CN1706699A - Brake controller - Google Patents

Brake controller Download PDF

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Publication number
CN1706699A
CN1706699A CN 200510076970 CN200510076970A CN1706699A CN 1706699 A CN1706699 A CN 1706699A CN 200510076970 CN200510076970 CN 200510076970 CN 200510076970 A CN200510076970 A CN 200510076970A CN 1706699 A CN1706699 A CN 1706699A
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braking amount
target braking
gradient
transient target
transient
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CN 200510076970
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CN100339260C (en
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宫崎徹也
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

To provide a brake control device capable of excellently avoiding the control delay when the increase gradient of the required braking amount is large, and the control disturbance when the increase gradient of the required braking amount is small. The temporary target hydraulic pressure Prefa is determined (S3) based on the required deceleration Greft (S1). The corrected target hydraulic pressure Prefb is determined (S4) by limiting the gradient of the temporary target hydraulic pressure Prefa to be the first limit gradient L1. If the temporary target hydraulic pressure difference Delta Pref of the corrected target hydraulic pressure Prefb subtracted from the temporary target hydraulic pressure Prefa is not a more than a set value (S5, S6), the corrected target hydraulic pressure Prefb is determined to be the target hydraulic pressure Prefc (S7). Otherwise, the limit gradient is changed to be the second limit gradient L2 and the target hydraulic pressure Prefc is operated (S8).

Description

Arrester control device
Technical field
The present invention relates to device that the drg of abrupt deceleration vehicle is controlled, in detail, relate to the improvement of the controller performance of arrester control device.
Background technology
The brake system of abrupt deceleration vehicle possesses following arrester control device mostly, described arrester control device is when increasing the braking amount, based on the braking amount that should apply to wheel, promptly ask the braking amount to determine the target braking amount of wheel, and control the actual braking amount that makes, promptly actual braking amount is near target braking amount.In following patent documentation 1, put down in writing an one example.This brake system comprises: as the main pressure sensor of the corresponding master cylinder hydraulic pressure of operating effort of the brake pedal of brake operating parts, the stroke sensor that detects the operational stroke of this brake pedal, detection and brake pedal, driven with the fluid control valve gear of the hydraulic pressure of the drg, power fluid potential source, control master cylinder or the power fluid potential source that suppress wheel revolutions and by controlling the arrester control device that this fluid control valve gear comes the control brake device by brake cylinder.Arrester control device is obtained the request braking amount of chaufeur based on the detected value of stroke sensor and main pressure sensor, and determine and the hydraulic pressure of corresponding brake cylinder is measured in this request braking, it is target hydraulic, again the fluid control valve gear is controlled, so that the detected value (actual hydraulic pressure) of the brake cylinder pressure sensor of the hydraulic pressure of detection brake cylinder is near target hydraulic.
Patent documentation 1: the Japanese documentation spy opens the 2003-205838 communique.
In the brake system that above-mentioned patent documentation 1 is put down in writing, arrester control device is obtained the request braking amount of chaufeur request based on the serviceability of brake operating parts, and based on the definite target hydraulic of the request braking amount of obtaining as target braking amount, but if determine target braking amount like this, even the words that it changes in response to the increase of request braking amount delicately, it is chaotic that the control of then braking amount can become, even the danger of dispersing is arranged.If determine target braking amount can avoid above-mentioned situation reliably, then when the increase gradient of asking work capacity is big, control lag will become greatly, thereby can't obtain enough control accuracys.This problem is present in the situation that the request controlling quantity is the request braking amount when the braking amount increases in the following control equally, and described control is to prevent that the excessive anti-lock of the slippage of glancing impact wheel (anti-lock) from controlling, excessive traction (traction) control of the slippage of wheel when preventing to quicken; Perhaps for the control of the vehicle stabilization (vehicle stability) that makes vehicle control brake device etc. with the operational drive of steering hardware.
Summary of the invention
The present invention is that background is finished with above-mentioned situation, and its purpose is to obtain a kind of arrester control device, and control lag and control when this arrester control device can avoid simultaneously asking the increase gradient of braking amount big well are chaotic.
Above-mentioned technical matters solves by following arrester control device, described arrester control device is based on the braking amount that should apply to wheel, promptly ask the braking amount to determine the target braking amount of wheel, and so that control near target braking amount ground as the working control amount of the controlling quantity of reality, described arrester control device comprises: (a) transient target braking amount determination portion, determine transient target braking amount based on described request braking amount; (b) target braking amount determination portion, according to modification rule the transient target braking amount of being determined by described transient target braking amount determination portion is revised, and when the variable condition of the described transient target braking amount before and after described the correction is being set in the variable condition scope, described transient target braking amount is defined as described target braking amount, in the time of outside variable condition is being set the variable condition scope, determine described target braking amount by the inhibition degree correction different that changes with described modification rule.
Drg be by hydraulically powered hydraulic brake, by what kind such as dynamo-electric brake of electrical motor driven can.In addition, request braking amount both can wait to determine based on the intention of chaufeur, the operating conditions of for example brake operating parts, also can wait to determine based on the action of vehicle, the slip state of for example wheel or yaw-rate (yaw rate) deviation (deviation of actual yaw rate and benchmark yaw-rate) of vehicle.The former is the request braking amount of the common glancing impact of vehicle, the request controlling quantity the when latter is vehicle action control.Request braking amount for example can be used as the request driving torque of request deceleration/decel, request braking torque, request braking force, request brake fluid pressure, electro-motor etc. and is obtained, and target braking amount can be used as desired deceleration, target braking torque, target braking force, target brake fluid pressure, target drive torque etc. equally and is determined.At this moment, the type of request braking amount and target braking amount need not must be identical, and for example, when request braking amount was the request braking torque, target braking amount also can be confirmed as the target brake fluid pressure.
In arrester control device of the present invention, determine transient target braking amount by transient target braking amount determination portion based on request braking amount, by target braking amount determination portion this transient target braking amount is revised the back as target braking amount.At this moment, target braking amount determination portion is revised the transient target braking amount of being determined by transient target braking amount determination portion according to modification rule, when the variable condition of the transient target braking amount before and after described the correction is being set in the variable condition scope, this transient target braking amount is defined as target braking amount.In contrast, in the time of beyond above-mentioned variable condition is being set variable condition, determine target braking amount by the inhibition degree correction different that increases with described modification rule." corrections that the inhibition degree of increase is different with described modification rule " both can be the corrections that the inhibition degree increases, and also can be the corrections that the inhibition degree reduces.
The invention effect
If the transient target braking amount of determining based on request braking amount is revised according to modification rule, and obtain the variable condition that thus obtained revised transient target braking amount is revised preceding transient target braking amount relatively, whether then can judge correction suitable.If variable condition is in setting the variable condition scope, it is suitable then to revise, if variable condition is then revised improper setting outside the variable condition scope.Therefore,, then continue this correction,,, can avoid asking braking the control lag of quantitative changeization when big and the confusion of the useless control of request braking quantitative changeization hour simultaneously well then by changing the mode of revising if revise improperly if revise suitablely.
The invention scheme
Below, in the present invention, illustration is several to be considered to ask the invention of patent (to be sometimes referred to as " demandable invention ".Demandable invention comprises the invention put down in writing in claims, i.e. " the present invention " and " the present application " at least, but also comprises the invention of the subordinate concept of the present application, the upperseat concept of the present application or the invention of other notions.) scheme, and these are described.Each scheme is the same with claim, is divided into item, and is every mark numbering, but also puts down in writing to quote his mode of a numbering as required.This only is for the demandable invention of understanding easily, and does not mean that the combination of the inscape that constitutes demandable invention is limited to the record of the following.Promptly, should wait with reference to the record of every record, embodiment and explain demandable invention, as long as according to this explanation, the scheme of in every scheme, further adding other inscape and getting, and from every scheme the deletion inscape and scheme, all can become a scheme of demandable invention.
