CN108883750A - The brake control of vehicle - Google Patents

Abstract

When the operation of the brake pedal of an example as brake manipulating member starts, the state of the holding valve valve opening of front-wheel is maintained, and makes the holding valve valve closing (the first moment t1) of rear-wheel.Then, WC pressure (Pwc) in the holding valve valve closing for making rear-wheel and the wheel brake cylinder for making front-wheel by the movement of differential pressure regulating valve and pump becomes to be above under the situation of MC pressure (Pmc), when increasing the aperture of differential pressure regulating valve to reduce control hydraulic braking force (BPP), start the first reduced pressure treatment (the 4th moment t4) of the aperture for the holding valve for increase rear-wheel.

Description

The brake control of vehicle

Technical field

The present invention relates to a kind of control for brake of vehicle suitable for the hydraulic control device of so-called inline system dresses It sets, the hydraulic control device of the inline system has the differential pressure tune being configured in the liquid flow path of connection master cylinder and wheel brake cylinder Whole valve and to more leaned on than the differential pressure regulating valve wheel brake cylinder side liquid flow path supply brake fluid pump.

Background technique

An example of the hydraulic brake system of so-called inline system is described in patent document 1, can be made with regeneration The dynamic device brake force that opposed vehicle applies in phase is adjusted.The hydraulic brake system has：Differential pressure regulating valve is configured at It connects in master cylinder and the liquid flow path of wheel brake cylinder；And pump, to the liquid for more leaning on wheel brake cylinder side than the differential pressure regulating valve Body flow path supplies brake fluid.Moreover, correspondingly making the switching control of hydraulic braking force increase when implementing the reduction with regenerative braking force When processed, press the hydraulic i.e. WC in wheel brake cylinder by the movement of both differential pressure regulating valve and pump and increase, so as to Increase hydraulic braking force.

In above-mentioned hydraulic brake system, the brake fluid in master cylinder can be taken by pumping, and to differential pressure regulating valve with Liquid flow path between wheel brake cylinder supplies the brake fluid.Therefore, it is made in operating force of the driver to brake manipulating member When increasing WC pressure under the fixed situation of dynamic operating force, due to the movement of differential pressure regulating valve and pump, brake fluid in master cylinder Amount is reduced.As a result, the operating quantity of hydraulic i.e. MC pressure and the brake manipulating member being drivingly connected with the master cylinder in master cylinder is Brake operation amount may change.In this way, when MC pressure or brake operation amount change, based on MC pressure and brake operating At least one of amount is calculated to require brake force to change, and the deceleration of vehicle is likely to occur when implementing switching control It changes.

Therefore, in the hydraulic brake system described in patent document 1, under situation of the brake operation force there is no variation Detect MC pressure or brake operation amount variation when, based on the MC pressure variable quantity or brake operation amount, come correct require braking Power.As a result, when implementing switching control under situation of the brake operation force there is no variation, regenerative braking force and hydraulic braking The variation of the aggregate value of power is suppressed, therefore is able to suppress the variation of the deceleration of vehicle.

Existing technical literature

Patent document

Patent document 1：Japanese Unexamined Patent Publication 2010-179840 bulletin

Summary of the invention

The technical problems to be solved by the invention

But switching control includes the first switching control for reducing regenerative braking force and increasing hydraulic braking force, with And the second switching control for increasing regenerative braking force and reducing hydraulic braking force.When implementing the second switching control, in order to It presses the WC in wheel brake cylinder to reduce, increases the aperture of differential pressure regulating valve under the situation for acting pump.However, when by driving Under the situation of MC pressure when implementing the second switching control, i.e., the person of sailing produces the operation that brake manipulating member carries out in master cylinder Make the aperture for increasing differential pressure regulating valve, the brake fluid in wheel brake cylinder is also difficult in return to master cylinder side.In this case, due to WC pressure is difficult to decrease, therefore the aggregate value of regenerative braking force and hydraulic braking force can become bigger than requiring brake force.As a result, vehicle Deceleration may become bigger than deceleration expected from driver.

Specifically, for example, making the pressure of the WC in wheel brake cylinder be higher than master cylinder in the movement by differential pressure regulating valve and pump When increasing the aperture of differential pressure regulating valve under the situation of interior MC pressure, brake fluid in wheel brake cylinder is via differential pressure regulating valve to master Cylinder side is mobile.In this way, being driven for the movement for causing brake manipulating member to be pushed back due to movement because of this brake fluid to master cylinder side The person of sailing can unconsciously fight, i.e., driver can unconsciously increase brake operation force, and thus the operation of brake manipulating member is anti- Active force becomes larger, and MC pressure can be high to the expection beyond driver.At this point, the increasing of the operation reaction force due to brake manipulating member Largely more, MC pressure is higher, and obtains after indicating differential pressure plus differential pressure corresponding with the aperture of differential pressure regulating valve in MC pressure The WC buckling arrived is high, therefore hydraulic braking force will not be reduced compared with imagining.As a result, the deceleration of vehicle becomes to compare driver Expected deceleration is big.

The purpose of the present invention is to provide a kind of brake controls of vehicle, when since driver is to brake manipulating member The operation of progress and produce in master cylinder and implement when making the control of hydraulic braking force reduction under the situation of MC pressure, the system of the vehicle Dynamic control device can be such that the hydraulic braking force suitably reduces.

For solving the technical solution of technical problem

Brake control for solving the vehicle of above-mentioned technical problem is suitable for hydraulic brake system, the hydraulic system Dynamic device has：Master cylinder is drivingly connected with brake manipulating member, and the operating quantity of the brake manipulating member more increases, in the master cylinder Inside generate it is bigger hydraulic；Wheel brake cylinder, multiple wheels relative to vehicle are respectively set, and via liquid flow path with Master cylinder connection；Differential pressure regulating valve is arranged in connection master cylinder and the liquid flow path of each wheel brake cylinder, when increase master cylinder side and vehicle When taking turns the differential pressure between checking cylinder side, reduce aperture；Keep valve, be arranged in connection differential pressure regulating valve and wheel brake cylinder it is each In liquid flow path, when not making the hydraulic increase in the wheel brake cylinder, the holding valve valve closing；And pump, from master cylinder interior suction Enter brake fluid, and supplies the brake fluid to the liquid flow path between differential pressure regulating valve and each holding valve；The braking control of the vehicle Device processed adjusts the hydraulic braking force applied to vehicle by control differential pressure regulating valve and pump.The control for brake of the vehicle fills It sets and has：First processing unit closes the holding valve of a part in each holding valve when the operation of brake manipulating member starts Valve, without making remaining holding valve valve closing；And second processing portion, in the holding valve for making above-mentioned a part by the first processing unit Valve closing and made in wheel brake cylinder corresponding with above-mentioned remaining holding valve by the movement of differential pressure regulating valve and pump It is hydraulic (hereinafter also referred to as " WC pressure ".) become to be above under the situation of hydraulic (hereinafter also referred to as " the MC pressure ") in master cylinder, increase When the aperture of differential pressure regulating valve is to reduce the hydraulic braking force to vehicle application, implement opening for the holding valve for increasing above-mentioned a part The reduced pressure treatment of degree.

Differential pressure is connected to via liquid flow path when operating brake manipulating member by driver according to above structure Adjust the holding valve valve closing of a part in multiple holding valves of valve.That is, only respectively keeping the remaining holding valve valve opening in valve.Cause This is pressed by supplying brake fluid into wheel brake cylinder corresponding with remaining holding valve with the WC in the wheel brake cylinder Comparable hydraulic braking force is applied to vehicle.

In addition, in said structure, when operating brake manipulating member by driver, differential pressure regulating valve and pump movement, WC pressure in wheel brake cylinder corresponding with remaining holding valve (that is, holding valve of non-valve closing) may become to be above in master cylinder MC pressure.When needing to reduce hydraulic braking force in this condition, not only increase the aperture of differential pressure regulating valve, but also passes through Implement the aperture that reduced pressure treatment increases the holding valve (that is, holding valve of valve closing) of above-mentioned a part.As a result, with remaining holding valve Brake fluid in corresponding wheel brake cylinder is flowed out to wheel brake cylinder side corresponding with the holding valve of a part.In this way, WC buckling in wheel brake cylinder corresponding with remaining holding valve is low, wheel braking corresponding with the holding valve of a part WC buckling in cylinder is high.

Here, the WC in wheel brake cylinder is got higher when being pressed in the amount increase of the brake fluid in wheel brake cylinder, in brake fluid Amount reduce when be lower.Moreover, the amount of the brake fluid in wheel brake cylinder, which will start the WC before variation, presses higher, wheel braking The variable quantity that WC when the amount of brake fluid in cylinder changes specified amount is pressed is bigger.Moreover, before above-mentioned reduced pressure treatment starts, with WC in the corresponding wheel brake cylinder of holding valve of a part is forced down in wheel brake cylinder corresponding with remaining holding valve Interior WC pressure.

