CN1751925A - The vehicle braked force control device - Google Patents
The vehicle braked force control device Download PDFInfo
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- CN1751925A CN1751925A CN 200410082498 CN200410082498A CN1751925A CN 1751925 A CN1751925 A CN 1751925A CN 200410082498 CN200410082498 CN 200410082498 CN 200410082498 A CN200410082498 A CN 200410082498A CN 1751925 A CN1751925 A CN 1751925A
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- 230000006837 decompression Effects 0.000 abstract description 20
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Abstract
When the present invention is not in the situation generation of buttoned-up status in the decompression of open type with electromagnetic valve, be suitable for the wheel cylinder pressure control of this situation.Brake operating amount based on the driver, the target wheel cylinder pressure (Pti) (S40～70) of each wheel of computing, control linear valve 50FL～50RR and 60FL～60RR, make wheel cylinder pressure (Pi) become target wheel cylinder pressure (Pti) (S90, S120), if the decompression that open type takes place with the linear valve (60RL) of electromagnetic valve or (60RR) be not in the abnormal condition of buttoned-up status, augmenting factor (Kai) is set to the value (S210,220,230) less than 1, the target wheel cylinder pressure (Ptj) of left and right sides trailing wheel is reduced revisal (S80).
Description
Technical field
The present invention relates to the vehicle braked force control device, more detailed saying relates to the gradual braking device of so-called electronic control type.
Background technology
A kind of as the gradual braking device of vehicles such as automobile, known in the past have, the gradual braking device of being put down in writing in the following patent documentation 1 of the application's applicant application for example, it constitutes: possess the supercharging that is used to increase wheel cylinder pressure with electromagnetic valve be used to reduce the decompression electromagnetic valve of wheel cylinder pressure, brake operating amount based on the driver, computing target wheel cylinder pressure, and control supercharging and use electromagnetic valve with electromagnetic valve and decompression, make wheel cylinder pressure reach target wheel cylinder pressure.
Patent documentation 1: the spy opens flat 11-235975 communique
For aforesaid gradual braking device, generally, supercharging is used and the electromagnetic valve of decompression usefulness is the electromagnetic valve of closed type, but the electromagnetic valve of closed type is compared the price height with the electromagnetic valve of open type, therefore in order to reduce the cost of gradual braking device, can consider that the electromagnetic valve of the decompression usefulness of wheel, for example left and right sides trailing wheel to major general's part is set at the electromagnetic valve of open type.
When the electromagnetic valve of decompression usefulness is the electromagnetic valve of open type, in the time of increasing or keep wheel cylinder pressure, must supply with control current with electromagnetic valve by decompression to open type, make the decompression closed electromagnetic valve.Therefore, if the decompression of thereby generation open type former because of certain is not in the situation of buttoned-up status with electromagnetic valve, then there is start liquid to leak with electromagnetic valve through the decompression of incomplete closed condition from the wheel cylinder side, even therefore the electromagnetic valve of using to supercharging is supplied with the control current of the supercharging of regulation, also can't increase wheel cylinder pressure with original supercharging ratio, and the maxim of wheel cylinder pressure also is restricted, and then has excessive control current to supply to the drawback of the electromagnetic valve that supercharging uses.
Therefore, when the electromagnetic valve of decompression usefulness was made of the electromagnetic valve of open type, the decompression that preferably is provided for handling open type was not in the equipment of preparation of the situation of buttoned-up status with electromagnetic valve.
Summary of the invention
Gradual braking device of the present invention, possess supercharging and use electromagnetic valve with reducing pressure with electromagnetic valve, brake operating amount based on the driver, computing target wheel cylinder pressure, and the control supercharging is used electromagnetic valve with electromagnetic valve with reducing pressure, make wheel cylinder pressure reach target wheel cylinder pressure, its purpose is, provide when the electromagnetic valve of decompression usefulness is made of the electromagnetic valve of open type, the decompression that is provided for handling open type as mentioned above is not in the equipment of preparation of the situation of buttoned-up status with electromagnetic valve, major subjects of the present invention is: when the decompression that open type takes place is not in the situation generation of buttoned-up status with electromagnetic valve, by use the incomplete closed condition of electromagnetic valve according to the decompression of open type, the transfer pair supercharging control of electromagnetic valve, when the decompression of open type is not in the situation generation of buttoned-up status with electromagnetic valve, be suitable for the control of the wheel cylinder pressure of this situation.
Above-mentioned major subjects is if adopt the present invention, the vehicle braked force control device, possess according to the control current start of supplying with increase wheel cylinder pressure closed type electromagnetic valve and reduce the electromagnetic valve of wheel cylinder pressure according to the control current start of supplying with, the electromagnetic valve by controlling aforementioned closed type and the electromagnetic valve of aforementioned open type, with the wheel cylinder pressure control is target wheel cylinder pressure, it is characterized in that, when the electromagnetic valve that will make aforementioned open type becomes full closing state, control current according to the electromagnetic valve that supplies to aforementioned open type, target setting wheel cylinder upper limit of pressure value, with target wheel cylinder pressure confinement below aforementioned higher limit, control the electromagnetic valve of aforementioned closed type and the electromagnetic valve of aforementioned open type (formation of scheme 1), or, the vehicle braked force control device, possess according to the control current start of supplying with increase wheel cylinder pressure closed type electromagnetic valve and reduce the electromagnetic valve of the open type of wheel cylinder pressure according to the control current start of supplying with, the electromagnetic valve by controlling aforementioned closed type and the electromagnetic valve of aforementioned open type, with the wheel cylinder pressure control is target wheel cylinder pressure, it is characterized in that, when the electromagnetic valve that will make aforementioned open type becomes full closing state, control current according to the electromagnetic valve that supplies to aforementioned open type, set the supercharging ratiometric higher limit of wheel cylinder pressure, the supercharging ratio of wheel cylinder pressure is restricted to below the aforementioned higher limit, controls the electromagnetic valve of aforementioned closed type and the electromagnetic valve of aforementioned open type (formation of scheme 3).