In addition, in the following, (1) item is equivalent to claim 1, (2) item is equivalent to claim 2, (3) item is equivalent to claim 3, (4) item is equivalent to claim 4, (5) combination of item and (6) item is equivalent to claim 5, (5) combination of item and (7) item is equivalent to claim 6, (11) item is equivalent to claim 7, and (13) item is equivalent to claim 8, and the combination of (14) item and (16) item is equivalent to claim 9, (17) item is equivalent to claim 10, and at least one of (18) item and (19) item is equivalent to claim 11.
(1) a kind of arrester control device, based on the braking amount that should apply to wheel, promptly ask the braking amount to determine the target braking amount of wheel, and so that control near target braking amount ground as the actual braking amount of the braking amount of reality, described arrester control device is characterised in that, comprising:
Transient target braking amount determination portion is determined transient target braking amount based on the described request controlling quantity;
Target braking amount determination portion, according to modification rule the transient target braking amount of being determined by described transient target braking amount determination portion is revised, and when the variable condition of the described transient target braking amount before and after described the correction is being set in the variable condition scope, described transient target braking amount is defined as described target braking amount, in the time of outside variable condition is being set the variable condition scope, determine described target braking amount by the inhibition degree correction different that changes with described modification rule.
(2) as (a 1) described arrester control device, wherein,
Described target braking amount determination portion comprises:
Correction portion, at least according to the arbitrary rule in second modification rule that relaxes than described first modification rule as the inhibition degree of first modification rule of described modification rule and increase, the described transient target braking amount of being determined by described transient target braking amount determination portion is revised, and obtained described target braking amount; With
The modification rule changing unit, when the deviation of described target braking amount that is got according to the described first modification rule correction by described correction portion and described transient target braking amount is being set outside the deviation range, think described variable condition outside described setting variable condition scope, thereby the modification rule in the described correction portion is changed to second modification rule from described first modification rule.
In this arrester control device, determine transient target braking amount by transient target braking amount determination portion based on request braking amount, and this transient target controlling quantity is revised the target braking amount that is used as by correction portion.Correction portion is modified to the repressed amount of response performance to request braking amount according to first modification rule with transient target braking amount, and with it as target braking amount.Then, in the time of outside the deviation of this target braking amount and transient target braking amount is being set deviation range, the modification rule in the correction portion is changed to second modification rule that the inhibition to the response performance of request braking amount relaxes from first modification rule by the modification rule changing unit.The change of modification rule comprises a kind of in the change of the numerical value that comprises in the change of correcting mode self and the modification rule at least.
The modification rule quilt both can be revised transient target braking amount by correction portion according to new modification rule after changing immediately again, also can be from begin according to new modification rule correction transient target braking amount next time.In addition, constantly revise, and modification rule changed under the situation of (selection that is modification rule is changed), also can be selected target braking amount according to this modification rule correction after changing according to a plurality of modification rules in correction portion.
In addition, modification rule is in case after first rule changes to second rule, also can finish once to automatically return to first modification rule after the braking, also can when the correction of carrying out according to after changing second modification rule is improper, change to first modification rule.
If thinking, the situation that deviation is big represents to revise strong phenomenon, thereby carry out revising to relax to the change of second modification rule from first modification rule, then when the increase gradient of asking the braking amount is big, the increase gradient of target braking amount also becomes big, the increase gradient of request braking amount hour, the increase gradient of target braking amount also diminishes, thereby can avoid simultaneously asking braking the control lag of quantitative change gradient when big and the confusion of the useless control of request braking quantitative change gradient hour well.In other words, the result that changed of the modification rule in the correction portion makes variable gradient big or small corresponding of size and request braking amount of variable gradient of target braking amount.
(3) as (a 2) described arrester control device, wherein,
Described correction portion comprises increases the gradient restrictions, this increases gradient restrictions in the increase gradient ratio restriction gradient of described transient target braking amount hour, with described transient target braking amount as described target braking amount, greater than the restriction gradient time, will increase the gradient inhibition is that the first restriction gradient is determined described target braking amount; Described modification rule changing unit comprises restriction gradient changing unit, this restriction gradient changing unit in the inhibition degree of described increase gradient when the setting degree is above, the second restriction gradient that described restriction gradient variable is more little than the described first restriction gradient.
In this arrester control device, determine transient target braking amount by transient target braking amount determination portion according to request braking amount, and in the increase gradient of this transient target braking amount during less than the first restriction gradient, by increase the gradient restrictions with this transient target braking amount as described target braking amount; And greater than first restriction during gradient, will increase that gradient suppresses is first to limit gradient and determine target braking amount.In addition, when the inhibition degree that increases gradient when the setting degree is above, think that with increasing that gradient suppresses be that the restriction of the first restriction gradient is strong excessively, thereby will limit the more big restriction gradient of gradient variable by restriction gradient changing unit.Therefore, target braking amount determination portion is in and is limited in state than big usually restriction gradient with increasing gradient, thereby has relaxed the excessive inhibition that increases gradient.Thus, the control lag in the time of can avoiding asking the increase gradient of braking force big well and increase the control confusion of gradient hour.
For example, when chaufeur was big to the operating speed of brake operating parts, the restriction gradient was increased, thereby can avoid control lag well, and when operating speed hour, the restriction gradient is reduced, thereby can avoid the confusion of useless control.When the in running order operation of drg that is used to make the brake operating parts fast at preceding half section, when slowly carrying out described operation in the second half section, if necessary, can also increase the restriction gradient at preceding half section, reduce to limit gradient in the second half section, thereby can be implemented in the avoidance of preceding half section control lag simultaneously and in the excessive inhibition of actual braking amount of second half section.
(4) as (a 1) described arrester control device, wherein,
Described target braking amount determination portion comprises:
Correction portion is revised the described transient target braking amount of being determined by described transient target braking amount determination portion according to first modification rule as described modification rule, and is obtained revise goal braking amount; With
This target braking amount determination portion, based on by the revise goal braking amount of described correction portion correction and the deviation of described transient target braking amount, according to second modification rule revise goal braking amount or transient target braking amount are revised, and be made as this target braking amount as described target braking amount.
For example, in (2) invention, thereby if will revise the part that transient target braking amount obtains target braking amount according to determined second modification rule of deviation of based target braking amount and transient target braking amount, and thereby the part etc. that obtains target braking amount according to the further revise goal braking of second modification rule amount just becomes this invention as this target braking amount determination portion.At this moment, second modification rule of this target braking amount determination portion for example can be following modification rule: promptly, in above-mentioned deviation hour, think that the correction of correction portion is suitable, thereby revise goal braking amount directly is defined as this target braking amount, on the contrary, when above-mentioned deviation is big, think that the correction of correction portion is inappropriate, thereby the revise goal braking amount of once having revised is revised once more, perhaps transient target braking amount is revised again, perhaps, come to determine suitable this target braking amount thus from begin to replace correction portion that transient target braking amount is carried out the correction different with correction portion next time.This target braking amount determination portion both can determine whether to carry out the part (2 grades of correction portions) of the correction of target braking amount or transient target braking amount based on the deviation size, it also can be part (continuous correction portion, the multistage correction portion of perhaps carrying out the classification correction more than 3 grades) according to the correction of the above-mentioned deviation size amount of carrying out.
