CN1865053A - Vehicle motion control apparatus - Google Patents

Abstract

This apparatus is applied to a vehicle brake apparatus provided with a hydraulic booster operated by utilizing an accumulator hydraulic pressure that is adjusted to a predetermined high pressure (not less than a lower limit value) by a drive control of a hydraulic pump. This apparatus executes an automatic pressurization control by controlling plural solenoid valves with the use of the accumulator hydraulic pressure. The increasing slope of the brake hydraulic pressure during the automatic pressurization control is determined on the basis of the vehicle motion state. The increasing slope is restricted to be not more than a predetermined restriction value, in case where the accumulator hydraulic pressure at the time of starting the automatic pressurization control is less than 'a reference hydraulic pressure that is greater than a minimum value of the accumulator hydraulic pressure necessary for assisting the brake operation by the hydraulic booster and smaller than the lower limit value'.

Description

Vehicle motion control apparatus

Technical field

The present invention relates to a kind of vehicle motion control apparatus, described equipment execution follow-up pressure is controlled and is produced wheel cylinder hydraulic pressure, so that the control vehicle motion by utilizing pressure accumulator hydraulic pressure to be independent of the chaufeur brake operating.

Background technology

Traditionally, the hydraulic intensifier that brake equipment is provided with Hydraulic Pump, is used for driving the motor of Hydraulic Pump, stores the pressure accumulator of brake fluid (pressure of brake fluid increases by the driving of the Hydraulic Pump that motor drives), be stored in brake fluid pressure (hereinafter being referred to as " pressure accumulator hydraulic pressure ") the driver assistance person's brake pedal operation in the pressure accumulator by utilization (is seen, Japan substantive examination patent application No.2004-066941 not for example), this is widely known to the public.

Disclosed equipment is used for CD-ROM drive motor when pressure accumulator hydraulic pressure becomes less than the predetermined lower bound value (correspondingly, drive Hydraulic Pump) in the above-mentioned reference paper, and when pressure accumulator hydraulic pressure surpasses predetermined upper limit value greater than lower limit the stop solution press pump.Therefore, pressure accumulator hydraulic pressure is adjusted to " pressure between lower limit and higher limit in the scope (high pressure) " in principle, and this pressure is higher than the lower limit that is enough to the necessary pressure accumulator hydraulic pressure of auxiliary braking pedal operation (hereinafter being referred to as " interpole limit value ") by hydraulic intensifier.

In addition, disclosed equipment is provided with a plurality of electromagnetic valves to regulate the brake fluid pressure (hereinafter being referred to as " wheel cylinder hydraulic pressure ") in the wheel cylinder in the above-mentioned reference paper.Utilize this structure, disclosed equipment can be carried out known anti-skidding control (hereinafter being referred to as " ABS control ") by controlling a plurality of electromagnetic valves in the above-mentioned documents, and extraly, can carry out follow-up pressure control (for example oversteer is restrained control etc.), this follow-up pressure control can produce wheel cylinder hydraulic pressure and be adjusted to high-voltage pressure accumulator hydraulic pressure with use and be independent of the motion of chaufeur brake operating control vehicle by controlling a plurality of electromagnetic valves.

Simultaneously, carrying out under the situation of ABS control, perhaps under the situation that the operation of the ON-OFF operation (hereinafter being referred to as " pumping brake operating ") that repeats brake pedal is performed, for example, the brake fluid in the brake fluid pressure loop turns back to storage tank.Therefore, remain on high-voltage pressure accumulator hydraulic pressure and in most of the cases reduce, become less than lower limit.In this case, Hydraulic Pump begins to drive, and like this, usually, after this pressure accumulator hydraulic pressure increase immediately and get back to the value that is not less than lower limit.

Yet, under situation that the increase of the wheel cylinder hydraulic pressure in ABS control or reduction degree are very big and its circulation is short, perhaps in the pumping brake operating under the extremely short situation of the ON-OFF of brake operating circulation, becoming is exceedingly fast to turn back to the average velociity (hereinafter being referred to as " brake fluid depletion rate ") of the brake fluid of storage tank in the brake fluid pressure loop.When the depletion rate of aforesaid brake fluid is exceedingly fast, though Hydraulic Pump by continuous drive, pressure accumulator hydraulic pressure still reduces, pressure accumulator hydraulic pressure may take place and be reduced to phenomenon near the value of interpole limit value in the result.