Therefore, in the case where making the holding valve valve opening of a part by implementing above-mentioned reduced pressure treatment, with remaining holding The reduction amount of WC pressure in the corresponding wheel brake cylinder of valve is greater than in wheel brake cylinder corresponding with the holding valve of a part WC pressure increase.As a result, generally for vehicle, hydraulic braking force becomes smaller.Therefore, passing through driver to braking Under the situation that the operation that operating member carries out increases the pressure of the MC in master cylinder, when implementation makes the control of hydraulic braking force reduction, energy Reduce the hydraulic braking force suitably.In addition, by implementing reduced pressure treatment, wheel system corresponding with remaining holding valve Brake fluid in dynamic cylinder is flowed out to wheel brake cylinder side corresponding with the holding valve of a part, therefore brake fluid is from wheel braking It is suppressed in cylinder to the movement of master cylinder side, and then the increase of MC pressure is suppressed.

In addition, in the brake control of above-mentioned vehicle, it is preferable that in the holding for making a part by the first processing unit Valve valve closing and made and the remaining WC kept in the corresponding wheel brake cylinder of valve by the movement of differential pressure regulating valve and pump Pressure becomes to be above under the situation of the pressure of the MC in master cylinder, increases the aperture of differential pressure regulating valve to reduce the hydraulic braking applied to vehicle When power, when being determined as the increase due to the aperture of differential pressure regulating valve and the MC in master cylinder is caused to press increase, second processing portion is opened Beginning increase the reduced pressure treatment of the aperture of the holding valve of above-mentioned a part.

According to above structure, causes the MC in master cylinder to press and increase being determined as the increase due to the aperture of differential pressure regulating valve In the case where, it can be judged as that the operation reaction force relative to brake manipulating member starts to increase, therefore above-mentioned by implementing Reduced pressure treatment makes the holding valve valve opening of above-mentioned a part.Brake fluid is difficult to from corresponding with above-mentioned remaining holding valve as a result, Master cylinder side is moved in wheel brake cylinder, correspondingly, further increasing for MC pressure and subtracting for the operating quantity of brake manipulating member It is few to be suppressed.Therefore, the impression for operating the driver of brake manipulating member can either be inhibited to be deteriorated, and hydraulic braking force can be made Suitably reduce.

Here, hydraulic brake system can have：Auxiliary reservoirs；And pressure reducing valve, it is arranged relative to each wheel brake cylinder, The valve opening when flowing out the brake fluid in the wheel brake cylinder to auxiliary reservoirs.In this case, it is being grasped by driver In the case where making the WC buckling height in brake manipulating member and wheel brake cylinder, when making pressure reducing valve valve opening, with the pressure reducing valve phase Brake fluid in corresponding wheel brake cylinder is discharged to auxiliary reservoirs side, therefore the WC in the wheel brake cylinder can be made to press It reduces.

But with the WC pressure kept in the corresponding wheel brake cylinder of valve of above-mentioned a part and with above-mentioned remaining holding The difference of WC pressure in the corresponding wheel brake cylinder of valve is smaller, and brake fluid is more difficult to from wheel corresponding with remaining holding valve It is flowed out in checking cylinder to wheel brake cylinder side corresponding with the holding valve of a part.This makes it difficult to make and remaining holding valve WC in corresponding wheel brake cylinder, which is pressed, to be reduced, that is, is difficult to reduce hydraulic braking force.

It is therefore preferred that the brake control for being suitable for the vehicle of above-mentioned hydraulic brake system has third processing unit, In the reduced pressure treatment for implementing second processing portion as in the case where the first reduced pressure treatment, implementing first by second processing portion Under the situation of holding valve valve opening of the reduced pressure treatment to make above-mentioned a part, the third processing unit implementation makes in each pressure reducing valve Second reduced pressure treatment of at least one pressure reducing valve valve opening.

According to above structure, by implementing the second reduced pressure treatment, make at least one pressure reducing valve valve opening in each pressure reducing valve, by This, the brake fluid in wheel brake cylinder corresponding with the pressure reducing valve is flowed out to auxiliary reservoirs side.As a result, the wheel braking WC in cylinder, which is pressed, to be reduced, and the brake fluid in wheel brake cylinder is expelled to auxiliary reservoirs side, and thus brake fluid is from wheel It is suppressed in checking cylinder to the movement of master cylinder side, the increase of MC pressure is suppressed, so as to reduce hydraulic braking force.

Detailed description of the invention

Fig. 1 is shown as an embodiment of the brake control of vehicle, has the hybrid power for braking ECU The structure chart of the outline of vehicle.

Fig. 2 is to show to constitute by the braking ECU hydraulic brake system controlled, hydraulic supply unit outline show It is intended to.

Fig. 3 is the structure chart for showing the outline of the hydraulic brake system.

Fig. 4 is illustrated for calculating control hydraulic braking force when brake operating starts and based on the control hydraulic braking force Control the flow chart of the processing step of differential pressure regulating valve and pump.

Fig. 5 is the flow chart for illustrating the processing step for implementing each reduced pressure treatment when brake operating starts.

Fig. 6 is the mapping graph for showing the relationship between target braking force and target auxiliary quantity.

Fig. 7 is the mapping graph for showing the relationship between stroke variable quantity and benchmark MC pressure variable quantity.

Fig. 8 is the figure for showing the relationship between hydraulic in the amount and wheel brake cylinder of the brake fluid in wheel brake cylinder.

Fig. 9 is timing diagram in the case where implementing auxiliary control in brake operating, and (a) of Fig. 9 is to show brake force Passage timing diagram, (b) of Fig. 9 be show auxiliary control implement whether passage timing diagram, (c) of Fig. 9 is to show The timing diagram of passage whether implementation of switching control, (d) of Fig. 9 is the timing diagram for showing the hydraulic passage in master cylinder.

Figure 10 is the timing diagram in the case where starting brake operating in vehicle traveling, and (a) of Figure 10 is to show brake force Passage timing diagram, (b) of Figure 10 is the timing diagram for showing the hydraulic passage in master cylinder, and (c) of Figure 10 is to show front-wheel The timing diagram of hydraulic passage in wheel brake cylinder, (d) of Figure 10 are the liquid shown in the wheel brake cylinder of rear-wheel The timing diagram of the passage of pressure, (e) of Figure 10 are the timing diagram for showing the passage of the movement of holding valve of rear-wheel, (f) of Figure 10 It is the timing diagram for showing the passage of the movement of pressure reducing valve of rear-wheel, (g) of Figure 10 is the differential pressure shown for differential pressure regulating valve The timing diagram of the passage of indicator current value, (h) of Figure 10 are the timing diagrams for showing the passage of movement of pump.

Specific embodiment

In the following, being said according to Fig. 1~Figure 10 to an embodiment of the brake control of specific implementation vehicle It is bright.

The brake control for having the vehicle of present embodiment is shown in Fig. 1 brakes the hybrid electric vehicle of ECU120 An example.As shown in Figure 1 and Figure 2, which has：Power unit 10 applies driving to driving wheel, that is, front-wheel FL, FR Power；Hydraulic brake system 30 adjusts the hydraulic braking force applied to vehicle；And controller of vehicle 100, control power unit 10 and hydraulic brake system 30.

In addition, as shown in Figure 1, in the car, being each provided with arrestment mechanism 20 relative to wheel FL, FR, RL, RR.System Motivation structure 20, can be to vehicle by pressing friction material 22 on the rotary body 21 rotated integrally with wheel FL, FR, RL, RR It takes turns FL, FR, RL, RR and applies brake force.In addition, the hydraulic i.e. WC pressure Pwc in wheel brake cylinder 23a, 23b, 23c, 23d is higher, Power, that is, brake force of the pressing of rotary body 21 on friction material 22 is bigger.Moreover, arrestment mechanism 20 is to wheel FL, FR, RL, RR The summation of the brake force of application is equivalent to the hydraulic braking force applied to vehicle.

Power unit 10 is configured to will be from least one power source in engine 11 and driving motor 12 Driving force is transmitted to front-wheel FL, FR.In addition, when vehicle braking, by the way that the rotation of front-wheel FL, FR are transmitted to driving motor 12, driving motor 12 can be made to generate electricity.It is regenerated that is, driving motor 12 can also apply brake force corresponding with power generation to vehicle Brake force BPR.