In addition, this invention also can be understood as, and the correction of " correction portion " in definite and this invention of the target limit amount that the first restriction gradient of " the increasing the gradient restrictions " in use (3) invention is carried out is suitable; Determining of the target braking amount that the first restriction gradient that use " increases the gradient restrictions " is carried out is suitable with the correction of " this target braking amount determination portion ", " increasing the gradient restrictions " in (3) invention is built-in with " correction portion " in this at this moment, and " this target braking amount determination portion " in this is built-in with " the restriction gradient changing unit " in (3) invention.
(5) as each described arrester control device in (1) to (4) item, comprising:
Test section detects with the request braking and measures physical quantity one to one;
Testing result is determined described request braking amount according to determination portion based on the physical quantity that is detected by described test section.
As above-mentioned physical quantity, for example can adopt the physical quantity of the braking intention of expression chaufeur, for example the operational stroke of brake operating parts, operating speed, operating effort, master cylinder pressure etc.; Also can adopt the physical quantity of expression vehicle action, the slip state of wheels such as the slippage of vehicle or slip rate for example, or the yaw-rate deviation of car body (actual yaw rate relatively based on the moving velocity of the operational ton of turning member and vehicle and the deviation of definite benchmark yaw-rate), road-holding property such as transverse acceleration deviation (actual transverse acceleration relatively based on the moving velocity of the operational ton of turning member and vehicle and the deviation of definite benchmark transverse acceleration) etc. perhaps can also adopt corresponding to these and represent the physical quantity of the braking intention of those chaufeurs and vehicle action and well-determined physical quantity.
This every feature of putting down in writing in (7) can adopt with (a 8) later characteristics combination.
(6) as (a 5) described arrester control device, wherein, described test section comprises the serviceability test section of the physical quantity of the serviceability that detects expression brake operating parts, and testing result comprises that according to determination portion serviceability is according to determination portion.
(7) as (4) or (a 5) described arrester control device, wherein, described test section comprises the vehicle motion detection portion of the physical quantity of the action that detects the expression vehicle, and testing result comprises that according to determination portion the vehicle action is according to determination portion.
(8) as (a 3) described arrester control device, wherein, described restriction gradient changing unit comprises that transient target braking amount deviation is according to changing unit, this transient target braking amount deviation is used transient target braking amount deviation according to changing unit as the inhibition degree of described increase gradient, described transient target braking amount deviation be from described transient target braking amount, deduct will increase that gradient is restricted to described target braking amount that the described first restriction gradient determines and.
When from transient target braking amount, deduct will increase that gradient is restricted to target braking amount that the first restriction gradient determines and transient target braking amount deviation when big, than little the time, can increase the inhibition degree that increases gradient.
(9) as (3) or (a 8) described arrester control device, wherein, described restriction gradient changing unit comprises transient target braking amount gradient according to changing unit, this transient target braking amount gradient according to changing unit use as the inhibition degree of described increase gradient from the increase gradient of described transient target braking amount, deduct described gradient restriction and increase gradient deviation.
When the increase gradient deviation that deducts restriction gradient gained from the increase gradient of transient target braking amount is big, than little the time, can increase the inhibition degree that increases gradient.In addition, also with a kind of as " increase gradient " of the variable quantity of the transient target braking amount in the constant time, for example the last sub-value when obtaining a transient target braking amount constant period and this sub-value is poor.If increase gradient deviation based on transient target braking amount, though then can learn quickly than based on transient target braking amount deviation the time increase gradient the inhibition degree suitably whether, but then, but be subjected to the The noise that comprises in the transient target braking amount easily.Therefore, preferred compositions transient target braking amount increase gradient deviation and transient target braking amount deviation both sides judge increase gradient the inhibition degree suitably whether.This scheme is that this is subordinated to one of scheme of preceding paragraph.
(10) as (3), (8) or (9) described arrester control device, wherein, described restriction gradient changing unit comprises the two-stage changing unit, and this two-stage changing unit will limit gradient as second than the restriction gradient of the big steady state value of the described first restriction gradient.
(11) as each described arrester control device in (3) item or (8) to (11) item, wherein, the big more gradient that just increases the second restriction gradient more of the inhibition degree that described restriction gradient changing unit comprises described increase gradient suppresses degree correspondence changing unit.
Gradient suppresses in the whole zone of relative the opposing party's of a side that the corresponding changing unit of degree both can be in transient target braking amount, request braking amount or request braking amount and transient target braking amount deviation etc., adopts that the inhibition degree of increase gradient is big more just to increase second alter mode that limits gradient more; Also can in the zone that limits, adopt this alter mode.In the latter case, beyond the zone of above-mentioned qualification, can change the restriction gradient, also can use the two-stage that connects the restriction gradient of determining by the two-stage changing unit by the restriction gradient of the corresponding changing unit change of gradient limited degree this moment by the two-stage changing unit.This scheme also is this example that is subordinated to preceding paragraph gained scheme.
(12) as each described arrester control device in the item of (3) or (8) to (11), wherein, described target braking amount determination portion comprises the intermediate value selection portion, this intermediate value selection portion be used for this sub-value of described transient target braking amount, on sub-value on the described transient target braking amount value of the value of addition and the cooresponding increment gained of described restriction gradient and 0 this three's centre as described target braking amount.
(13) as each described arrester control device in the item of (3) or (8) to (12), comprising:
Test section detects with the described request braking and measures physical quantity one to one;
Testing result is determined described request braking amount according to determination portion based on the physical quantity that is detected by described test section;
Low-pass filter portion, eliminate the physical quantity that detects by described test section or the request braking amount determined according to determination portion by described testing result in radio-frequency component.
If by low-pass filter eliminate the physical quantity that detects by test section or the request braking amount determined according to determination portion by testing result in radio-frequency component, then can eliminate the noise that comprises in the testing result of physical quantity.
(14) as (a 13) described arrester control device, wherein, described low-pass filter portion comprises that the lower limit of rejection band is the second low-pass filter portion of the lower limit of the first low-pass filter portion of first frequency and rejection band for the second frequency bigger than described first frequency.
If use mutually different first, second low-pass filter of lower limit of rejection band, compare in the time of then with a low-pass filter, for example as the next item down and following in illustrate, can suitably eliminate noise.
(15) as (a 14) described arrester control device, wherein,
Described target braking amount determination portion comprises: the first transient target braking amount determination portion, determine the first transient target braking amount based on the described physical quantity of handling by the described first low-pass filter portion or described request braking amount as described transient target braking amount; With
The second transient target braking amount determination portion is determined the second transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described second low-pass filter portion or described request braking amount.
First, second transient target braking amount determination portion (i) measures to determine first, second transient target braking amount based on following request braking, described request braking amount be by testing result according to determination portion based on detecting by test section and determining by the physical quantity that first, second low-pass filter portion is eliminated respectively behind the radio-frequency component; Perhaps (ii) determine first, second transient target braking amount based on first, second following request braking amount, described first, second request braking amount is to be determined and eliminated respectively by first, second low-pass filter portion the amount of radio-frequency component based on the physical quantity that test section detected according to determination portion by testing result.
(16) as (a 14) described arrester control device, wherein, described restriction gradient changing unit comprises the Filtering Processing result according to changing unit, and this Filtering Processing result changes described restriction gradient according to changing unit according to the result of the described first low-pass filter portion and the result of the described second low-pass filter portion.
This scheme is to use first, second low-pass filter suitably to carry out a scheme of noise removing.