In addition, if adopt the present invention, for effectively reaching above-mentioned major subjects, formation as above-mentioned scheme 1, aforementioned gradual braking device is based on driver's brake operating amount, computing target wheel cylinder pressure, the target control electric current of the electromagnetic valve of the aforementioned closed type that computing is used to make wheel cylinder pressure become target wheel cylinder pressure and the electromagnetic valve of aforementioned open type, so that based target control current, control the electromagnetic valve of aforementioned closed type and the electromagnetic valve of aforementioned open type, when the electromagnetic valve that will make aforementioned open type becomes full closing state, control current according to the electromagnetic valve that supplies to aforementioned open type, reduce revisal target wheel cylinder pressure, by based on the target wheel cylinder pressure after the revisal, the target control electric current of the electromagnetic valve of the aforementioned closed type of computing, with target wheel cylinder pressure confinement on aforementioned below the restriction (formation of scheme 2).
In addition, if adopt the present invention, for effectively reaching above-mentioned major subjects, formation as above-mentioned scheme 3, aforementioned gradual braking device is based on driver's brake operating amount, computing target wheel cylinder pressure, the target control electric current of the electromagnetic valve of the aforementioned closed type that computing is used to make wheel cylinder pressure become target wheel cylinder pressure and the electromagnetic valve of aforementioned open type, so that based target control current, control the electromagnetic valve of aforementioned closed type and the electromagnetic valve of aforementioned open type, when the electromagnetic valve that will make aforementioned open type becomes full closing state, control current according to the electromagnetic valve that supplies to aforementioned open type, reduce the target control electric current of the electromagnetic valve of the aforementioned closed type of revisal, the supercharging ratio of wheel cylinder pressure is limited in (formation of scheme 4) below the aforementioned higher limit.
In addition, if adopt the present invention, for effectively reaching above-mentioned major subjects, formation as above-mentioned scheme 1 to 4, aforementioned gradual braking device increases or when keeping the master mode of wheel cylinder pressure being in, and is judged as the electromagnetic valve that will make aforementioned open type when being in full closing state (formation of scheme 5).
In addition, if adopt the present invention, for effectively reaching above-mentioned major subjects, formation as above-mentioned scheme 1 to 4, when aforementioned gradual braking device is supplied with control current more than the specified maximum current in the electromagnetic valve of aforementioned open type, be judged as the electromagnetic valve that will make aforementioned open type when being in full closing state (formation of scheme 6).
If adopt the formation of such scheme 1, when making the electromagnetic valve of open type be in full closing state, control current according to the electromagnetic valve that supplies to open type, target setting wheel cylinder upper limit of pressure value, with target wheel cylinder pressure confinement below aforementioned higher limit, thereby the electromagnetic valve and the aforementioned normal-open electromagnetic valve of control closed type, even decompression therefore former because of certain thereby the generation open type is not in the situation of buttoned-up status with electromagnetic valve, also can reduce can't be with the drawback of wheel cylinder pressure control at target wheel cylinder pressure, and can reduce the drawback of supplying with excessive control current on the electromagnetic valve that supercharging is used.
In addition, if adopt the formation of such scheme 2, aforementioned gradual braking device is based on driver's brake operating amount, computing target wheel cylinder pressure, the target control electric current of the electromagnetic valve of the aforementioned closed type that computing is used to make wheel cylinder pressure become target wheel cylinder pressure and the electromagnetic valve of aforementioned open type, so that based target control current, control the electromagnetic valve of aforementioned closed type and the electromagnetic valve of aforementioned open type, when the electromagnetic valve that will make aforementioned open type becomes full closing state, control current according to the electromagnetic valve that supplies to aforementioned open type, reduce revisal target wheel cylinder pressure, by based on the target wheel cylinder pressure after the revisal, the target control electric current of the electromagnetic valve of the aforementioned closed type of computing, with target wheel cylinder pressure confinement on aforementioned below the restriction, therefore when the electromagnetic valve that will make open type is in full closing state, can be positively with target wheel cylinder pressure confinement below higher limit according to the control current of the electromagnetic valve that supply to open type.
In addition, if adopt the formation of such scheme 3, when the electromagnetic valve that will make aforementioned open type becomes full closing state, control current according to the electromagnetic valve that supplies to aforementioned open type, set the supercharging ratiometric higher limit of wheel cylinder pressure, the supercharging ratio of wheel cylinder pressure is restricted to below the aforementioned higher limit, control the electromagnetic valve of aforementioned closed type and the electromagnetic valve of aforementioned open type, even decompression therefore former because of certain thereby the generation open type is not in the situation of buttoned-up status with electromagnetic valve, also can increase wheel cylinder pressure in the supercharging ratio that is limited in below the higher limit, can reduce thus and uncontrollablely be the drawback of target wheel cylinder pressure, and can reduce the drawback that the electromagnetic valve of using to supercharging is supplied with excessive control current.