As shown in Figure 1, hydraulic brake system 30 has：Hydraulic supply unit 32, with an example as brake manipulating member Brake pedal 31 be drivingly connected；And brake actuator 50, configuration hydraulic supply unit 32 and each wheel brake cylinder 23a~ Between 23d.As shown in Figure 1 and Figure 2, hydraulic supply unit 32 has：Booster 33 operates brake pedal 31 to driver Operating force, that is, brake operation force carries out power-assisted；Master cylinder 34 is entered by the brake operation force after 33 power-assisted of booster；And atmosphere Reservoir 35 is pressed, brake fluid is stored.

As shown in Fig. 2, being provided with and being arranged in left-right direction in figure in the shell 40 of bottomed tube for constituting master cylinder 34 Two main pistons 411,412.For above-mentioned each main piston 411,412 when the brake operation force inputted becomes larger, confrontation is from each The force of spring 421,422, left, that is, braking direction sliding into figure.Conversely, each main piston 411,412 is in the system inputted When dynamic operating force becomes smaller, slided by right, that is, non-brake direction of the force from each spring 421,422 into figure.

In addition, the first main chamber 431 in master cylinder 34 is connected to the first following hydraulic circuits 511 of brake actuator 50, And it can be connected to via the first communication path 441 with atmospheric pressure reservoir 35.In addition, the second main chamber 432 in master cylinder 34 with Following the second hydraulic circuit 512 connections of brake actuator 50, and can be store via the second communication path 442 with atmospheric pressure Storage 35 is connected to.

Moreover, no matter brake operation amount BPInput is more or lacks, the first main chamber 431 and the first hydraulic circuit are maintained 511 connection and the connection of the second main chamber 432 and the second hydraulic circuit 512.On the other hand, work as brake operation amount When BPInput is less than invalid operation amount BPInputTH, the connection of each main chamber 431,432 and atmospheric pressure reservoir 35 is maintained.It is this In the case of, since the hydraulic i.e. MC pressure Pmc of each main chamber 431,432 on the basis of atmospheric pressure reservoir 35 becomes " 0 ", that is, Due to not having to generate MC pressure Pmc, brake fluid will not be out of each main chamber 431,432 to 50 side of brake actuator, that is, hydraulic time each It flows out on road 511,512.

On the other hand, when brake operation amount BPInput is more than or equal to invalid operation amount BPInputTH, each main chamber 431, 432 are blocked with the connection of atmospheric pressure reservoir 35 by each main piston 411,412.In this case, brake operation amount BPInput (that is, brake operation force) is bigger, and MC presses Pmc higher.That is, when brake operation amount BPInput is more than or equal to invalid operation amount When BPInputTH, MC is generated in master cylinder 34 and presses Pmc.Moreover, MC pressure Pmc is higher, more brake fluid from each main chamber 431, 432 flow out to 50 side of brake actuator, that is, each hydraulic circuit 511,512.In this case, when flowing out from each main chamber 431,432 When brake fluid is flowed into wheel brake cylinder 23a~23d, the WC pressure Pwc in wheel brake cylinder 23a~23d is got higher, hydraulic braking Amount is applied to vehicle.In addition, in the present specification, hydraulic braking force corresponding with this MC pressure Pmc is otherwise referred to as " benchmark Hydraulic braking force BPB ".

As shown in figure 3, being provided with the hydraulic circuit 511,512 of two systems in brake actuator 50.At first hydraulic time The wheel brake cylinder 23a of the near front wheel and the wheel brake cylinder 23d of off hind wheel are connected on road 511, and hydraulic second The wheel brake cylinder 23b of off-front wheel and the wheel brake cylinder 23c of left rear wheel are connected on circuit 512.

In the liquid flow path for connecting master cylinder 34 and wheel brake cylinder 23a~23d in each hydraulic circuit 511,512, setting There is differential pressure regulating valve 521,522.The differential pressure regulating valve 521,522 is the linear solenoid valve of open type, the differential pressure instruction inputted Current value Ism is bigger, and aperture is smaller.In addition, more leaning on wheel brake cylinder than differential pressure regulating valve 521 in the first hydraulic circuit 511 The side 23a, 23d is provided with the path 53a of the near front wheel and path 53d of off hind wheel.Similarly, in the second hydraulic circuit Wheel brake cylinder 23b, 23c side is more leaned on than differential pressure regulating valve 522 in 512, is provided with the path 53b and left rear wheel of off-front wheel Path 53c.Valve 54a, 54b, 54c, 54d and pressure reducing valve are kept moreover, being provided in such path 53a~53d 55a, 55b, 55c, 55d, described holding valve 54a, 54b, 54c, 54d are that the WC in wheel brake cylinder 23a~23d ought not be made to press The solenoid valve of the open type of valve closing when Pwc increases, pressure reducing valve 55a, 55b, 55c, 55d are the valve opening when reducing WC pressure Pwc The solenoid valve of closed type.

In addition, in each hydraulic circuit 511,512, in pressure reducing valve 55a~55d valve opening, auxiliary reservoirs 561,562 with 581,582 connection of pump, the auxiliary reservoirs 561,562 interim storages are out of wheel brake cylinder 23a~23d via pressure reducing valve The brake fluid of 55a~55d outflow, 581,582 drivings based on electric motor for pump 57 of the pump are acted.Auxiliary reservoirs 561, 562 are connected to pump 581,582 via sucking flow path 591,592, and are connected to via main side flow path 601,602 than differential pressure tune Whole valve 521,522 more leans on the liquid flow path of 34 side of master cylinder.In addition, pump 581,582 is connected to difference via supply flow path 611,612 Connecting portion 621,622 between pressure adjustment valve 521,522 and holding valve 54a~54d.

Moreover, pump 581,582 extracts braking in the case where electric motor for pump 57 drives out of auxiliary reservoirs 561,562 Liquid, and the brake fluid is supplied to supply flow path 611,612.In addition, not remaining brake fluid in auxiliary reservoirs 561,562 When, pump 581,582 extract in master cylinder 34 via sucking flow path 591,592 and main side flow path 601,602 (that is, main chamber 431, 432) brake fluid, and the brake fluid is supplied to supply flow path 611,612.Therefore, when make differential pressure regulating valve 521,522 with Pump 581,582 movement when, than differential pressure regulating valve 521,522 more by the side wheel brake cylinder 23a~23d liquid flow path, with than Differential pressure regulating valve 521,522 more generates differential pressure between the liquid flow path of 34 side of master cylinder.In addition, differential pressure regulating valve 521,522 Aperture is smaller, and the differential pressure is bigger.

That is, in the hydraulic brake system 30, even if do not generate MC pressure Pmc in master cylinder 34, i.e. In the case that MC presses Pmc to be " 0 ", by acting pump 581,582 and differential pressure regulating valve 521,522, wheel system also can be improved WC in dynamic cylinder 23a~23d presses Pwc, applies hydraulic braking force to vehicle.In addition, in the present specification, being adjusted with this differential pressure The corresponding hydraulic braking force of movement of valve 521,522 and pump 581,582 is sometimes referred to as " control hydraulic braking force BPP ".

As shown in Figure 1, being electrically connected with the wheel of quantity identical as wheel FL, FR, RL, RR on controller of vehicle 100 The detection system of velocity sensor 201, MC pressure sensor 202, stroke sensor 203 and brake switch 204 etc..Wheel velocity Sensor 201 detects the speed i.e. wheel velocity VW of corresponding wheel FL, FR, RL, RR, and MC pressure sensor 202 detects master cylinder MC in 34 presses Pmc.Stroke sensor 203 detects driver to operating quantity, that is, brake operation amount BPInput of brake pedal 31, Brake switch 204 detects whether brake pedal 31 is operated.

In addition, controller of vehicle 100 has：Power unit control device 110 undertakes the control to power unit 10； And braking ECU120, control the brake actuator 50 of hydraulic brake system 30.Power unit control device 110 includes control hair The Engine ECU 111 of motivation 11 and the motor ECU112 for controlling driving motor 12.In addition, " ECU " is " Electronic The abbreviation of Control Unit (electronic control unit) ".

Moreover, requiring brake force BPTA when braking ECU120 is based on the calculating such as brake operation amount BPInput and MC pressure Pmc When, in order to generate the regenerative braking force BPR for being no more than the range for requiring brake force BPTA, motor ECU112 sends out driving motor 12 Electricity.In addition, information relevant to the regenerative braking force BPR applied to vehicle is sent braking ECU120 by motor ECU112.Cause This, in the present embodiment, be made of driving motor 12 and motor ECU112 to vehicle apply regenerative braking force BPR " again An example of raw brake apparatus ".