(17) as (a 16) described arrester control device, wherein,
Described Filtering Processing result comprises according to changing unit:
The first transient target braking amount determination portion is determined the first transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described first low-pass filter portion or described request braking amount;
The second transient target braking amount determination portion is determined the second transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described second low-pass filter portion or described request braking amount; With
First, second transient target braking amount deviation is according to changing unit, when first, second transient target braking amount deviation that deducts the first transient target braking amount gained from the described second transient target braking amount is big, than little the time, increase described target braking quantitative limitation gradient.
Than based on the physical quantity of handling by the second low-pass filter portion or request braking amount and the second definite transient target braking amount, though based on the physical quantity of handling by the first low-pass filter portion or request braking amount and the first definite transient target braking amount The noise is little, postpone big simultaneously.Therefore, when first, second transient target braking amount deviation is big, than little the time, can think that the increase gradient of request braking amount is big, thereby preferably increase target braking quantitative limitation gradient.
(18) as (a 16) described arrester control device, wherein,
Described filter process result comprises according to changing unit:
The first transient target braking amount determination portion is determined the first transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described first low-pass filter portion or described request braking amount;
The second transient target braking amount determination portion is determined the second transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described second low-pass filter portion or described request braking amount;
The first transient target braking amount is according to determination portion, when the increase gradient ratio of described first transient target braking amount restriction gradient hour, the described first transient target braking amount as target braking amount, when bigger than the restriction gradient, will be increased gradient and suppresses to determine target braking amount for the restriction gradient; With
The second transient target braking amount deviation is according to changing unit, as the inhibition degree of described increase gradient and use the second transient target braking amount deviation, this second transient target braking amount deviation is to deduct by the described first transient target braking amount to get according to the definite described target braking amount of determination portion from the described second transient target braking amount
And described first transient target braking amount determination portion and the described first transient target braking amount also play described target braking amount determination portion according to determination portion.
When the second transient target braking amount deviation ratio is set the second target braking amount deviation when big, thinking increases the inhibition degree of gradient more than the setting degree, thereby will limit gradient from the first restriction gradient variable more than its big second restriction gradient, the wherein said second transient target braking amount deviation be from deduct the target braking amount determined according to determination portion by the first transient target braking amount the second definite transient target braking amount based on the physical quantity of handling by second low-pass filter or request braking amount.
The first transient target braking amount is based on the physical quantity handled by the first low-pass filter portion or request braking amount and definite.On the other hand, the second transient target braking amount is based on by the lower limit of rejection band definite for the physical quantity or the request braking amount of the second low-pass filter portion processing of bigger second frequency (promptly postponing few).And target braking amount is following definite: in the increase gradient ratio of first transient target braking amount restriction gradient hour, with the first transient target braking amount as target braking amount; When big the time, will increase gradient and suppress to determine target braking amount for the restriction gradient.Therefore, this filter process result limits the change of gradient according to the result of the result of the first low-pass filter portion and the second low-pass filter portion according to changing unit.
If based on the second transient target braking amount deviation, then can judge soon increase gradient the inhibition degree whether more than the setting degree, thereby compare when measuring to determine target braking amount based on the first transient target braking, can promote the boundary that response performance makes progress, it is the physical quantity handled of the first low-pass filter portion of less first frequency (though noise is few, postponing big) or request braking amount and definite that the wherein said first transient target braking amount is based on lower limit by rejection band.
(19) as (16) or (a 18) described arrester control device, wherein,
Described filter process result comprises according to changing unit:
The first transient target braking amount determination portion is determined the first transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described first low-pass filter portion or described request braking amount;
The second transient target braking amount determination portion is determined the second transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described second low-pass filter portion or described request braking amount;
The first transient target braking amount is according to determination portion, when the increase gradient ratio of described first transient target braking amount restriction gradient hour, the first transient target braking amount as target braking amount, when bigger than the restriction gradient, will be increased gradient and suppresses to determine target braking amount for the restriction gradient; With
The second transient target braking amount gradient deviation is according to changing unit, as the inhibition degree of described increase gradient and use the second transient target braking amount gradient deviation, this second transient target braking amount gradient deviation is to deduct by the described first transient target braking amount to get according to the increase gradient of the definite described target braking amount of determination portion from the increase gradient of the described second transient target braking amount
And described first transient target braking amount determination portion and the described first transient target braking amount also play described target braking amount determination portion according to determination portion.
When the second target braking amount gradient deviation of the increase gradient gained that from the increase gradient of the second transient target braking amount, deducts target braking amount when setting the second target braking amount gradient deviation, thinking increases the inhibition degree of gradient more than the setting degree, limits gradient variable more than its big second restriction gradient thereby will limit gradient from first.For relation when using the second target braking amount deviation and when using the second transient target braking amount gradient deviation, be suitable for the related description that described (9) item is carried out as the inhibition degree that increases gradient.
Description of drawings
Fig. 1 has the loop diagram of a kind of vehicle of arrester control device with brake system, and wherein said arrester control device is an embodiment of demandable invention;
Fig. 2 illustrates the diagram of circuit that the target hydraulic of storing in the storage part of above-mentioned arrester control device is determined routine;
Fig. 3 is a part of determining the diagram of circuit of routine as the target hydraulic of the arrester control device of another embodiment;
Fig. 4 is the diagram of curves that the restriction gradient change that the restriction gradient changing unit by above-mentioned arrester control device realizes is shown;
Fig. 5 is a diagram of circuit of determining routine as target hydraulic in the arrester control device of an embodiment again;
Fig. 6 is a part scheme drawing of determining the diagram of circuit of routine as target hydraulic in the arrester control device of another embodiment;
Fig. 7 is a part scheme drawing of determining the diagram of circuit of routine as target hydraulic in the arrester control device of another embodiment.
The specific embodiment
Followingly demandable inventive embodiment is described with reference to accompanying drawing.In addition, demandable invention is divided by beyond the following embodiment, can also be according to the mode of being put down in writing in the project based on above-mentioned " invention mode ", and implement according to the mode that those skilled in the art's knowledge is carried out various change gained.
The vehicle brake system that has as the arrester control device of an embodiment shown in Figure 1.This brake system comprises: as the brake pedal 10 of brake operating parts, comprise the master cylinder 12 of two pressurized compartments, by power operated power fluid potential source 14, be separately positioned on the hydraulic brake 16-19 on the wheel that is positioned at all around.
Hydraulic brake 16-19 has brake cylinder 22-25 respectively, and by the hydraulic-driven of brake cylinder 22-25.Be to remain on friction material on the non-rotary body, be that slipper is by the plate disc brake that is pressed on the inventory 22b-25b that together rotates with wheel in the present embodiment by hydraulic pressure.
Master cylinder 12 comprises two pressurizing piston, in the hydraulic pressure chamber in the place aheads separately of two pressurizing piston, produces and the corresponding hydraulic pressure of its operating effort by the operation of chaufeur to brake pedal 10.Two pressurized compartments of master cylinder 12 are connected with the brake cylinder 22,23 of left and right sides front-wheel by main channel 26,27 respectively.At the main shutoff valve 29,30 of being respectively equipped with of main channel 26,27 midway.Main shutoff valve the 29, the 30th, the electromagnetic switch valve of often opening.
In addition, power fluid potential source 14 is connected with four brake cylinder 22-25 by pump path 36.Brake cylinder 22-25 provides hydraulic pressure by power fluid potential source 14 under the state that cuts off with master cylinder 12, thereby drives hydraulic brake 16-19.The hydraulic pressure of brake cylinder 22-25 is by 38 controls of fluid control valve gear.