In addition, if adopt the formation of such scheme 4, gradual braking device is based on driver's brake operating amount, computing target wheel cylinder pressure, the target control electric current of the electromagnetic valve of the aforementioned closed type that computing is used to make wheel cylinder pressure become target wheel cylinder pressure and the electromagnetic valve of aforementioned open type, so that based target control current, control the electromagnetic valve of aforementioned closed type and the electromagnetic valve of aforementioned open type, when the electromagnetic valve that will make aforementioned open type becomes full closing state, control current according to the electromagnetic valve that supplies to aforementioned open type, reduce the target control electric current of the electromagnetic valve of the aforementioned closed type of revisal, the supercharging ratio of wheel cylinder pressure is limited in below the aforementioned higher limit, therefore when the electromagnetic valve that will make open type is in full closing state, can be positively with the supercharging ratio of wheel cylinder pressure, be limited in below the higher limit based on the control current of the electromagnetic valve that supplies to open type.
In addition, if adopt the formation of such scheme 5, when being in increase or keeping the master mode of wheel cylinder pressure, be judged as the electromagnetic valve that will make aforementioned open type when being in full closing state, and if adopt the formation of such scheme 6, when the control current more than the electromagnetic valve of open type is supplied with specified maximum current, be judged as the electromagnetic valve that will make aforementioned open type when being in full closing state, therefore can positively judge when the electromagnetic valve that will make open type is in full closing state.
If adopt a kind of optimal way of the present invention, formation as above-mentioned scheme 1 to 6, gradual braking device possesses the electromagnetic valve and the electromagnetic valve that reduces the open type of wheel cylinder pressure that left and right sides front-wheel is increased the closed type of wheel cylinder pressure, possesses the electromagnetic valve and the electromagnetic valve (optimal way 1) that reduces the open type of wheel cylinder pressure that left and right sides trailing wheel are increased the closed type of wheel cylinder pressure.
If adopt another kind of optimal way of the present invention, as the formation of above-mentioned scheme 1 to 6, the electromagnetic valve of closed type and the electromagnetic valve of open type constitute (optimal way 2) by the linear electromagnetic coil.
If adopt another kind of optimal way of the present invention, formation as above-mentioned scheme 1, gradual braking device is based on driver's brake operating amount, the desired deceleration of computing vehicle, desired deceleration based on vehicle, the target wheel cylinder pressure of each wheel of computing, based on the desired deceleration computing target wheel cylinder pressure of vehicle the time, when making the electromagnetic valve of open type be in full closing state, according to the control current of the electromagnetic valve that supplies to open type, reduce revisal target wheel cylinder pressure (optimal way 3).
If adopt another kind of optimal way of the present invention, formation as above-mentioned scheme 3, gradual braking device is based on driver's brake operating amount, the target wheel cylinder pressure of each wheel of computing, based target wheel cylinder pressure and actual brake divide the deviation of pump pressure, the target control electric current of the electromagnetic valve of computing closed type and the electromagnetic valve of aforementioned open type, when the electromagnetic valve that will make open type is in full closing state, according to the control current of the electromagnetic valve that supplies to open type, reduce the target control electric current (optimal way 4) of the electromagnetic valve of revisal open type.
If adopt another kind of optimal way of the present invention, as the formation of above-mentioned scheme 1 or 2, when master mode is boost mode, can be with target wheel cylinder pressure confinement (optimal way 5) below higher limit.
If adopt another kind of optimal way of the present invention, obtain 4 formation as above-mentioned scheme 3, when master mode is boost mode, the supercharging ratio of wheel cylinder pressure can be limited in (optimal way 6) below the higher limit.
Description of drawings
Fig. 1 is the summary pie graph of the oil hydraulic circuit of the embodiment 1 of expression vehicle braked force control device of the present invention and the block diagram of expression control system.(embodiment 1)
Fig. 2 is the diagram of circuit of the brake-power control program of expression embodiment 1.(embodiment 1)
Fig. 3 is the average value P ma of expression master cylinder pressure and the diagram of curves of the relation between the desired deceleration Gpt.(embodiment 1 and 2)
Fig. 4 is the diagram of curves of trampling the relation between stroke St and the desired deceleration Gst of expression brake pedal.(embodiment 1 and 2)
Fig. 5 for expression last time ultimate aim deceleration/decel Gtf and to the diagram of curves of the relation between the weight of desired deceleration Gpt.(embodiment 1 and 2)
Fig. 6 is the diagram of circuit of expression to the augmenting factor Kaj operation program of the target wheel cylinder pressure P tj of the left and right sides trailing wheel of embodiment 1.(embodiment 1)
Fig. 7 is expression linear valve 60RL, the target control electric current I dj of 60RR and the diagram of curves of the relation between the augmenting factor Kaj.(embodiment 1)
Fig. 8 is the diagram of curves of the relation between expression wheel cylinder pressure Δ Pi and target control electric current I hi, the Idj.(embodiment 1 and 2)
Fig. 9 is the diagram of circuit of the brake-power control program of expression embodiment 2.(embodiment 2)
Figure 10 is the diagram of circuit to the augmenting factor Kbj operation program of the target control electric current I hj of left and right sides trailing wheel of expression embodiment 2.(embodiment 2)
Figure 11 is expression linear valve 60RL, the target control electric current I dj of 60RR and the diagram of curves of the relation between the augmenting factor Kbj.(embodiment 2)
The specific embodiment
Below, with reference to accompanying drawing several preferred embodiments of the present invention are elaborated.