Next, illustrating referring to flow chart shown in Fig. 4 for detecting that driver is carrying out in brake switch 204 Control hydraulic braking force BPP is calculated when brake operating and controls the place of the movement of differential pressure regulating valve 521,522 and pump 581,582 Manage step.In addition, in the present embodiment, each step of the flow chart of Fig. 4 is executed with defined calculating cycle by braking ECU120 Suddenly.

As shown in figure 4, firstly, in step s 11, the MC for obtaining the master cylinder 34 detected by MC pressure sensor 202 is pressed The Pmc and brake operation amount BPInput detected by stroke sensor 203.Then, in step s 12, based on acquisition MC presses Pmc and brake operation amount BPInput, calculates target braking force BPT.Brake operation amount BPInput is bigger, by the target Brake force BPT is set as bigger value.It, will alternatively, it is also possible to be that brake operation amount BPInput is higher and MC pressure Pmc is higher Target braking force BPT is set as bigger value.

In the present embodiment, when the implementation condition of auxiliary control defined in the case where driver carries out brake operating When establishment, implement auxiliary control below：That is, in a manner of becoming larger the deceleration of vehicle, to target braking force BPT into Row increases amendment and requires brake force BPTA to export.In auxiliary control, with the more big then target auxiliary quantity of target braking force BPT T α bigger mode exports target auxiliary quantity T α, and makes that brake force BPTA is required to be equal to target braking force BPT and target auxiliary Measure the sum of T α.More specifically, make to require brake force BPTA from target braking force BPT with the increase of defined increase slope, and Final requirement brake force BPTA is set to be equal to the sum of target braking force BPT and target auxiliary quantity T α.For example, target auxiliary quantity T α energy Enough exported using auxiliary shown in fig. 6 with mapping graph M1.

As shown in fig. 6, being stored with auxiliary mapping graph M1 in the memory of braking ECU120.In the auxiliary mapping graph In M1, target braking force BPT is bigger, and target auxiliary quantity T α is bigger.

Then, Fig. 4 is returned, in step S121, determines whether the implementation condition of defined auxiliary control is true.Implementing (step S121 in the case that condition is set up：It is), processing is transferred to next step S122.Then, it in step S122, uses Auxiliary mapping graph M1 shown in fig. 6, exports target auxiliary quantity T α corresponding with the target braking force BPT of current point in time, place Reason is transferred to following step S13.On the other hand, (the step S121 in the case where implementation condition is invalid：It is no), next In step S123, target auxiliary quantity T α is set as " 0 ", and following auxiliary quantity α is set as " 0 ".Then, processing is transferred to down One step S13.

In step s 13, determine whether to be carrying out the switching control from hydraulic braking force to regenerative braking force.For example, When the regenerative braking force BPR received from motor ECU112 becomes larger, it can be judged as that braking ECU120 is carrying out above-mentioned cut Change control.Then, (the step S13 in the case where being not carried out switching control：It is no), processing is transferred to next step S14.At this In step S14, Pmc is pressed to the MC of benchmark MC pressure Pmcref setting current point in time, and to reference operation amount BPInputref The brake operation amount BPInput of current point in time is set, processing is transferred to next step S15.

It then, will be standard to the cumulative value corresponding with above-mentioned increase slope of the previous value of auxiliary quantity α in step S15 The sum that auxiliary accumulated value AS1 is obtained, is set as this auxiliary quantity α.Furthermore it is possible to by preset defined increase Slope (alternatively referred to as " increasing speed ") multiplied by above-mentioned calculating cycle the time span i.e. time in counting period, to calculate standard Assist accumulated value AS1.Then, accumulated value AS1 is assisted by using such standard, made in the implementation process of auxiliary control auxiliary The amount of helping α is gradually increased with defined slope to target auxiliary quantity T α.In addition, auxiliary to make using standard auxiliary accumulated value AS1 in this way The auxiliary control that the amount of helping α increases is also referred to as " common auxiliary control ".Moreover, processing is transferred to following after executing step S15 Step S191.

On the other hand, in step s 13, the (YES) in the case where being carrying out above-mentioned switching control, processing are transferred to down One step S16.The judgement result of step S13 becomes reference operation the amount BPInputref and benchmark MC at the time point of "Yes" It is equal that pressure Pmcref can be considered as brake operation amount BPInput and MC before will starting with switching control pressure Pmc.Then, In step S16, using reference operation amount BPInputref, the brake operating in the implementation process of switching control is calculated The variable quantity of amount, that is, stroke variation delta BPInput.Specifically, will subtract from the brake operation amount BPInput of current point in time The difference (=BPInput-BPInputref) for going reference operation amount BPInputref to obtain is set as stroke variation delta BPInput. Then, in step S17, by using mapping graph shown in Fig. 7, benchmark corresponding with stroke variation delta BPInput is exported MC presses variation delta Pmcst.Then, processing is transferred to next step S18.

Mapping graph shown in Fig. 7 indicates between stroke variation delta BPInput and benchmark MC pressure variation delta Pmcst The mapping graph of relationship.Benchmark MC pressure variation delta Pmcst is due to the MC pressure that brake operation amount BPInput changes and generates The predicted value of the variable quantity of Pmc.In the present embodiment, exist in the case where stroke variation delta BPInput is equal to " 0 ", i.e. In the case that brake operation amount BPInput does not change in the implementation process of above-mentioned switching control, benchmark MC presses variation delta Pmcst is " 0 ".In addition, in the case where stroke variation delta BPInput is positive value, i.e. in the implementation process of switching control In the case that brake operation amount BPInput increases, it is positive value that benchmark MC, which presses variation delta Pmcst,.Specifically, stroke variation delta BPInput is bigger, and benchmark MC pressure variation delta Pmcst becomes bigger value.On the other hand, in stroke variation delta BPInput In the case that brake operation amount BPInput is reduced in the case where for negative value, i.e. in the implementation process of switching control, benchmark MC pressure Variation delta Pmcst is negative value.Specifically, the absolute value of stroke variable quantity | Δ BPInput | bigger, benchmark MC presses variation delta Pmcst becomes smaller value.

Back to Fig. 4, in step S18, the sum of benchmark MC pressure Pmcref and benchmark MC pressure variation delta Pmcst is found out, Determine poor (=Pmc- (the Pmcref+ Δ of difference i.e. the first calculating for subtracting this from the MC of current point in time pressure Pmc and obtaining Pmcst)) whether it is greater than the first variation decision content Δ PmcTH1.

Here, being reduced to make to control hydraulic braking force BPP during stating switching control on the implementation, reducing needle To the differential pressure indicator current value Ism of differential pressure regulating valve 521,522.Fixed in the spray volume of the brake fluid from pump 581,582 In the case of, differential pressure indicator current value Ism is smaller, and the aperture of differential pressure regulating valve 521,522 is bigger, and therefore, brake fluid is easy from vehicle The side checking cylinder 23a~23d is taken turns to flow out to 34 side of master cylinder.As a result, the MC pressure Pmc in master cylinder 34 is easy to increase.

Benchmark MC pressure Pmcref and benchmark MC presses the sum of variation delta Pmcst to be, and is not carried out for making to control hydraulic system The corresponding MC pressure of brake operation amount BPInput under the situation of the control of power BPP reduction, i.e., with it is so-called usual when braking The corresponding MC pressure of operating quantity BPInput.Moreover, above-mentioned first calculates difference greater than the first variation decision content Δ PmcTH1, can regard The variation of Pmc and brake operation amount BPInput is pressed independently to increase for MC.Therefore, in step S18, it is big that difference is calculated first The (YES) in the case where the first variation decision content Δ PmcTH1, processing are transferred to next step S19.On the other hand, first It calculates difference and is less than or equal to (step S18 in the case where the first variation decision content Δ PmcTH1：It is no), processing is transferred to above-mentioned step S15。

In addition, in the implementation process of above-mentioned switching control and first calculate difference be greater than first variation decision content Δ PmcTH1 In the case where, the WC pressure Pwc in wheel brake cylinder 23a~23d is difficult to reduce, and actual control hydraulic braking force is easy to become big In by braking the calculated control hydraulic braking force BPP of ECU120.Therefore, in this case, tired using standard auxiliary when executing When the common auxiliary control of value added AS1, it will lead to and the situation that the deceleration of vehicle excessively increases occur.Therefore, such case Under, in step S19, accumulated value AS2 is assisted using the inhibition smaller than standard auxiliary accumulated value AS1, it will be to the previous of auxiliary quantity α The cumulative sum for inhibiting auxiliary accumulated value AS2 to obtain of value is set as this auxiliary quantity α.Auxiliary accumulated value AS2 is inhibited to be less than standard Accumulated value AS1 is assisted, either " 0 ", is also possible to negative value.Therefore, use standard auxiliary accumulated value AS1's with execution The case where common auxiliary controls is compared, and the increase slope of auxiliary quantity α becomes smaller, i.e., auxiliary quantity α is difficult to become larger.As a result, even if Implement auxiliary control in the implementation process of switching control, the deceleration for being also able to suppress vehicle becomes excessive.Then, it is executing After step S19, processing is transferred to next step S191.