Like this, all around Lun brake cylinder 22-25 can be by the hydraulic-driven of power fluid potential source 14, but the brake cylinder of left and right sides front- wheel 22,23 also can be driven by the hydraulic pressure (being called main the pressure) of master cylinder 12.
Power fluid potential source 14 comprises pumping plant 69, and described pumping plant has pump 66 and drives the pump motor 68 of this pump 66.The suction side of pump 66 is connected with main fluid reservoir 72 (hereinafter to be referred as fluid reservoir 72) via sucking path 70, and the ejection side is connected with pressure accumulator 74.The power fluid that is drawn fluid reservoir 72 by pump 66 offers pressure accumulator 74, and stores with pressurized state.In addition, the part 73 of the partial sum suction side of the ejection side of pump 66 connects by the security path 76 as return path.Be provided with safety valve 78 in the security path 76.Safety valve 78 surpasses to set when pressing at the hydraulic pressure (ejection is pressed) as the ejection side of on high-tension side pump 66 and switches to open mode from closed condition.Constitute power fluid potential source 14 by these pumping plants 69, pressure accumulator 74, safety valve 78 etc.
Fluid control valve gear 38 comprise be arranged in the pump path 36 and as the supercharging linear valve 100-103 of solenoid electric valve and be arranged at direct connection brake cylinder 22-25 and the decompression path 104 of fluid reservoir 72 in and as the decompression linear valve 110-113 of solenoid electric valve.By the control of these supercharging linear valves 100-103 and decompression linear valve 110-113, can distinguish control brake cylinder 22-25 independently.
Supercharging linear valve 100-103, decompression linear valve the 110, the 111st are in the normally closed valve of closed condition during not having in coil 120 that electric current provides, and the decompression linear valve the 112, the 113rd of rear wheel-side, are in the normally open valve of open mode during not having in coil 122 that electric current provides.
Be provided with stroke analog machine 180 in the main channel 26.Stroke analog machine 180 comprises stroke simulator 182 and normally closed simulator switch valve 184, and by the switch of simulator with switch valve 184, stroke simulator 182 is switched at the connected state that is communicated with master cylinder 12 with between the dissengaged positions of master cylinder 12 cut-outs.
As shown in Figure 1, by the above-mentioned hydraulic brake 16-19 of the instruction control of electric control unit 300.Electric control unit 300 comprises execution portion 302, storage part 304, input and output portion 306 etc. based on computing machine.Input and output portion 306 is connected with stroke sensor 311, main pressure sensor 314, brake cylinder pressure sensor 316, wheel speed sensors 318, hydraulic power source hydraulic pressure transducer 320, yaw rate sensor 322, steering angle sensor 324 etc., also is connected via each coil of the coil 120, decompression linear valve 112 and 113 the coil 122 that do not have graphic driving circuit and supercharging linear valve 100-103 and pressurization linear valve 110-111, main shutoff valve 29,30, simulator control valve 184 and pump motor 68 etc. simultaneously.
This brake system is being carried out common glancing impact, cuts off brake cylinder 22-25 by making main shutoff valve 29,30 become closed condition from master cylinder 12, thereby by the hydraulically-driven hydraulic drg 16-19 of power fluid potential source 14.Based on obtaining the request braking amount (being the request deceleration/decel in the present embodiment) of chaufeur by stroke sensor 311 detected operational strokes with by in main pressure sensor 314 detected main pressures at least one, and as measuring corresponding target braking amount with the request braking of being asked, determine the target hydraulic of brake cylinder 22-25, modulated pressure control cock device 38 then makes detected value (actual brake cylinder hydraulic pressure) as the brake cylinder pressure sensor 316 of actual braking amount near target hydraulic.Determine that according to target hydraulic control command value (is that coil 120,122 to each supercharging linear valve 100-103, decompression linear valve 110-113 provides the command value of electric current in the present embodiment, be instruction current), thereby the electric current that control provides to coil 120,122 makes actual brake cylinder hydraulic pressure near the cooresponding instruction hydraulic pressure of and instruction electric current.
The vehicle that stores the control present embodiment in the storage part 304 of described electric control unit 300 is determined routine with the various control programs and the target hydraulic of brake system.Below, illustrate that based on Fig. 2 this target hydraulic determines routine.Determine in the routine in this target hydraulic, determine target hydraulic (this target hydraulic) through a plurality of steps.At first, (be designated hereinafter simply as S1 in step 1.Other steps are too) in calculate request deceleration/decel Greft.In the present embodiment, obtain request deceleration/decel Greft based on operational stroke and main pressure both sides.Promptly, shown in the arithmetic expression of request deceleration/decel Greft among the S1 of Fig. 2 like that, obtain request deceleration/decel Grefs, Grefp respectively based on operational stroke and main the pressure, and two requests of addition in the following manner deceleration/decel Grefs, Grefp, promptly at the beginning of braking beginning, make the ratio α of the request deceleration/decel Grefs that tries to achieve according to operational stroke big (for example 100%), make then according to the main ratio (1-α) of the request deceleration/decel Grefp that tries to achieve of pressing to become (for example increasing to 100%) greatly gradually.Wherein, Grefp is the function of the main press filtration wave number Pmf after the radio-frequency component by the main pressure of main pressure sensor 316 detected detections Pm is filtered by the low-pass filter portion of electric control unit 300, in the present embodiment, this Grefp obtains from the mapping of having stipulated the relation between main press filtration wave number Pmf and the request deceleration/decel Grefp.Request deceleration/decel Grefs obtains from mapping equally, but in the present embodiment, stroke sensor 311 detected detection stroke S is not carried out Filtering Processing.This is owing to detect and not comprise among the stroke S as detecting the radio-frequency component of the main Pm of pressure degree, but radio-frequency component many than the time, also preferably implement Filtering Processing to detecting stroke S, detect stroke filter value Sf thereby use.
Then, in S2, carry out the computing of the target braking torque of each wheel, so that the request deceleration/decel Greft that acquisition calculates in S1.In the present embodiment, by this computing, so that the brakig force distribution of wheel all around reaches optimization.For example, so that on the wheel all around by distributing the mode of the whole required braking force of vehicle to determine the target braking torque of each wheel with the corresponding ratio of the payload of these wheels, thereby brakig force distribution will change according to the loading condition of vehicle and at least one in the motoring condition.Then, in S3, for each wheel is determined transient target hydraulic pressure Prefa, described transient target hydraulic pressure Prefa is the hydraulic pressure that produces the required brake cylinder 22-25 of target braking torque.In addition, it is known that above target braking torque, brakig force distribution optimization, transient target hydraulic pressure are established a capital really, therefore omits detailed explanation.
Then, in S4, carry out determining of revise goal hydraulic pressure Prefb.The variable gradient of transient target hydraulic pressure Prefa is limited in hydraulic pressure below the first restriction gradient L1 as revise goal hydraulic pressure Prefb described in determining.Specifically, with this sub-value of transient target hydraulic pressure Prefa, add on the sub-value on described later the target hydraulic Prefc with the cooresponding increment of the first restriction gradient L1 (on the first restriction gradient L1, multiply by the amount of the control cycle gained) value of gained and the value (MED) of the centre among 0 this three as revise goal hydraulic pressure Prefb.Promptly, when the increase gradient of current transient target hydraulic pressure Prefa limits gradient L1 less than first, current transient target hydraulic pressure Prefa is directly as current revise goal hydraulic pressure Prefb, when greater than the first restriction gradient L1, be suppressed in the hydraulic pressure of the enterprising row operation gained of the first restriction gradient L1 as current revise goal hydraulic pressure Prefb with increasing gradient.