(embodiment 1)
Fig. 1 is the summary pie graph of the oil hydraulic circuit of the embodiment 1 of expression vehicle braked force control device of the present invention and the block diagram of expression control system.And in Fig. 1, omitted the screw actuator of each valve for simplification.
In Fig. 1,10 expressions are by the brake gear of the hydraulic type of electric control, and brake gear 10 has master cylinder 14, in response to the operation that the driver tramples brake pedal 12, and the force feed brake solution.Be provided with between brake pedal 12 and the master cylinder 14 and do stroke simulator 16.
Be respectively equipped with electromagnetic opening and closing valve (total transfer valve) 24L and the 24R of open type in the centre of brake oil pressure supplying duct 18 and 20, electromagnetic opening and closing valve 24L and 24R play a part the blocked valve of the connection of control wheel cylinder 22FL and 24FL respectively, and described wheel cylinder is corresponding with the first master cylinder chamber 14A and the second master cylinder chamber 14B.And on the brake oil pressure supplying duct 18 between master cylinder 14 and the electromagnetic opening and closing valve 24FL, the electromagnetic opening and closing valve (normally closed valve) 26 by closed type has connected wet stroke simulator 28.
On master cylinder 14, connect fuel tank 30, on fuel tank 30, connected an end of oil pressure supplying duct 32.Be provided with the oil pump 36 that drives by electrical motor 34 in the centre of oil pressure supplying duct 32, on the oil pressure supplying duct 32 of the exhaust end of oil pump 36, connected the accumulator 38 of accumulating the high pressure oil pressure.An end that on the oil pressure supplying duct 32 between fuel tank 30 and the oil pump 36, has connected oil pressure discharge conduit 40.Fuel tank 30, oil pump 36, accumulator 38 play a part to be used to increase the high-pressure source of the pressure in wheel cylinder 22FL, 22FR, the 22RR like back described.
Though it is not shown in Figure 1, but be provided with the conduit of the oil pressure supplying duct 32 of the oil pressure supplying duct 32 of the suction side that connects oil pump 36 and exhaust end, be provided with safety valve in the middle of this conduit, thereby when the pressure in the accumulator 38 surpasses a reference value, open, and make oil turn back to the oil pressure supplying duct 32 of suction side from the oil pressure supplying duct 32 of exhaust end.
The oil pressure supplying duct 32 of the exhaust end of oil pump 36 is connected with brake oil pressure supplying duct 18 between electromagnetic opening and closing valve 24L and the wheel cylinder 22FL by oil pressure control conduit 42, be connected with brake oil pressure supplying duct 20 between electromagnetic opening and closing valve 24R and the wheel cylinder 22FR by oil pressure control conduit 44, be connected with the wheel cylinder 22RL that left rear wheel is used by oil pressure control conduit 46, be connected with the wheel cylinder 22RR that off hind wheel is used by oil pressure control conduit 48.
Be respectively equipped with electromagnetic type linear valve 50FL, 50FR, 50RL, the 50RR of closed type in the centre of oil pressure control conduit 42,44,46,48.The oil pressure of linear valve 50FL, 50FR, 50RL, 50RR wheel cylinder 22FL, 22FR, 22RL, 22RR side control conduit 42,44,46,48 is connected with oil pressure discharge conduit 40 by oil pressure control conduit 52,54,56,58 respectively relatively, be respectively equipped with electromagnetic type linear valve 60FL, the 60FR of closed type in the centre of oil pressure control conduit 52,54, and be respectively equipped with open type electromagnetic type linear valve 60RL, the 60RR that price is lower than the electromagnetic type linear valve of closed type in the centre of oil pressure control conduit 56,58.
Linear valve 50FL, 50FR, 50RL, 50RR play respectively the pressure charging valve of wheel cylinder 22FL, 22FR, 22RL, 22RR (hold-off valve) are acted on, linear valve 60FL, 60FR, 60RL, 60RR play the reducing valve effect to wheel cylinder 22FL, 22FR, 22RL, 22RR respectively, therefore these linear valves play a role mutually jointly, are configured for controlling from the increase and decrease pressure-controlled valve of accumulator 38 inner high voltage oil to the supply/discharge of each wheel cylinder.
In addition, when each electromagnetic opening and closing valve, each linear valve and electrical motor 34 are not supplied with the non-control of drive current, electromagnetic opening and closing valve 24L and 24R keep out the valve state, electromagnetic opening and closing valve 26, linear valve 50FL～50RR, linear valve 60FL and 60FR keep the valve state that closes, and linear valve 60RL and 60RR keep out valve state (non-master mode).And, when linear valve 50FL～50RR, the some of linear valve 60FL～60RR break down, thereby can't be with the pressure control in the cooresponding wheel cylinder for just often, each electromagnetic opening and closing valve etc. also can be set at non-master mode, and the pressure in the wheel cylinder of left and right sides front-wheel can be directly by master cylinder 14 controls thus.