When follow-up pressure control starts when be reduced near the situation of the value of interpole limit value at pressure accumulator hydraulic pressure under, but even the situation that may exist Hydraulic Pump continuous drive pressure accumulator hydraulic pressure still to reduce, because brake fluid is fed into wheel cylinder to increase wheel cylinder hydraulic pressure.As a result, pressure accumulator hydraulic pressure may be less than the interpole limit value.

Summary of the invention

Consider the problems referred to above and finished the present invention, even and the object of the present invention is to provide a kind of when carrying out follow-up pressure control, also can stablizing to guarantee the vehicle motion control apparatus of chaufeur the desired deceleration of brake pedal operation.

First vehicle motion control apparatus according to the present invention is applied in the vehicle brake apparatus, and described vehicle brake apparatus is provided with Hydraulic Pump; Be used to drive the driving control device of Hydraulic Pump; Store its pressure by the pressure accumulator of driving control device by the brake fluid of the driving increase of Hydraulic Pump; By using the hydraulic intensifier of pressure accumulator hydraulic pressure driver assistance person brake pedal operation, described pressure accumulator hydraulic pressure is the pressure that is stored in the brake fluid in the pressure accumulator; Regulate the pressure-regulating device of wheel cylinder hydraulic pressure, described wheel cylinder hydraulic pressure is the brake fluid pressure in the wheel cylinder; With the detector of surveying pressure accumulator hydraulic pressure.

First vehicle motion control apparatus according to the present invention comprises the follow-up pressure control setup, in order to carry out follow-up pressure control to be independent of the wheel cylinder hydraulic pressure that the chaufeur brake operating produces the control vehicle motion, described follow-up pressure control setup utilizes pressure accumulator hydraulic control pressure control apparatus.Wherein, also comprise restraint device, described restraint device the pressure accumulator hydraulic pressure that detects less than the situation of predetermined hydraulic pressure under the degree of increase in the wheel cylinder hydraulic pressure that produces by follow-up pressure control of restriction.

More specifically, described driving control device is configured to: when the pressure accumulator hydraulic pressure of surveying becomes less than the predetermined lower bound value, drive Hydraulic Pump, and when pressure accumulator hydraulic pressure surpasses predetermined upper limit value greater than lower limit the stop solution press pump.Described restraint device is configured to: use less than lower limit and greater than the value of operating necessary pressure accumulator hydraulic pressure low extreme value (that is above-mentioned interpole limit value) by the hydraulic intensifier auxiliary braking as predetermined hydraulic pressure.

Utilize this structure, (when for example, less than lower limit and greater than the interpole limit value carrying out follow-up pressure control under) the situation, limited the degree of the increase in the wheel cylinder hydraulic pressure that produces by follow-up pressure control less than predetermined hydraulic pressure at pressure accumulator hydraulic pressure.Therefore, limited and supplied to the feed speed of wheel cylinder with the brake fluid that increases wheel cylinder hydraulic pressure.

This means the wheel cylinder hydraulic pressure that has suppressed to cause by follow-up pressure control increase during the generation of the situation that still reduces of pressure accumulator hydraulic pressure.Therefore, suppressed pressure accumulator hydraulic pressure and become, and therefore,, still can stably fully guarantee the brake operating auxiliary force that produces by hydraulic intensifier even carry out follow-up pressure control less than the generation of the situation of interpole limit value.Particularly, can stablize and obtain the chaufeur deceleration desired brake pedal operation.

Second vehicle motion control apparatus according to the present invention is applied to vehicle brake apparatus, described vehicle brake apparatus is except Hydraulic Pump, driving control device, pressure accumulator, pressure-regulating device and the detector identical with related device in first vehicle motion control apparatus, also be provided with and (for example survey chaufeur brake operating and output corresponding to the brake operating signal output apparatus of the signal of brake operating, brake pedal operational stroke sensor, brake pedal operating effort sensor etc.).

Second vehicle motion control apparatus according to the present invention comprises braking force control system, described braking force control system is carried out brake-by-wire control to produce the wheel cylinder hydraulic pressure corresponding to brake operating signal output apparatus output signal (that is, corresponding to the chaufeur brake operating) by using pressure accumulator hydraulic control pressure control apparatus.Wherein, also comprise the restraint device identical with the restraint device of first vehicle motion control apparatus.