Then, in S5, calculate transient target hydraulic pressure deviation delta Pref.Transient target hydraulic pressure deviation delta Pref is the value that deducts revise goal hydraulic pressure Prefb from transient target hydraulic pressure Prefa.In S6, judge that above-mentioned transient target hydraulic pressure deviation delta Pref is whether more than setting value.If S6 is judged to be not, then in S7, revise goal hydraulic pressure Prefb directly is confirmed as this target hydraulic Prefc and exports, and finishes the once execution of this program.
If thereby above-mentioned transient target hydraulic pressure deviation delta Pref being judged to be of S6 more than setting value is then to carry out S8.Determine this target hydraulic Prefc though also increase gradient by restriction in S8, the restriction that increases gradient is extended the deadline to be limited second of gradient L1 greater than described first and limits on the gradient L2.In this enforcement, with this sub-value of transient target hydraulic pressure Prefa, adding on the sub-value on this target hydraulic Prefc and second showing that the cooresponding increment of gradient L2 (multiply by the amount of control cycle gained on the second restriction gradient L2) value of gained and the value of the centre among 0 this three are as this target hydraulic Prefc.Thus, determine and export this target hydraulic Prefc, and finish the once execution of this program.
In the present embodiment, if transient target hydraulic pressure deviation delta Pref is more than the setting value, then when definite revise goal hydraulic pressure Prefb, because will increase that gradient suppresses is that first to limit the restriction of gradient L1 strong excessively, therefore revise again according to the second restriction gradient L2 bigger, thereby determine this target hydraulic Prefc than the first restriction gradient L1.Thus, when the increase gradient of asking deceleration/decel is big, the increase gradient of this target hydraulic Prefc also becomes big, increase gradient hour when the request deceleration/decel, the increase gradient of this target hydraulic Prefc also diminishes, the confusion of the useless control of control lag when thereby the increase gradient that can avoid simultaneously asking deceleration/decel well is big and request deceleration/decel hour.
From above explanation as can be known, in the present embodiment, in electric control unit 300 as arrester control device, determine that by carrying out target hydraulic the part of the S3 of routine constitutes transient target braking amount determination portion, this transient target braking amount determination portion is used for definite transient target hydraulic pressure Prefa as transient target braking amount, by carrying out S4, the part of S7 and S8 constitutes correction portion or target braking amount determination portion, described correction portion is used for transient target hydraulic pressure Prefa is modified to revise goal hydraulic pressure as revise goal braking amount, and described target braking amount determination portion is limited to determine this target hydraulic Prefc as target braking amount by the increase gradient to transient target hydraulic pressure Prefa.In addition, part by a part of carrying out S5 and S6 and S8 constitutes modification rule changing unit or restriction gradient changing unit, described modification rule changing unit is used to change the restriction gradient as the modification rule of correction portion, and described restriction gradient changing unit is used for changing the restriction gradient of target braking amount determination portion.The restriction gradient changing unit of present embodiment is used as transient target braking amount deviation according to changing unit, this transient target braking amount deviation according to changing unit with transient target braking amount deviation as the limited degree that increases gradient, described target braking amount deviation is to deduct will to increase that gradient is restricted to the first restriction gradient L1 and definite target braking amount obtains from transient target braking amount.In addition, the part by execution S4 in the electric control unit 300 and S8 constitutes middle value selection portion respectively.And, by the stroke sensor 311 of the operational stroke that detects brake pedal 10 with detect main main pressure sensor 314 of pressing and be configured for detecting respectively and ask braking to measure the test section of physical quantity one to one, it is the serviceability test section, part by the execution S1 of electric control unit 300 constitutes serviceability according to determination portion, and this serviceability is based on a kind of according to determination portion of testing result that physical quantity that test section detects determines request braking amount according to determination portion.
In the above-described embodiments, though restriction gradient changing unit comprises the two-stage changing unit as the value of addition steady state value gained on the first restriction gradient L1 with the second restriction gradient L2, can comprise that also the big more gradient that just increases the second restriction gradient more of the limited degree that increases gradient suppresses the corresponding changing unit of degree.At the embodiment of one shown in Fig. 3 and Fig. 4.Fig. 3 shows the step that the target hydraulic that replaces Fig. 2 is determined the S8 in the routine.Fig. 4 is the diagram of curves that the transient target hydraulic pressure deviation delta Pref in the present embodiment is shown and limits the relation between the gradient in addition.Other steps and brake system integral structure are because same as the previously described embodiments, and the Therefore, omited illustrates and explanation.
In the present embodiment, if determine the transient target hydraulic pressure deviation delta Pref that deducts revise goal hydraulic pressure Prefb gained from transient target hydraulic pressure Prefa in S6 is more than the setting value, then in S8, with this sub-value of transient target hydraulic pressure Prefa, adding on the sub-value on this target hydraulic Prefc that value with the value of the cooresponding increment of variable restriction gradient β (multiply by the amount of control cycle gained on variable restriction gradient β) gained and the centre among 0 this three is as this target hydraulic Prefc.From the curve of Fig. 4 as can be known, the zone between two transient target hydraulic pressure deviation delta 1, Δ 2, variable restriction gradient β is the value that increases gradually with transient target hydraulic pressure deviation delta Pref.Therefore, two first, second restriction gradient L1, L2 smooth connection, thereby moving from a side direction opposite side smoothly.In addition, outside the zone between two transient target hydraulic pressure deviation delta 1, the Δ 2, the restriction gradient is retained as any among first, second restriction gradient L1, the L2.In the present embodiment, outside the zone between two transient target hydraulic pressure deviation delta 1, the Δ 2, the same any that is confirmed as among first, second restriction gradient L1, the L2 with the foregoing description of restriction gradient is equal to the restriction gradient and changed by the two-stage changing unit.That is, present embodiment can also be regarded as restriction gradient changing unit comprises that two-stage changing unit and gradient suppress an embodiment of the corresponding changing unit both sides' of degree embodiment.
Below, explanation has the vehicle brake system as the arrester control device of another embodiment again.In addition, in the present embodiment, equally brake system integral structure etc., the component part identical with the embodiment of Figure 1 and Figure 2 are omitted diagram and illustrate, different piece only is described.
Fig. 5 shows the vehicle of present embodiment and determines routine with the target hydraulic in the brake system.In this routine, at first, in S1, calculate the first request deceleration/decel Greft1 and the second request deceleration/decel Greft2 respectively.First, second request deceleration/decel Greft1, Greft2 are the same with the foregoing description to try to achieve based on operational stroke and main pressure both sides respectively.But in the formula of S1, Grefs is based on the request deceleration/decel of operational stroke, and Grefp1 is based on the main first request deceleration/decel of pressing, and Grefp2 is based on the main second request deceleration/decel of pressing.Grefp1 is the function of the first main press filtration wave number Pmf1, from stipulate main press and the mapping of the relation of request deceleration/decel obtain.In electric control unit 300, the detected value of main pressure sensor 314 is handled, thereby the value of eliminating after the radio-frequency component is exactly the first main press filtration wave number Pmf1 by the first low-pass filter portion.The lower limit of the rejection band in the first low-pass filter portion is set to first frequency.Grefp2 is the function of the second main press filtration wave number Pmf2, from stipulate main press and the mapping of the relation of request deceleration/decel obtain.In electric control unit 300, the detected value of main pressure sensor 314 is handled, thereby the value of eliminating after the radio-frequency component is exactly the second main press filtration wave number Pmf2 by the second low-pass filter portion.The lower limit of the rejection band in the second low-pass filter portion is set to the second frequency greater than above-mentioned first frequency.