As shown in Figure 1, the brake solution pressure-controlled conduit 18 between the first master cylinder chamber 14A and electromagnetic opening and closing valve 24L is provided with first pressure sensor 66 that the pressure in this control conduit is detected as the first master cylinder pressure P m1.Equally, the brake solution pressure-controlled conduit 20 between the second master cylinder chamber 14B and electromagnetic opening and closing valve 24B is provided with second pressure sensor 68 that the pressure in this control conduit is detected as the second master cylinder pressure P m2.On brake pedal 12, be provided with and detect the stroke sensor 70 that the driver tramples the stroke St of brake pedal, on the oil pressure supplying duct 32 of the exhaust end of oil pump 34, be provided with the pressure sensor 72 that the pressure in this conduit is detected as the accumulator pressure Pa.
Be provided with on the brake oil pressure supplying duct 18 and 20 between electromagnetic opening and closing valve 24L and 24R and wheel cylinder 22FL and 22FR respectively pressure sensor 74FL and the 74FR of the pressure in the cooresponding conduit as wheel cylinder 22FL and 22FR internal pressure Pf1, Pfr detection.And, be provided with on the oil pressure supplying duct 46 and 48 between electromagnetic opening and closing valve 50RL and 50RR and wheel cylinder 22RL and 22RR respectively the pressure sensor 74RL and the 74RR of the pressure in the cooresponding conduit as wheel cylinder 22RL and 22RR internal pressure Pr1, Prr detection.
Electromagnetic opening and closing valve 24L and 24R, electromagnetic opening and closing valve 26, electrical motor 34, linear valve 50FL～50RR, linear valve 60FL～60RR are controlled by electronic control package 78.Electronic control package 78 is made of microcomputer 80 and driving circuit 82.And microcomputer 80 is not shown specifically in Fig. 1, generally constitutes but for example also can be: have CPU and ROM and RAM and I/O mouth device, these connect by amphicheirality's common bus.
To the following signal of microcomputer 80 input: by pressure sensor 66 and 68 represent respectively the first master cylinder pressure P m1 and the second master cylinder pressure P m2 signal, by stroke sensor 70 expressions trample the signal of the stroke St of brake pedal 12, by the signal of pressure sensor 72 expression accumulator pressure Pa and the signal Pi (i=f1, fr, r1, rr) that represents the pressure in wheel cylinder 22FL～22RR by pressure sensor 74FL～74RR respectively.
By above explanation as can be known, microcomputer 80 constitutes control convenience: based on driver's brake operating amount, the target wheel cylinder pressure of each wheel of computing, and play a role jointly with each sensors such as electromagnetic opening and closing valve 24L and 24R, electromagnetic opening and closing valve 26, electrical motor 34, linear valve 50FL～50RR, linear valve 60FL～60RR, electronic control package 78 and pressure sensors 66, utilize the pressure in high-pressure source, under the state of closing electromagnetic opening and closing valve 24L and 24R, control, make the wheel cylinder pressure of each wheel become cooresponding target wheel cylinder pressure.
For illustrated embodiment, microcomputer 80, when the master mode to left and right sides trailing wheel is boost mode or maintenance pattern, in other words, promptly to make linear valve 60RL, when 60RR is in full closing state, as linear valve 60RL, the target control electric current I dj (j=r1 of 60RR, rr) for decontroling linear valve 60RL, more than the command value of 60RR, be that the specified maximum current of linear valve is when above, reduce the target wheel cylinder pressure P tj (j=r1 of this wheel of revisal, rr), can prevent from thus the wheel cylinder pressure P j of this wheel to be controlled to be target wheel cylinder pressure P tj, and to the linear valve 50RL of this wheel, 50RR glut control current.
Then, with reference to the diagram of circuit shown in Fig. 2, describe for the brake-power control among the embodiment.And, based on the control of the diagram of circuit shown in Fig. 2, be activated according to microcomputer 80 and begin, in each specific time, carry out repeatedly.And step 80 and 90 carry out left and right sides trailing wheel.
At first,, whether there is brake request to judge, when not being judged as not, enters step 20, and be judged as when sure, enter step 30 for the driver in step 10.And, for judging whether the driver has brake request, whether be more than the original bench mark value Pms (positive constant) or for example by judging whether the stroke St that tramples that is detected by stroke sensor 70 is above the carrying out of original bench mark value Sts (just constant) by the master cylinder pressure P m1 of pressure sensor 66,68 detections and the average value P ma of Pm2.
In step 20, open electromagnetic opening and closing valve 26 or keep out the valve state, close electromagnetic opening and closing valve 24L and 24R simultaneously or keep the valve state that closes, be thus connected connection master cylinder 14 and wet stroke simulator 28, block wheel cylinder 22FL, the 22FR of master cylinder 14 and each wheel, the connection of 22RL, 22RR simultaneously.In step 30, open electromagnetic opening and closing valve 26, decontrol electromagnetic opening and closing valve 24L and 24R simultaneously, block the connection of master cylinder 14 and wet stroke simulator 28 thus, connect wheel cylinder 22FL, 22FR, 22RL, the 22RR of master cylinder 14 and each wheel simultaneously.
In step 40, read in the signal of the expression master cylinder pressure P m1 that detects by pressure sensor 66 etc., based on the average value P ma of master cylinder pressure P m1 and Pm2, according to the cooresponding figure of diagram of curves shown in Figure 3, computing is based on the desired deceleration Gpt of master cylinder pressure.
In step 50, trample stroke St based on what detect by stroke sensor 70, according to the pairing figure of diagram of curves shown in Figure 4, computing is based on the desired deceleration Gst that tramples stroke.
