6543859B2 (en) * | 2001-03-07 | 2003-04-08 | Bosch Braking Systems Co., Ltd. | Electric control apparatus for brake |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19825231A1 (en) * | 1998-06-05 | 1999-12-09 | Continental Teves Ag & Co Ohg | Device and method for controlling a brake system for motor vehicles |
| DE19826687A1 (en) * | 1998-06-16 | 1999-12-23 | Continental Teves Ag & Co Ohg | Electrically actuated brake system for motor vehicles and method for its control |
| JP4089436B2 (en) * | 2003-01-09 | 2008-05-28 | トヨタ自動車株式会社 | Brake control device for vehicle |
| JP4123989B2 (en) * | 2003-03-12 | 2008-07-23 | トヨタ自動車株式会社 | Semi-brake-by-wire braking control device for vehicles |
-
2004
- 2004-09-09 WO PCT/JP2004/013470 patent/WO2006027852A1/en active Application Filing
- 2004-09-09 CN CNB2004800015779A patent/CN100441453C/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002029396A (en) * | 2000-07-14 | 2002-01-29 | Nissan Motor Co Ltd | Brake control device |
| US20020067071A1 (en) * | 2000-11-09 | 2002-06-06 | Akihito Kusano | Brake control device for a vehicle |
| US6543859B2 (en) * | 2001-03-07 | 2003-04-08 | Bosch Braking Systems Co., Ltd. | Electric control apparatus for brake |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2006027852A1 (en) | 2006-03-16 |
| CN1894125A (en) | 2007-01-10 |
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