Then, in S2, optimization is to the brakig force distribution of each wheel, and carries out the computing of target braking torque respectively, with first, second request deceleration/decel Greft1, the Greft2 that obtains to calculate in S1.Then, in S3, based on each target braking torque of aforementioned calculation determine with the first request cooresponding first transient target hydraulic pressure Prefa1 of deceleration/decel Greft1 and with the second request deceleration/decel Greft2 cooresponding second transient target hydraulic pressure Prefa2.Then, in S4, determine revise goal hydraulic pressure Prefb.Determining of this revise goal hydraulic pressure Prefb is the same with the foregoing description, this sub-value by selecting the first transient target hydraulic pressure Prefa1, carries out adding on the sub-value on this target hydraulic Prefc with the cooresponding increment of the first line value gradient L1 (limiting the amount that multiply by the control cycle gained on the gradient L1 the first) value of gained and the value of the centre among 0 this three.
Then, in S5, calculate the second transient target hydraulic pressure deviation delta Pref.The second transient target hydraulic pressure deviation delta Pref is the value that deducts revise goal hydraulic pressure Prefb gained from the second transient target hydraulic pressure Prefa2.Judge that in S6 the above-mentioned second transient target hydraulic pressure deviation delta Pref is whether more than setting value.If S6 is not judged to be not, then in S7, revise goal hydraulic pressure Prefb directly is defined as this target hydraulic Prefc and exports, and finish the once execution of this program.
If the above-mentioned second transient target hydraulic pressure deviation delta Pref is more than setting value, thereby being judged to be of S6 is then to carry out S8.In S8, similarly determine this target hydraulic Prefc with the foregoing description.In the present embodiment, select the first transient target hydraulic pressure Prefa1 this sub-value, adding on the sub-value on this this target hydraulic Prefc and the second restriction gradient L2 cooresponding increment (on the second restriction gradient L2, multiply by the amount of control cycle gained) value of gained and the value of the centre among 0 this three, and with it as this target hydraulic Prefc.The same value that is set to greater than the first restriction gradient L1 of the second restriction gradient L2 with the foregoing description.Thus, determine and export this target hydraulic Prefc, and finish the once execution of this program.
In the determining of this target hydraulic Prefc of S8, shown in also can embodiment as shown in Figures 3 and 4, adopt this sub-value of selecting the first transient target hydraulic pressure Prefa1, adding on the sub-value on this target hydraulic Prefc and the value of the cooresponding increment of variable restriction gradient β (on variable restriction gradient β, multiply by the amount of control cycle gained) gained and the method for the intermediate value among 0 this three.As mentioned above, variable restriction gradient β is the value that increases gradually with the second transient target hydraulic pressure deviation delta Pref.
In the present embodiment, determine the second transient target hydraulic pressure Preft2 according to the second request deceleration/decel Greft2 that determines based on the second main Pmf2 of pressure, the wherein said second main Pmf2 of pressure is handled for the second low-pass filter portion greater than the second frequency (postponing few) of first frequency by the lower limit of rejection band, and used the second transient target hydraulic pressure deviation delta Pref that from the described second transient target hydraulic pressure Prefa2, deducts revise goal hydraulic pressure Prefb gained, thus with use the foregoing description in transient target hydraulic pressure deviation delta Pref the time compare, above-mentioned deviation delta Pref can be judged quickly whether more than setting value, and then the boundary that response performance rises can be improved.
In the present embodiment, the execution target hydraulic of electric control unit 300 determines that the part of the S1 of routine is built-in with the low-pass filter portion of the first low-pass filter portion that comprises and the second low-pass filter portion.In addition, be made of the part of carrying out S3: the first transient target braking amount determination portion is used for definite first transient target hydraulic pressure as the first transient target braking amount; With the second transient target braking amount determination portion, be used for definite second transient target hydraulic pressure as the second transient target braking amount.And constitute the first transient target braking amount according to determination portion by the part of carrying out S4; Part by a part of carrying out S5 to S7 and S8 constitutes the second transient target braking amount according to changing unit.In addition, the above-mentioned first transient target braking amount determination portion, the second transient target braking amount determination portion, the first transient target braking amount are a kind of mode of Filtering Processing result according to changing unit according to the determination portion and the second transient target braking amount deviation according to changing unit.
Fig. 6 and Fig. 7 show among the present invention the Filtering Processing result respectively according to two other embodiment of changing unit.In addition, in these two embodiment, about with the above-mentioned identical component part of embodiment shown in Figure 5, omit its explanation, different parts only is described.
Determine in the routine in target hydraulic shown in Figure 6, calculate first, second transient target hydraulic pressure deviation delta Pref at S5.Here, first, second transient target hydraulic pressure deviation delta Pref is the value that deducts the first transient target hydraulic pressure Prefa1 gained from the second transient target hydraulic pressure Prefa2.Then, if first, second transient target hydraulic pressure deviation delta Pref is more than the setting value, compare in the time of then little with setting value, the increase gradient when determining this target hydraulic Prefc will be increased.In the present embodiment, increasing gradient is changed to than its second big restriction gradient L2 from the first restriction gradient L1.In the present embodiment, first, second transient target hydraulic pressure deviation delta Pref is equivalent to first, second target braking amount deviation, constitutes first, second transient target braking amount deviation according to changing unit by the part of the part of execution S5 to S7 in the electric control unit 300 and S8.
Determine among the S5 of routine in target hydraulic embodiment illustrated in fig. 7, calculate first, second transient target hydraulic gradients deviation delta 2Pref.Here, first, second transient target hydraulic gradients deviation delta 2Pref is the value that deducts the increase gradient gained of the first transient target hydraulic pressure Prefa1 from the increase gradient of the second transient target hydraulic pressure Prefa2.Then, if first, second transient target hydraulic gradients deviation delta 2Pref is more than the setting value, compares in the time of then little with setting value, and the increase gradient when determining this target hydraulic Prefc will be increased.In the present embodiment, increasing gradient is changed to than its second big restriction gradient L2 from the first restriction gradient L1.In the present embodiment, first, second transient target hydraulic gradients deviation is equivalent to first, second target braking amount gradient deviation, constitutes first, second transient target braking amount gradient deviation according to changing unit by the part of the part of execution S5 to S7 in the electric control unit 300 and S8.
Also the Δ Prefa1 of S5 among Fig. 7 can be replaced into Δ Prefb.In other words, also can change to Δ with Δ Pref=Prefa2-Prefb with S5 among Fig. 5 2The mode of Pref=Δ Prefa2-Δ Prefb is implemented demandable invention.
Again in other words, can also implement the S5 of Fig. 6 and the S5 of Fig. 7 simultaneously.For example, in S6, based on Δ Pref and Δ 2The combination of Pref is determined to implement S7 and is implemented S8.For Δ 2The foregoing description of Pref=Δ Prefa2-Δ Prefb also can be like this.
When obtaining request braking amount with main pressure both sides based on operational stroke, except the foregoing description, for example also can select the request braking amount of trying to achieve and press some in the request braking amount of being tried to achieve, for example select wherein the greater based on main based on operational stroke.In addition, also can omit some in stroke sensor 311 and the main pressure sensor 314, thereby based on detecting stroke and detecting some request braking amounts of obtaining chaufeur in main the pressure.