In step 60, based on ultimate aim deceleration/decel Gtf last time, according to the cooresponding figure of diagram of curves shown in Figure 5, computing is to the weight (0≤α≤1) of desired deceleration Gpt, according to following formula 1, computing is as the ultimate aim deceleration/decel Gt of the weighting sum of desired deceleration Gpt and desired deceleration Gst simultaneously.And in illustrated embodiment, weight can be based on ultimate aim deceleration/decel Gtf computing last time, but also can be revised as based target deceleration/decel Gpt or Gst computing.
Gt＝α·Gpt+(1-α)Gst ……(1)
In step 70, the coefficient (considering the positive coefficient of the braking effect coefficient of each wheel) of the target wheel cylinder pressure of each wheel of relative ultimate aim deceleration/decel Gt is made as Ki (i=f1, fr, r1, rr), according to following formula 2, the target wheel cylinder pressure P ti (i=f1, fr, r1, rr) of each wheel of computing.
Pti＝Ki·Gt ……(2)
In step 80, whether judgement is boost mode to the master mode of left and right sides trailing wheel, when being judged as not, directly enter step 100, be judged as when sure, in step 90 by to left and right sides trailing wheel according to program shown in Figure 6 as described later, Kaj (j=r1, rr) is counted in the revisal of computing, according to the compensating value Ptaj of the target wheel cylinder pressure of following formula 3 computing left and right sides trailing wheels, and these compensating value become the target wheel cylinder pressure P tj after the revisal.
Ptai＝Kai·Ptj ……(3)
In step 100, based on the target wheel cylinder pressure P ti of each wheel and the deviation delta Pi of wheel cylinder pressure P i, according to cooresponding figure of diagram of curves shown in Figure 8 or function, the target current Ihi of computing linear valve 50FL～50RR and the target current Idi of linear valve 60FL～60RR, in step 130, control linear valve 50FL～50RR and linear valve 60FL～60RR, with brake-pressure Pi control the becoming target wheel cylinder pressure P ti of each wheel by based target electric current I hi and Idi.
Fig. 6 is the diagram of circuit to the operation program of the augmenting factor Kaj of the target wheel cylinder pressure P tj of left and right sides trailing wheel of expression embodiment 1.And the computing of the augmenting factor Kaj that carries out according to program shown in Figure 3 for example can be carried out to intert every specified time left and right sides trailing wheel according to the order of left rear wheel, off hind wheel.
In addition,, judge whether the brake-power control pattern of this wheel is boost mode or maintenance pattern,, enter step 240,, enter step 220 if be judged as when sure if be judged as when negating in step 210.
In step 220, judgement is that target control electric current I dj (j=r1, rr) is for to close more than the current value of its reducing valve to the command value of the reducing valve (linear valve 60RL, 60RR) of this wheel, in other words, whether, be the control situation of closed condition, be judged as when sure if the reducing valve of this wheel is normal if judging, based target control current Idj in step 230, according to the cooresponding figure of diagram of curves shown in Figure 7, computing augmenting factor Kaj, Kaj keeps previous value in step 240 augmenting factor value.
And, if adopt illustrated embodiment 1, in step 40～70, based on driver's brake operating amount, the target wheel cylinder pressure P ti of each wheel of computing, at linear valve 60RL, 60RR just often, augmenting factor Kai is set at 1, the target wheel cylinder pressure P tj of left and right sides trailing wheel can not reduce revisal, is controlled to be the line traffic control brake type thus under electromagnetic opening and closing valve 24L and 24R closing state, makes the target brake-pressure Pti of the wheel cylinder pressure P i of each wheel greater than master cylinder pressure P m1, Pm2.
In contrast, if the abnormal condition that linear valve 60RL or 60RR are not in buttoned-up status take place, in step 210 and 220, be judged as certainly, in step 230, augmenting factor Kai is set to the value less than 1, and the target wheel cylinder pressure P tj of left and right sides trailing wheel is reduced revisal, therefore, can prevent from the wheel cylinder pressure P j of this wheel can't be controlled to be the situation of target wheel cylinder pressure P tj and the situation that the control current of surplus is provided to linear valve 50RL, the 50RR of this wheel really.
Particularly if adopt illustrated embodiment 1, at the target control electric current I dj of linear valve 60RL, 60RR is under the situation of closing more than the command value of linear valve 60RL, 60RR, set augmenting factor Kai according to target control electric current I dj, make that the big more COEFFICIENT K ai of target control electric current I dj is more little, therefore can reduce the target wheel cylinder pressure P tj of revisal left and right sides trailing wheel rightly according to the situation that can not close linear valve 60RL, 60RR.
In addition, if adopt illustrated embodiment 1, in step 80, be judged as master mode to left and right sides trailing wheel when being boost mode, can calculate the compensating value Ptaj of the target wheel cylinder pressure of left and right sides trailing wheel, these compensating value become the target wheel cylinder pressure P tj after the revisal, so master mode can prevent from the target wheel cylinder pressure P tj of left and right sides trailing wheel is carried out the unnecessary revisal that reduces when being maintenance pattern or boost mode really.