In step S191, determine whether this auxiliary quantity α is greater than target auxiliary quantity T α.Auxiliary quantity α at this is small (the step S191 in the case where being equal to target auxiliary quantity T α：It is no), processing is transferred to following step S20.On the other hand, at this Secondary auxiliary quantity α is greater than (step S191 in the case where target auxiliary quantity T α：It is), processing is transferred to next step S192.So Afterwards, in step S192, auxiliary quantity α is set as equal with target auxiliary quantity T α.Prevent auxiliary quantity α from becoming larger than mesh as a result, Mark auxiliary quantity T α.In addition, target auxiliary quantity T α is " 0 ", therefore auxiliary quantity α is set as in the case where auxiliary control is not carried out "0".Then, processing is transferred to next step S20.

In step S20, it is desirable that brake force BPTA is set equal to the sum of target braking force BPT and auxiliary quantity α (=BPT+ α).Then, in the step s 21, the relevant information of brake force BPTA is required to be sent to motor ECU112 to calculated.This Sample, in motor ECU112, in order to apply regenerative braking force BPR to vehicle in the range of being no more than and requiring brake force BPTA, Control driving motor 12.

Then, in step S22, information relevant to the regenerative braking force BPR applied to vehicle is received.In this respect, In the present embodiment, " the regeneration for the regenerative braking force BPR that acquisition driving motor 12 applies vehicle is constituted by braking ECU120 An example of acquisition unit ".In this way, in step S23, it is desirable that hydraulic braking force BPF is set equal to from requiring in brake force BPTA Subtract the difference (BPTA-BPR) that regenerative braking force BPR is obtained.Then, in step s 24, the MC based on current point in time presses Pmc Calculate basic hydraulic braking force BPB.MC presses Pmc higher, and basic hydraulic braking force BPB is bigger.

Then, in step s 25, control hydraulic braking force BPP is equal to from requiring to subtract base in hydraulic braking force BPF The difference (=BPF-BPB) that plinth hydraulic braking force BPB is obtained.In this way, in next step S26, based on control hydraulic braking force BPP controls the movement of differential pressure regulating valve 521,522 and pump 581,582.At this point, control hydraulic braking force BPP is bigger, for The differential pressure command current value of differential pressure regulating valve 521,522 becomes bigger value.In addition, being greater than " 0 " in control hydraulic braking force BPP In the case where, pump 581,582 is acted by braking ECU120.But when implementing the second following reduced pressure treatments, even if control Hydraulic braking force BPP processed is greater than " 0 ", also stops the movement of pump 581,582.But even make pump 581,582 in this way Movement stop the case where, when control hydraulic braking force BPP increase when, in order to press the WC in wheel brake cylinder 23a~23d Pwc increases, and also starts again at the movement of pump 581,582.

Then, in step s 27, determine whether to detect that brake operating has terminated by brake switch 204.In brake operating (step S27 in the case where continuation：It is no), processing is transferred to above-mentioned step S11.On the other hand, terminated in brake operating In the case of (step S27：It is), present treatment process terminates.

Here, illustrating to carry out implementing auxiliary control in brake operation course in driver referring to timing diagram shown in Fig. 9 When effect.In addition, showing the example of the indeclinable situation of brake operation amount BPInput in Fig. 9.

As shown in (a) of Fig. 9, (b), (c), (d), from the first moment t21 that the implementation condition of auxiliary control is set up, open Beginning carries out auxiliary control.During the first moment t21 to the second moment t22, switching control, therefore auxiliary quantity α is not carried out Standard auxiliary accumulated value AS1 is increased separately in each above-mentioned calculating cycle.As a result, requiring brake force BPTA to assist with standard The corresponding slope of accumulated value AS1 increases.

Then, when the second moment t22 of arrival starts to switch over control, make master cylinder 34 due to implementing the switching control Interior MC pressure Pmc increases.But during the second moment t22 to third moment t23 in, it is above-mentioned first calculate it is poor (= Pmc- (Pmcref+ Δ Pmcst)) it is less than or equal to the first variation decision content Δ PmcTH1, therefore it is cumulative to continue to use standard auxiliary Value AS1 makes auxiliary quantity α that brake force BPTA be required to increase.

But after third moment t23, above-mentioned first, which calculates difference, is greater than the first variation decision content Δ PmcTH1, therefore Using inhibition auxiliary accumulated value AS2, non-standard auxiliary accumulated value AS1 increases auxiliary quantity α.Inhibit the increasing of auxiliary quantity α as a result, Greatly, that is, inhibit to require the increase of brake force BPTA.In addition, in the example shown in Fig. 9, inhibiting auxiliary accumulated value AS2 is " 0 ". In addition, the dotted line in (a) of Fig. 9, which shows to calculate difference is greater than the first variation decision content Δ PmcTH1 even if first, uses standard Passage when auxiliary accumulated value AS1 increases auxiliary quantity α, requiring brake force BPTA.

It, will be non-inhibited auxiliary using standard auxiliary accumulated value AS1 at the end of the 4th moment t24 switching control hereafter Accumulated value AS2 is helped to increase auxiliary quantity α.In this way, auxiliary quantity α requires brake force BPTA to increase.Then, when at the 5th moment When t25 auxiliary quantity α becomes equal with target auxiliary quantity T α, auxiliary quantity α is retained equal with target auxiliary quantity T α after this Value.

Next, flow chart referring to Figure 5, illustrates to detect that driver is braking when brake switch 204 When operation, in the case where executing from hydraulic braking force to the situation of the switching control of regenerative braking force, control is kept in valve 54a~54d A part keep valve, the pressure reducing valve of a part in pressure reducing valve 55a~55d and processing when pumping 581,582 movement Step.In addition, the treatment progress is performed in parallel with the above-mentioned treatment progress illustrated using Fig. 4.In addition, in present embodiment In, each step of the flow chart of Fig. 5 is executed by braking ECU120.

As shown in figure 5, firstly, in step S41, make the rear-wheel in each holding valve 54a~54d holding valve 54c, 54d valve closing.Therefore, in the present embodiment, an example of " the first processing unit " is constituted by braking ECU120, which exists Make holding valve 54c, 54d (a part of guarantor of the rear-wheel in each holding valve 54a~54d when brake operating by driver Hold valve) valve closing, holding valve 54a, 54b (remaining holding valve) valve closing without making front-wheel.When the processing for executing step S41 When, allow the WC in wheel brake cylinder 23a, 23b of front-wheel that Pwc is pressed to increase, but wheel brake cylinder 23c, 23d of rear-wheel Interior WC pressure Pwc does not increase.

Then, in step S42, obtain the MC in the master cylinder 34 detected by MC pressure sensor 202 press Pmc and The brake operation amount BPInput detected by stroke sensor 203.Then, in step S43, determine from hydraulic braking force Whether the switching control to regenerative braking force has started.(the step S43 in the case where switching control not yet starts：It is no), processing It is transferred to next step S44.In step S44, Pmc is pressed to the MC of benchmark MC pressure Pmcref setting current point in time, and And to the brake operation amount BPInput of reference operation amount BPInputref setting current point in time, processing is transferred to above-mentioned step Rapid S42.

On the other hand, (the step S43 in the case where above-mentioned switching control has started：It is), processing is transferred to next Step S45.The judgement result of step S43 becomes reference operation amount BPInputref and benchmark the MC pressure at the time point of "Yes" It is equal that Pmcref can be considered as brake operation amount BPInput and MC before will starting with switching control pressure Pmc.In the step In S45, the newest MC for obtaining master cylinder 34 presses Pmc and newest brake operation amount BPInput.Then, in step S46, By subtracting the reference operation amount set in step S44 in the brake operation amount BPInput that obtains from step S45 BPInputref finds out the variable quantity i.e. stroke variation delta BPInput of the brake operation amount in the implementation process of switching control. Then, in step S47, in the same manner as above-mentioned steps S17, by using mapping graph shown in Fig. 7, export and stroke variable quantity The corresponding benchmark MC of Δ BPInput presses variation delta Pmcst.