In addition, also the present invention can be applied in the control of the brake cylinder hydraulic pressure that is used for vehicle stability control.In vehicle stability control, for example based on the moving velocity of obtaining vehicle by four wheel speed sensors, 318 detected wheel velocities, and calculate the benchmark yaw-rate based on this moving velocity with by steering angle sensor 324 detected deflection angles, the hydraulic pressure of at least one among the control brake cylinder 22-25 then is so that equated with the benchmark yaw-rate by yaw rate sensor 322 detected actual yaw rate.Deviation with above-mentioned actual yaw rate and benchmark yaw-rate, be that the yaw-rate deviation detects in vehicle motion detection portion as the physical quantity that the expression vehicle moves, and determine in the left-right and front-back wheel any by vehicle action according to determination portion based on this yaw-rate deviation, the request braking amount of any in the trailing wheel of the left and right sides for example, control any drg hydraulic pressure of wheel all around then, so that described request braking amount is achieved.For example,, determine any the target hydraulic in the brake cylinder 24,25 of left and right sides trailing wheel, and control actual brake cylinder hydraulic pressure and make it near target hydraulic when carry out vehicle stability when control by any brake activation torque of trailing wheel to the left and right.

Claims (11)

1. arrester control device, based on the braking amount that should apply to wheel, promptly ask the braking amount to determine the target braking amount of wheel, and so that control near target braking amount ground as the actual braking amount of the braking amount of reality, described arrester control device is characterised in that, comprising:
Transient target braking amount determination portion is determined transient target braking amount based on the described request controlling quantity;
Target braking amount determination portion, according to modification rule the transient target braking amount of being determined by described transient target braking amount determination portion is revised, and when the variable condition of the described transient target braking amount before and after described the correction is being set in the variable condition scope, described transient target braking amount is defined as described target braking amount, in the time of outside variable condition is being set the variable condition scope, determine described target braking amount by the inhibition degree correction different that changes with described modification rule.
2. arrester control device as claimed in claim 1, wherein,
Described target braking amount determination portion comprises:
Correction portion, at least according to the arbitrary rule in second modification rule that relaxes than described first modification rule as the inhibition degree of first modification rule of described modification rule and increase, the described transient target braking amount of being determined by described transient target braking amount determination portion is revised, and obtained described target braking amount; With
The modification rule changing unit, when the deviation of described target braking amount that is got according to the described first modification rule correction by described correction portion and described transient target braking amount is being set outside the deviation range, think described variable condition outside described setting variable condition scope, thereby the modification rule in the described correction portion is changed to second modification rule from described first modification rule.
3. arrester control device as claimed in claim 2, wherein,
Described correction portion comprises increases the gradient restrictions, this increases gradient restrictions in the increase gradient of described transient target braking amount during less than the restriction gradient, with described transient target braking amount as described target braking amount, greater than the restriction gradient time, will increase the gradient inhibition is that the first restriction gradient is determined described target braking amount;
Described modification rule changing unit comprises restriction gradient changing unit, and this restriction gradient changing unit is setting degree when above in the inhibition degree of described increase gradient, and described restriction gradient variable is more limited gradient greater than second of the described first restriction gradient.
4. arrester control device as claimed in claim 1, wherein
Described target braking amount determination portion comprises:
Correction portion is revised the described transient target braking amount of being determined by described transient target braking amount determination portion according to first modification rule as described modification rule, thereby obtains revise goal braking amount; With
This target braking amount determination portion, based on by the revise goal braking amount of described correction portion correction and the deviation of described transient target braking amount, according to second modification rule revise goal braking amount or transient target braking amount are revised, and be made as this target braking amount as described target braking amount.
5. arrester control device as claimed in claim 1 comprises:
The serviceability test section, the physical quantity of the serviceability of detection expression brake operating parts;
Serviceability is according to determination portion, based on determining described request braking amount by the detected physical quantity of described serviceability test section.
6. arrester control device as claimed in claim 1 comprises:
The physical quantity that the expression vehicle moves detects in vehicle motion detection portion;
The vehicle action is according to determination portion, based on determining described request braking amount by the detected physical quantity of described vehicle motion detection portion.
7. arrester control device as claimed in claim 3, wherein,
The big more gradient that just increases the second restriction gradient more of the inhibition degree that described restriction gradient changing unit comprises described increase gradient suppresses the corresponding changing unit of degree.
8. arrester control device as claimed in claim 3 comprises:
Test section detects with the described request braking and measures physical quantity one to one;
Testing result is according to determination portion, based on determining described request braking amount by the detected physical quantity of described test section; And
The radio-frequency component in the request braking amount of determining according to determination portion by the detected physical quantity of described test section or by described testing result is eliminated by low-pass filter portion.
9. arrester control device as claimed in claim 8, wherein,
Described low-pass filter portion comprises that the lower limit of rejection band is the second low-pass filter portion of the lower limit of the first low-pass filter portion of first frequency and rejection band for the second frequency bigger than described first frequency; Described restriction gradient changing unit comprises the Filtering Processing result according to changing unit, and this Filtering Processing result changes described restriction gradient according to changing unit according to the result of the described first low-pass filter portion and the result of the described second low-pass filter portion.
10. arrester control device as claimed in claim 9, wherein,
Described Filtering Processing result comprises according to changing unit:
The first transient target braking amount determination portion is determined the first transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described first low-pass filter portion or described request braking amount;
The second transient target braking amount determination portion is determined the second transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described second low-pass filter portion or described request braking amount; And
First, second transient target braking amount deviation is according to changing unit, when first, second transient target braking amount deviation that deducts the first transient target braking amount gained from the described second transient target braking amount is big, than little the time, increase described target braking quantitative limitation gradient.
11. as claim 9 or 10 described arrester control devices, wherein,
Described Filtering Processing result comprises according to changing unit:
The first transient target braking amount determination portion is determined the first transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described first low-pass filter portion or described request braking amount;
The second transient target braking amount determination portion is determined the second transient target braking amount as described transient target braking amount based on the described physical quantity of being handled by the described second low-pass filter portion or described request braking amount;
The first transient target braking amount is according to determination portion, when the increase gradient of the described first transient target braking amount during less than the restriction gradient, with the first transient target braking amount is target braking amount, and greater than restriction during gradient, will increase gradient suppresses to determine target braking amount for limiting gradient; And
(a) the second transient target braking amount deviation according to changing unit and (b) the second transient target braking amount gradient deviation according in the changing unit at least one, wherein (a) second transient target braking amount deviation according to changing unit in, inhibition degree as described increase gradient, use deducts the second transient target braking amount deviation that is got according to the definite described target braking amount of determination portion by the described first transient target braking amount from the described second transient target braking amount, (b) second transient target braking amount gradient deviation according to changing unit in, as the inhibition degree of described increase gradient, use and from the increase gradient of the described second transient target braking amount, deduct the second transient target braking amount gradient deviation that gets according to the increase gradient of the definite described target braking amount of determination portion by the described first transient target braking amount;
And described first transient target braking amount determination portion and the described first transient target braking amount also play described target braking amount determination portion according to determination portion.
CNB2005100769700A 2004-06-09 2005-06-09 Brake controller Expired - Fee Related CN100339260C (en)

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CN110402212A (en) * 2017-03-28 2019-11-01 大众汽车有限公司 The method and control device and motor vehicle of the control device of the braking equipment of operation motor vehicle

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CN110402212A (en) * 2017-03-28 2019-11-01 大众汽车有限公司 The method and control device and motor vehicle of the control device of the braking equipment of operation motor vehicle
CN110402212B (en) * 2017-03-28 2021-10-15 大众汽车有限公司 Method for operating a control device of a brake system of a motor vehicle, control device and motor vehicle
US11345322B2 (en) 2017-03-28 2022-05-31 Volkswagen Aktiengesellschaft Method for operating an control device for a braking system of a motor vehicle, control device and motor vehicle

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