(embodiment 2)
Fig. 9 is the diagram of circuit of expression to the positive coefficient Kbj operation program of embodiment 2 for diagram of circuit, Figure 10 of the brake-power control program of the embodiment 2 of expression vehicle braked force control device of the present invention.And the step that in Fig. 9 and Figure 10, is equal to Fig. 2 and step shown in Figure 3 be marked with respectively with Fig. 2 and Fig. 3 in the identical number of steps of institute's target number of steps.And the computing of the augmenting factor Kbj that carries out according to program shown in Figure 10 is also for example carried out to intert every specified time left and right sides trailing wheel with the order of left rear wheel, off hind wheel.And step 100 and 110 carry out left and right sides trailing wheel.
In this embodiment, step 10～70,100,130 carry out in the same manner with the situation of the foregoing description 1, but judge in the same manner with the situation of the step 80 of embodiment 1 whether the master mode to left and right sides trailing wheel is boost mode in the step of carrying out after the step 100 110, be judged as when negating, directly enter step 130, and be judged as when sure, in step 120, by the linear valve 50RL of following formula 4 computings to this trailing wheel, the compensating value Ihbj of the target control electric current of 50RR, be made as target control electric current I hj after the revisal by the compensating value Ihbj with this target control electric current, target control electric current I hj is reduced revisal.
Ihbj＝Kbi·Ihj ……(4)
In addition, step 210 shown in Figure 10 and 220 and the situation of the above embodiments 1 carry out in the same manner, in step 220, be judged as when sure, based target control current Idj in step 250, come computing augmenting factor Kbj by the cooresponding figure of diagram of curves shown in Figure 11, be judged as in step 210 or 220 when negating, augmenting factor Kbj keeps previous value in step 260.
Therefore, if adopt illustrated embodiment 2, when if generation linear valve 60RL or 60RR are not in the abnormal condition of buttoned-up status, in step 210 and 220, carry out affirmative determination, augmenting factor Kbi is set to the value less than 1 in step 250, the supercharging of left and right sides trailing wheel is reduced revisal with the target control electric current I hj of linear valve, therefore can prevents to be the situation of target wheel cylinder pressure P tj and the linear valve 50RL of oriented this wheel, the situation of 50RR excess supply control current with the wheel cylinder pressure P j boost control of this wheel really.
Particularly if adopt illustrated embodiment 2, at the target control electric current I dj of linear valve 60RL, 60RR is under the situation of closing more than the command value of linear valve 60RL, 60RR, set augmenting factor Kai according to target control electric current I dj, make that the big more COEFFICIENT K ai of target control electric current I dj is more little, therefore can reduce the target wheel cylinder pressure P tj of revisal left and right sides trailing wheel rightly according to the situation that can not close linear valve 60RL, 60RR.
In addition, if adopt illustrated embodiment 2, in step 100, be judged as master mode to left and right sides trailing wheel when being boost mode, can reduce revisal target control electric current I dj, therefore when master mode is maintenance pattern or boost mode, can prevent from really the supercharging of left and right sides trailing wheel is carried out the unnecessary revisal that reduces with the target control electric current I hj of linear valve.
In addition, if adopt illustrated embodiment 1 or 2, the linear valve 60RL of left and right sides trailing wheel, the electromagnetic valve of 60RR for often opening, therefore in when, linear valve 60RL or 60RR taking place not being in the abnormal condition of buttoned-up status, under the confined situation of the braking force of trailing wheel, driver's brake operating amount improves, even the braking force of front-wheel becomes big thus, because the side force of the trailing wheel that the braking force of trailing wheel causes can not reduce yet, therefore with the linear valve 60FL of left and right sides front-wheel, 60FR compares when being the electromagnetic valve of often opening, in other words with wherein generation is unusual, compares thereby the braking force of trailing wheel becomes big situation, can reduce really that side force by trailing wheel reduces and the drawbacks such as deterioration of the vehicle action that causes.
More than, certain embodiments is described in detail the present invention, but the invention is not restricted to the embodiments described, and those of ordinary skill in the art can implement other all embodiment within the scope of the invention.
For example in the above embodiments 1, when if generation linear valve 60RL or 60RR are not in the abnormal condition of buttoned-up status, the target wheel cylinder pressure P tj self of left and right sides trailing wheel that reduced revisal, but for example by the multiplying of augmenting factor Kai being carried out on the right of above-mentioned formula 1, is revised as that the target wheel cylinder pressure P tj of left and right sides trailing wheel is calculated as the value that reduces.
In addition, in the above embodiments 2, when generation linear valve 60RL or 60RR are not in the abnormal condition of buttoned-up status, reduced revisal to the target control electric current I hj of linear valve 50RL, 50RR, but be reduced revisal by the target wheel cylinder pressure of left and right sides trailing wheel and the deviation delta Pi of wheel cylinder pressure, be revised as the target control electric current I hj that makes to linear valve 50RL, 50RR and be reduced revisal.
In addition, in the above-described embodiment, when generation linear valve 60RL or 60RR are not in the abnormal condition of buttoned-up status, for the left and right sides trailing wheel target wheel cylinder pressure P tj of left and right sides trailing wheel that reduced revisal individually, or the deviation delta Pi of the target wheel cylinder pressure that reduced revisal and wheel cylinder pressure, but the linear valve 60RL of certain trailing wheel or 60RR are not in the abnormal condition of buttoned-up status, make because the braking force difference of left and right sides trailing wheel on vehicle, can not act on unnecessary moment the time, can be revised as and reduce the target wheel cylinder pressure P tj of revisal, or also can be revised as the deviation delta Pi that reduces revisal target wheel cylinder pressure and wheel cylinder pressure left and right sides trailing wheel both sides.