Then, in step S48, the sum of benchmark MC pressure Pmcref and benchmark MC pressure variation delta Pmcst is found out, and determine Difference i.e. the second calculating for subtracting this from the MC of current point in time pressure Pmc and obtaining is poor (=Pmc- (Pmcref+ Δ Pmcst)) Whether second variation decision content Δ PmcTH2 is greater than.In addition, second variation decision content Δ PmcTH2 be redefined for it is following Value：That is, when it is above-mentioned second calculate difference be greater than second variation decision content Δ PmcTH2 when, no matter brake operation amount BPInput whether there is or not Variation can be judged as that the aperture due to differential pressure regulating valve 521,522 becomes larger and MC pressure Pmc is caused to increase.Therefore, second becomes Change decision content Δ PmcTH2 either being also possible to the equal value of above-mentioned first variation decision content Δ PmcTH1 and first becoming Change the slightly different value of decision content Δ PmcTH1.

(step S48 in the case that difference is greater than the second variation decision content Δ PmcTH2 is calculated above-mentioned second：It is), it can sentence Break to become larger due to the aperture of differential pressure regulating valve 521,522 and MC pressure Pmc caused to increase, processing is transferred to next step Rapid S49.On the other hand, (step S48 in the case that difference is less than or equal to the second variation decision content Δ PmcTH2 is calculated second： It is no), processing is transferred to above-mentioned step S45.That is, executing step S45 repeatedly to S47's in the implementation process of switching control A series of processing, until that can be judged as that the aperture due to differential pressure regulating valve 521,522 becomes larger and MC pressure Pmc is caused to be increased to Only.

In step S49, implement the first decompression for increasing the aperture of holding valve 54c, 54d for being in the rear-wheel for closing valve Processing.Valve 54c, 54d valve closing are kept and by the movement of differential pressure regulating valve 521,522 and pump 581,582 in rear-wheel Under the situation for making the WC in wheel brake cylinder 23a, 23b of front-wheel that Pwc be pressed to become to be above the MC pressure Pmc in master cylinder 34, implement First reduced pressure treatment.Therefore, in the present embodiment, an example in " second processing portion " is constituted by braking ECU120.In addition, straight Until holding valve 54c, 54d of rear-wheel become standard-sized sheet, i.e., until the indicator current value for the holding valve 54c, 54d becomes Until " 0 ", implement the first reduced pressure treatment.In this way, when keeping the aperture of valve 54c, 54d to become larger, vehicle of the brake fluid from front-wheel It takes turns in checking cylinder 23a, 23b and is flowed out to wheel brake cylinder 23c, the 23d side of rear-wheel.

Here, being illustrated to an example of the first reduced pressure treatment.For example, in the first reduced pressure treatment, in first decompression When the beginning condition of processing is set up, i.e., grasped in the braking that the time for being predicted as the judgements result from step S48 and becoming "Yes" lights In the case that the reduction amount of work amount BPInput is easy to increase, keep pushing the speed for the aperture of valve 54c, 54d larger.Namely Say, when the reduction amount for being predicted as brake operation amount BPInput is easy to increase, in addition to this case where compared with, brake fluid holds Easily it is flowed into wheel brake cylinder 23c, 23d of rear-wheel.Therefore, brake operation amount when switching control can suitably be inhibited The variation of BPInput.

Moreover, processing is transferred to next step S50 at the end of the implementation of the first reduced pressure treatment.In step S50 In, determine whether continuing the switching control from hydraulic braking force to regenerative braking force.It is in switching control In the case where (step S50：It is no), do not implement the second following reduced pressure treatments, terminates present treatment process.On the other hand, it is cutting Change control (step S50 just in the case of continuation：It is), processing is transferred to next step S51.

In step S51, in the same manner as above-mentioned steps S45, the newest MC pressure Pmc and newest of master cylinder 34 is obtained Brake operation amount BPInput.Then, in step S52, by from the brake operation amount BPInput obtained in step s 51 The reference operation amount BPInputref set in step S44 is subtracted, the brake operating in the implementation process of switching control is found out The variable quantity of amount, that is, stroke variation delta BPInput.Then, same as above-mentioned steps S17 or step S47 in step S53 Ground exports benchmark MC corresponding with stroke variation delta BPInput and presses variation delta by using mapping graph shown in Fig. 7 Pmcst。

Then, in step S54, the sum of benchmark MC pressure Pmcref and benchmark MC pressure variation delta Pmcst is found out, and determine The difference i.e. third for subtracting this from the MC of current point in time pressure Pmc and obtaining calculates poor (=Pmc- (Pmcref+ Δ Pmcst)) Whether it is greater than third and changes decision content Δ PmcTH3.In addition, third variation decision content Δ PmcTH3 be redefined for it is following Value：That is, can be judged as when above-mentioned third calculates difference and is greater than third variation decision content Δ PmcTH3 due to differential pressure regulating valve 521,522 aperture becomes larger and MC pressure Pmc is caused to increase.

Moreover, calculating (step S54 in the case that difference is greater than third variation decision content Δ PmcTH3 in above-mentioned third：It is), It can be judged as that the aperture due to differential pressure regulating valve 521,522 becomes larger and MC pressure Pmc is caused to increase, processing is transferred to down One step S55.On the other hand, (step in the case that difference is less than or equal to third variation decision content Δ PmcTH3 is calculated in third S54：It is no), processing is transferred to above-mentioned step S50.

Then, in step S55, implement pressure reducing valve 55c, 55d valve opening for making the rear-wheel in each pressure reducing valve 55a~55d And the second reduced pressure treatment for stopping the movement of pump 581,582.In the present embodiment, by implementing the first reduced pressure treatment Become holding valve 54c, 54d of rear-wheel under the situation of standard-sized sheet, implements the second reduced pressure treatment.Moreover, when implementing the second decompression When processing, the brake fluid in wheel brake cylinder 23c, 23d of rear-wheel is flowed out in auxiliary reservoirs 561,562.Therefore, at this In embodiment, an example of " third processing unit " is constituted by braking ECU120.

Here, being illustrated to an example of the second reduced pressure treatment.For example, in the second reduced pressure treatment, pressure reducing valve 55c, 55d With certain period valve opening.Moreover, when pressure reducing valve 55c, 55d valve closing, monitor the brake operation amount BPInput's in during valve closing Reduction amount.At this point, when the reduction amount of the brake operation amount BPInput in during valve closing becomes determining reduction amount or more, again The valve opening of pressure reducing valve 55c, 55d are carried out with certain time.And then it is secondary monitoring valve closing during in brake operation amount BPInput Reduction amount.In this way, in the second reduced pressure treatment, the prison in during the valve opening and valve closing of pressure reducing valve 55c, 55d is repeated Depending on.Then, at the end of above-mentioned switching control, the second reduced pressure treatment also terminates.When terminating at the second decompression in this way When reason, present treatment process terminates.

Next, making vehicle to by the brake operating of driver referring to figure shown in Fig. 8 and timing diagram shown in Fig. 10 Slow down when action and effect be illustrated together.In addition, in the example shown in Fig. 10, understand for ease of description, with It does not execute and assists being illustrated for control.

As shown in (a) of Figure 10, (b), (c), (d), (e), (f), (g), (h), the first moment t1 in vehicle traveling, The brake operating of driver starts.In this way, in during the first moment t1 to the second moment t2, brake operation amount BPInput Become larger, but brake operation amount BPInput is less than invalid operation amount BPInputTH, therefore, the MC pressure Pmc in master cylinder 34 is " 0 ". In addition, in the example shown in Fig. 10, in third moment t3, starting to apply regenerative braking force BPR to vehicle.Therefore, first During moment t1 to the second moment t2, controls hydraulic braking force BPP and require brake force BPTA (that is, target braking force BPT) equal.As a result, pump 581,582 and differential pressure regulating valve 521,522 start to act, and needle from the first moment t1 To the differential pressure indicator current value Ism of differential pressure regulating valve 521,522 with control hydraulic braking force BPP (=BPTA) become larger and gradually Become larger.That is, the aperture of differential pressure regulating valve 521,522 gradually becomes smaller.

In addition, making holding valve 54c, 54d valve closing of rear-wheel in the first moment t1 for detecting that brake operating starts.Cause This, as shown in (c) of Figure 10, (d), the WC pressure Pwc in wheel brake cylinder 23a, 23b of front-wheel is gradually got higher, on the other hand, WC pressure Pwc in wheel brake cylinder 23c, 23d of rear-wheel does not increase.Wheel brake cylinder 23a, 23b of front-wheel is formed as a result, Interior WC pressure Pwc is higher than the state of the WC pressure Pwc in wheel brake cylinder 23c, 23d of rear-wheel.

Moreover, because reach invalid operation amount BPInputTH in the second moment t2 brake operation amount BPInput, therefore, After second moment t2, as brake operation amount BPInput becomes more, the MC pressure Pmc in master cylinder 34 is gradually got higher.Such case Under, the sum of control hydraulic braking force BPP and basic hydraulic braking force BPB are become equal to the brake force that vehicle applies.