In addition, if adopt each above-mentioned embodiment, the target control electric current I hi and the Idi of each wheel are calculated by figure shown in Figure 8, but also can be revised as figure and do variable setting according to target control electric current I hi, and the target wheel cylinder Pti of each wheel and target control electric current I hi and Idj are calculated by function, and these functions are done variable setting according to target control electric current I dj.
In addition, in each above-mentioned embodiment, the expected value kinetic pressure Pti of each wheel requires deceleration/decel Gt as what the tread-on quantity St of the average value P ma of master cylinder pressure P m1, the Pm2 of the value of expression driver's brake operating amount and brake pedal calculated the driver when common, the target wheel cylinder Pti of each wheel calculates based on driver's the deceleration/decel Gt that requires, but as long as when common, the target control pressure P ti of each wheel calculates based on master cylinder pressure at least, and the control of braking force self can be carried out under known any thought guidance in this technical field.
And then master cylinder pressure is detected by two pressure sensors 66 and 68, is detected by a pressure sensor but also can be revised as master cylinder pressure.
Claims (6)
1. vehicle braked force control device, possess according to the control current start of supplying with increase wheel cylinder pressure closed type electromagnetic valve and reduce the electromagnetic valve of the open type of wheel cylinder pressure according to the control current start of supplying with, the electromagnetic valve by controlling described closed type and the electromagnetic valve of described open type, with the wheel cylinder pressure control is target wheel cylinder pressure, it is characterized in that
When the electromagnetic valve that will make described open type becomes full closing state, control current according to the electromagnetic valve that supplies to described open type, target setting wheel cylinder upper limit of pressure value, target wheel cylinder pressure confinement below described higher limit, is controlled the electromagnetic valve of described closed type and the electromagnetic valve of described open type.
2. vehicle braked force control device as claimed in claim 1, wherein,
The formation of described gradual braking device, brake operating amount based on the driver, computing target wheel cylinder pressure, the target control electric current of the electromagnetic valve of the described closed type that computing is used to make wheel cylinder pressure become target wheel cylinder pressure and the electromagnetic valve of described open type, so that based target control current, control the electromagnetic valve of described closed type and the electromagnetic valve of described open type, when the electromagnetic valve that will make described open type becomes full closing state, control current according to the electromagnetic valve that supplies to described open type, reduce revisal target wheel cylinder pressure, by based on the target wheel cylinder pressure after the revisal, the target control electric current of the electromagnetic valve of the described closed type of computing, with target wheel cylinder pressure confinement on described below the restriction.
3. vehicle braked force control device, possess according to the control current start of supplying with increase wheel cylinder pressure closed type electromagnetic valve and reduce the electromagnetic valve of the open type of wheel cylinder pressure according to the control current start of supplying with, the electromagnetic valve by controlling described closed type and the electromagnetic valve of described open type, with the wheel cylinder pressure control is target wheel cylinder pressure, it is characterized in that
When the electromagnetic valve that will make described open type becomes full closing state, control current according to the electromagnetic valve that supplies to described open type, set the supercharging ratiometric higher limit of wheel cylinder pressure, the supercharging ratio of wheel cylinder pressure is restricted to below the described higher limit, controls the electromagnetic valve of described closed type and the electromagnetic valve of described open type.
4. vehicle braked force control device as claimed in claim 3, wherein,
The formation of described gradual braking device, brake operating amount based on the driver, computing target wheel cylinder pressure, the target control electric current of the electromagnetic valve of the described closed type that computing is used to make wheel cylinder pressure become target wheel cylinder pressure and the electromagnetic valve of described open type, so that based target control current, control the electromagnetic valve of described closed type and the electromagnetic valve of described open type, when the electromagnetic valve that will make described open type becomes full closing state, supply to the control current of the electromagnetic valve of described open type by basis, reduce the target control electric current of the electromagnetic valve of the described closed type of revisal, the supercharging ratio of wheel cylinder pressure is limited in below the described higher limit.
5. as the described vehicle braked force control device of claim 1 to 4, wherein,
Described gradual braking device increases or when keeping the master mode of wheel cylinder pressure being in, and is judged as the electromagnetic valve that will make described open type when being in full closing state.
6. as the described vehicle braked force control device of claim 1 to 4, wherein,
When described gradual braking device is supplied with control current more than the specified maximum current in the electromagnetic valve of described open type, be judged as the electromagnetic valve that will make described open type when being in full closing state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100824987A CN100528652C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle braking force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100824987A CN100528652C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle braking force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1751925A true CN1751925A (en) | 2006-03-29 |
| CN100528652C CN100528652C (en) | 2009-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100824987A Expired - Lifetime CN100528652C (en) | 2004-09-20 | 2004-09-20 | Controlling device for vehicle braking force |
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| CN (1) | CN100528652C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110905939A (en) * | 2019-11-05 | 2020-03-24 | 北汽福田汽车股份有限公司 | Clutch assisting system for vehicle and vehicle with clutch assisting system |
-
2004
- 2004-09-20 CN CNB2004100824987A patent/CN100528652C/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110905939A (en) * | 2019-11-05 | 2020-03-24 | 北汽福田汽车股份有限公司 | Clutch assisting system for vehicle and vehicle with clutch assisting system |
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| CN100528652C (en) | 2009-08-19 |
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