In third moment t3 later, start the switching control from hydraulic braking force to regenerative braking force.In this way, with again Raw brake force BPR becomes larger, and becomes smaller for the differential pressure indicator current value Ism of differential pressure regulating valve 521,522, i.e., differential pressure regulating valve 521, 522 aperture becomes larger.At this point, the connection quilt in hydraulic supply unit 32, between main chamber 431,432 and atmospheric pressure reservoir 35 It blocks.Therefore, even if increasing the aperture of differential pressure regulating valve 521,522 in this way, brake fluid is also from the wheel system of front-wheel It is flowed out in dynamic cylinder 23a, 23b to 34 side of master cylinder, even if as a result, in the case where the brake operation force of driver is fixed, master cylinder 34 Interior MC pressure Pmc is also got higher.As a result, the operation reaction force relative to brake pedal 31 becomes larger, even if the braking of driver Operating force be it is fixed, brake operation amount BPInput may also become smaller.

Therefore, in the present embodiment, in the 4th moment t4, when being determined as the aperture due to differential pressure regulating valve 521,522 When increasing and MC pressure Pmc being caused to increase, start the first reduced pressure treatment of holding valve 54c, 54d valve opening for make rear-wheel.? The time point, the WC pressure Pwc in wheel brake cylinder 23c, 23d of rear-wheel is lower than in wheel brake cylinder 23a, 23d of front-wheel WC pressure Pwc and master cylinder 34 in MC press Pmc.Therefore, the brake fluid in wheel brake cylinder 23a, 23d of front-wheel will be to It flows out wheel brake cylinder 23c, the 23d side of rear-wheel.The WC pressure Pwc in wheel brake cylinder 23a, 23d of front-wheel becomes as a result, It is low, and the WC pressure Pwc in wheel brake cylinder 23c, 23d of rear-wheel is got higher.

Here, in fig. 8, showing between the amount of the brake fluid in wheel brake cylinder 23a~23d and WC pressure Pwc Relationship.As shown in figure 8, the amount of the brake fluid in wheel brake cylinder 23a~23d is more, WC presses Pwc higher.But brake fluid Amount will start that the WC pressure Pwc before variation is higher, when the amount of the brake fluid in wheel brake cylinder 23a~23d changes specified amount WC presses the variable quantity of Pwc bigger.

Therefore, by implementing the first reduced pressure treatment, even if the brake fluid flowed out from wheel brake cylinder 23a, 23b of front-wheel All it is flowed into wheel brake cylinder 23c, 23d of rear-wheel, the WC pressure Pwc's in wheel brake cylinder 23c, 23d of rear-wheel Reduction amount of the increase also than the WC of wheel brake cylinder 23a, 23b of front-wheel pressure Pwc is few.Therefore, by switching control Implement the first reduced pressure treatment in implementation process, control hydraulic braking force BPP can be made suitably to reduce.As a result, it is possible to inhibit The deceleration of vehicle becomes bigger than deceleration expected from driver.

In addition, due to making holding valve 54a~54d valve opening of rear-wheel by implementing the first reduced pressure treatment, switching In the implementation process of control, the inflow quantitative change of the brake fluid of 34 side of master cylinder is flowed to out of front-wheel wheel brake cylinder 23a, 23b It is few.Therefore, the MC pressure Pmc in master cylinder 34 is difficult to get higher, and correspondingly, the increase of the operation reaction force of brake pedal 31 is pressed down System, brake operation amount BPInput are difficult to reduce.It is thus possible to which the impression of the driver of operation brake pedal 31 is enough inhibited to be deteriorated.

But even if make holding valve 54c, 54d valve opening of rear-wheel by implementing the first reduced pressure treatment, when the vehicle of rear-wheel It is roughly equal that WC pressure Pwc in wheel checking cylinder 23c, 23d becomes the pressure of the WC in wheel brake cylinder 23a, 23d with front-wheel Pwc When, after this, the WC pressure Pwc in wheel brake cylinder 23a, 23d of front-wheel is also difficult to reduce.Therefore, when in this state When the aperture of differential pressure regulating valve 521,522 becomes larger, the brake fluid of 34 side of master cylinder is flowed to from wheel brake cylinder 23a, 23b of front-wheel Discharge increase.As a result, the MC pressure Pmc in master cylinder 34 is got higher, the operation reaction force relative to brake pedal 31 becomes larger, Brake operation amount BPInput may show reduction tendency.

Therefore, in the present embodiment, the 5th moment t5 after the first reduced pressure treatment, when being determined as due to differential pressure When the aperture of adjustment valve 521,522 increases and MC pressure Pmc is caused to increase, start make holding valve 54c, 54d of rear-wheel to open Second reduced pressure treatment of valve.In second reduced pressure treatment, the movement of pump 581,582 is stopped.As a result, the wheel of rear-wheel Brake fluid in checking cylinder 23c, 23d is flowed into auxiliary reservoirs 561,562 via pressure reducing valve 55c, 55d.Each wheel as a result, WC pressure Pwc in checking cylinder 23a~23d will be reduced.In addition, accumulating in the system in auxiliary reservoirs 561,562 in this way Hydrodynamic is helpless to application of the brake force to wheel FL, FR, RL, RR.Therefore, control hydraulic braking force BPP can be made suitably to subtract It is few.In addition, executing second reduced pressure treatment until the 6th moment t6 that above-mentioned switching control terminates.

More than, according to the present embodiment, in addition to the effect above, additionally it is possible to obtain effect below.

In the implementation process of above-mentioned switching control, as Figure 10 (a) in shown in dotted line, even if implementing the first reduced pressure treatment With the second reduced pressure treatment, brake force BPTA is also slightly larger than required to the implementation brake force that vehicle applies.In this respect, in this implementation In mode, during the implementation of switching control in, first calculate poor (=Pmc- (Pmcref+ Δ Pmcst)) be greater than first change In a period of changing decision content Δ PmcTH1, compared with this period is outer, the increase of auxiliary quantity α is suppressed.Therefore, and during this period Also it is compared, is able to suppress in the implementation process of switching control the case where auxiliary quantity α to determine using standard auxiliary accumulated value AS1 The deceleration of vehicle exceedingly becomes larger, while can suitably adjust the deceleration of vehicle.

In addition, in the second reduced pressure treatment, since the valve opening and valve closing of pressure reducing valve 55c, 55d, meeting is repeated From brake actuator 50 generate because pressure reducing valve 55c, 55d movement caused by noise.Therefore, in the present embodiment, work as switching When control starts, implement the first reduced pressure treatment before the second reduced pressure treatment.Moreover, when the beginning condition in the second reduced pressure treatment When the implementation of above-mentioned switching control is over before establishment, the second reduced pressure treatment is not implemented.Therefore, it is able to suppress pressure reducing valve The increase of the movement chance of 55c, 55d is correspondingly able to suppress in the implementation process of switching control from brake actuator 50 and produces Raw noise.

In addition, compared with the case where the second reduced pressure treatment is carried out prior to the first reduced pressure treatment, be able to suppress pump 581, The increase of 582 chances stopped.That is, being able to suppress in the state of remaining brake fluid in auxiliary reservoirs 561,562 becomes The situation that brake actuator 50 acts.

In addition, above embodiment can also be changed to following other embodiments.

In the above-described embodiment, pressure reducing valve 55c, 55d valve opening of rear-wheel is made by the second reduced pressure treatment, still, It can also make pressure reducing valve 55a, 55b valve opening of front-wheel, rather than make pressure reducing valve 55c, 55d valve opening of rear-wheel.In addition, second In reduced pressure treatment, pressure reducing valve 55c, 55d of rear-wheel and the equal valve opening of pressure reducing valve 55a, 55b both sides of front-wheel can also be made. Even in this case, the effect same with above embodiment can also be obtained.

In the second reduced pressure treatment, as long as the valve opening and valve closing of pressure reducing valve 55c, 55d is repeated, it can also pass through The method different from the method illustrated in above embodiment acts pressure reducing valve 55c, 55d.For example, it is also possible to which monitoring makes to depressurize Valve 55c, 55d are with the increase of the MC pressure Pmc in during the valve closing after valve opening during certain, and when the increase becomes greater than Make pressure reducing valve 55c, 55d valve opening certain period when equal to specified amount.Certain period of pressure reducing valve 55c, 55d can also be repeated Valve opening and make MC in during its valve closing press Pmc increase monitoring.

In addition, in the second reduced pressure treatment, it can also be whenever the time point terminated from pressure reducing valve 55c, 55d valve opening is by rule When fixing time, make pressure reducing valve 55c, 55d valve opening certain period.

As long as can with keep adjusting the aperture of pressure reducing valve 55c, 55d in the same manner as valve 54a~54d, can also be the The aperture of pressure reducing valve 55c, 55d are gradually increased in two reduced pressure treatments.The increase speed of the aperture of pressure reducing valve 55c, 55d in this case Degree is either preset fixing speed, can also make pushing the speed for the aperture of pressure reducing valve 55c, 55d in this case Press the pace of change of Pmc, brake operation amount BPInput, regenerative braking force BPR etc. variable according to MC.

It can also make the second decompression when the time point switching control that the implementation in the first reduced pressure treatment terminates still continues Processing continues.Alternatively, it is also possible to by implement the first reduced pressure treatment make keep valve 54d aperture become larger when, start into The second reduced pressure treatment of row.

As long as implementing the first reduced pressure treatment, the second reduced pressure treatment can not also be implemented.

In the above-described embodiment, it is also possible to the increase speed of the MC pressure Pmc in the implementation process of the first reduced pressure treatment Degree is bigger, more increases pushing the speed for the aperture of the holding valve of a part.Regenerative braking when alternatively, it is also possible to be switching control Pushing the speed for power BPR is bigger, more increases pushing the speed for the aperture of the holding valve of a part.In addition, the holding valve of a part Pushing the speed for aperture can also be preset fixing speed.

In the first reduced pressure treatment, the holding valve actuation of a part can also be made in a manner of valve opening and valve closing is repeated Make.In this case, on-off valve can be used as holding valve.

In the implementation process of switching control, both Pmc can be pressed by the MC that MC pressure sensor 202 detects detecting Start to carry out the first reduced pressure treatment when increase, can also detect the brake operation amount detected by stroke sensor 203 BPInput starts to carry out the first reduced pressure treatment when reducing.Furthermore it is also possible to start to start for opportunity carry out with switching control One reduced pressure treatment.

It can also make holding valve 54a, 54b valve closing of front-wheel when brake operating starts and not make the guarantor of rear-wheel Hold valve 54c, 54d valve closing.In the first reduced pressure treatment in this case, make holding valve 54a, 54b of the front-wheel in valve closing Valve opening.Even such structure can also obtain the effect same with above embodiment.

Before generating MC pressure Pmc in master cylinder 34, switching control is possible to start.In this way, being until generating MC pressure Pmc Only, the aperture for increasing differential pressure regulating valve 521,522, thus it enables that brake fluid is out of, front-wheel wheel brake cylinder 23a, 23b Suitably flowed out to 34 side of master cylinder.In addition, in this case, even if brake fluid is flowed into master from wheel brake cylinder 23a, 23b side In cylinder 34, the brake fluid measured accordingly can also flow out to atmospheric pressure reservoir 35 out of master cylinder 34, and therefore, MC presses Pmc hardly Variation.Accordingly it is also possible to MC pressure Pmc will generate before and the implementation of switching control at the end of, do not implement the first decompression Processing.

As long as the vehicle for having this hydraulic brake system 30 has the regenerative braking dress that can apply regenerative braking force BPR It sets, other vehicles (for example, electric vehicle) being also possible to other than hybrid vehicle.

In addition, vehicle can be the vehicle only as power source with engine 11.In this case, due to not to vehicle Apply regenerative braking force BPR, therefore, the master cylinder being arranged in this vehicle is configured to, and it is several to start progress brake operating with driver Simultaneously, the connection between main chamber and atmospheric pressure reservoir is blocked.In this vehicle, by implementing for assisting driver Brake operating braking auxiliary, the differential pressure regulating valve 521,522 of brake actuator 50 and pump 581,582 are possible to act. In the shape by implementing the MC pressure that this braking auxiliary makes the WC in wheel brake cylinder 23a~23d that Pwc be pressed to become to be above in master cylinder Under condition, it may be necessary to reduce hydraulic braking force.Even in this case, a part can also be made when brake operating starts Holding valve valve closing, and implement the first reduced pressure treatment when by implementing the control to reduce hydraulic braking force.Even if at this In the case of kind, by implementing the first reduced pressure treatment, can also hydraulic braking force be made suitably to reduce.

Next, hereinafter supplementing the technology structure that can be obtained from above embodiment and other embodiments Think.

(1) preferably, in the hydraulic brake system, the pump is out of described auxiliary reservoirs and in the master cylinder Brake fluid is sucked, and the brake fluid is supplied to the differential pressure regulating valve and each liquid flow path kept between valve；Institute Third processing unit is stated in second reduced pressure treatment, makes at least one pressure reducing valve valve opening in each pressure reducing valve, and make The movement of the pump stops.

According to above structure, in the second reduced pressure treatment, by stopping the movement of pump, thus opening by pressure reducing valve Valve so that the brake fluid that auxiliary reservoirs are flowed out to out of wheel brake cylinder be not supplied to differential pressure regulating valve and each holding valve it Between liquid flow path.That is, since the brake fluid for flowing out to auxiliary reservoirs out of wheel brake cylinder is trapped in the auxiliary reservoirs It is interior, therefore, the brake force that hydraulic brake system applies vehicle can be reduced by implementing the second reduced pressure treatment.

(2) preferably, has the regeneration acquisition unit for obtaining the regenerative braking force that regenerative braking device applies vehicle；It is described Second processing portion is made the holding valve valve closing of described a part by first processing unit and is passing through the differential pressure regulating valve And the movement of the pump make with it is described it is remaining keep in the corresponding wheel brake cylinder of valve hydraulic become to be above institute It states under the hydraulic situation in master cylinder, it is real when implementation increases regenerative braking force and makes the switching control of hydraulic braking force reduction Apply first reduced pressure treatment.

It is real when implementing increases regenerative braking force and make the switching control of hydraulic braking force reduction according to above structure The first reduced pressure treatment is applied, thus, it is possible to inhibit the deceleration of the vehicle in the implementation process of switching control to increase.

Claims (3)

1. a kind of brake control of vehicle, is suitable for hydraulic brake system, the hydraulic brake system has：

Master cylinder is drivingly connected with brake manipulating member, and the operating quantity of the brake manipulating member more increases, and is produced in the inside of the master cylinder It is raw bigger hydraulic；

Wheel brake cylinder, multiple wheels relative to vehicle are respectively set, and connect via liquid flow path with the master cylinder；

Differential pressure regulating valve is arranged in the liquid flow path for connecting the master cylinder and each wheel brake cylinder, as the increase master When differential pressure between cylinder side and the wheel brake cylinder side, reduce aperture；

Valve is kept, is arranged in each liquid flow path for connecting the differential pressure regulating valve and the wheel brake cylinder, when not making the vehicle When taking turns the hydraulic increase in checking cylinder, the holding valve valve closing；And

Pump, sucks brake fluid out of described master cylinder, and to the differential pressure regulating valve and each liquid flow kept between valve Road supplies the brake fluid；

The brake control of the vehicle is adjusted by controlling the differential pressure regulating valve and the pump to vehicle application Hydraulic braking force；

Wherein, the brake control of the vehicle has：

First processing unit makes each holding for keeping a part in valve when the operation of the brake manipulating member starts Valve valve closing, without making remaining holding valve valve closing；And

Second processing portion makes the holding valve valve closing of described a part by first processing unit and by the differential pressure The movement of adjustment valve and the pump makes to become with hydraulic in the corresponding wheel brake cylinder of the remaining holding valve Higher than the aperture of the differential pressure regulating valve is increased under the hydraulic situation in the master cylinder to reduce the hydraulic system applied to vehicle When power, implement the reduced pressure treatment of the aperture for the holding valve for increasing described a part.

2. the brake control of vehicle according to claim 1, wherein

Make the holding valve valve closing of described a part by first processing unit and passes through the differential pressure regulating valve and institute State pump movement make with it is described it is remaining keep in the corresponding wheel brake cylinder of valve hydraulic become to be above the master cylinder Under interior hydraulic situation, when increasing the aperture of the differential pressure regulating valve to reduce the hydraulic braking force to vehicle application,

When being determined as the increase due to the aperture of the differential pressure regulating valve and lead to the hydraulic increase in the master cylinder, described Two processing units start to carry out the reduced pressure treatment.

3. the brake control of vehicle according to claim 1 or 2, wherein

The hydraulic brake system has：Auxiliary reservoirs；And pressure reducing valve, it is arranged relative to each wheel brake cylinder, when Valve opening when flowing out the brake fluid in the wheel brake cylinder to the auxiliary reservoirs side；

The brake control of the vehicle has third processing unit, in the reduced pressure treatment for implementing the second processing portion In the case where as the first reduced pressure treatment, first reduced pressure treatment is being implemented to make described one by the second processing portion Under the situation of partial holding valve valve opening, the third processing unit implementation opens at least one pressure reducing valve in each pressure reducing valve Second reduced pressure treatment of valve.