More specifically, described driving control device is configured to: when the pressure accumulator hydraulic pressure of surveying becomes less than the predetermined lower bound value, drive Hydraulic Pump, and when pressure accumulator hydraulic pressure surpasses predetermined upper limit value greater than lower limit the stop solution press pump.Described restraint device is configured to: use less than lower limit and greater than being positioned at the execution brake-by-wire and control the value of the higher limit of necessary wheel cylinder hydraulic pressure scope (hereinafter being referred to as " normal hydraulic pressure higher limit ") as predetermined hydraulic pressure.

Normal hydraulic pressure higher limit is set equal to the value corresponding to the target wheel cylinder hydraulic pressure under maximum brake operating (operational ton, operational stroke, the operating effort) situation of the supposition of carrying out chaufeur enforcement.Under the situation that normal hydraulic pressure higher limit is as above set, the situation that pressure accumulator hydraulic pressure becomes less than normal hydraulic pressure higher limit means: approach in execution can not produce the chaufeur wheel cylinder hydraulic pressure desired to brake operating under the situation of the maximum brake operating of above-mentioned supposition.

Utilize this structure, (when for example, less than lower limit and greater than the value of normal hydraulic pressure higher limit starting under) the situation, limited the degree of the increase in the wheel cylinder hydraulic pressure that follow-up pressure control produces less than predetermined hydraulic pressure when follow-up pressure is controlled at pressure accumulator hydraulic pressure.Therefore, suppressed the generation of the situation that pressure accumulator hydraulic pressure still reduces during the wheel cylinder hydraulic pressure that follow-up pressure control causes increases.

Therefore, suppressed pressure accumulator hydraulic pressure and become, and therefore, obtained the chaufeur wheel cylinder hydraulic pressure desired brake operating even under the situation of carrying out follow-up pressure control, also can stablize less than the normally generation of the situation of hydraulic pressure higher limit.Particularly, can stablize and obtain the chaufeur deceleration desired brake pedal operation.

In first and second motion control apparatus according to the present invention, restraint device preferably is constructed to: under the situation of pressure accumulator hydraulic pressure less than predetermined hydraulic pressure of surveying, restriction is by the degree of the increase in the wheel cylinder hydraulic pressure of follow-up pressure control generation, so that pressure accumulator hydraulic pressure increases at least during wheel cylinder hydraulic pressure is increased by the follow-up pressure control setup.

Utilize this structure, can guarantee wheel cylinder hydraulic pressure increase by follow-up pressure control during pressure accumulator hydraulic pressure increase.Therefore, having suppressed pressure accumulator hydraulic pressure more reliably becomes less than the interpole limit value or less than the normally generation of the situation of hydraulic pressure higher limit.

In arbitrary motion control apparatus according to the present invention, for example, for " restriction is by the degree of the increase in the wheel cylinder hydraulic pressure of follow-up pressure control generation ", the slope of being controlled the increase in the wheel cylinder hydraulic pressure that produces by follow-up pressure is restricted to particularly is not more than predetermined slope.

Particularly, the slope of the increase of the hydraulic pressure that is produced by follow-up pressure control is generally determined based on for example state of motion of vehicle etc.Pressure accumulator hydraulic pressure less than the situation of predetermined hydraulic pressure under and surpass under the situation of predetermined slope at the slope of the increase of the wheel cylinder hydraulic pressure of determining based on state of motion of vehicle etc., it is the value that equals predetermined slope that the slope of increase is changed (restriction).

In addition, suppose under the situation that wheel cylinder hydraulic pressure is increased by follow-up pressure control that the follow-up pressure control setup is configured to alternately carry out boost control that increases wheel cylinder hydraulic pressure and the retentive control that keeps wheel cylinder hydraulic pressure by the control of pressure-regulating device.

In this case, for " slope of the increase of the wheel cylinder hydraulic pressure that will be produced by follow-up pressure control is restricted to and is not more than predetermined slope ", for example, the ratio of the summation of the time of the time of the time of lasting boost control and lasting boost control and lasting retentive control can be restricted to and be not more than predetermined value.Utilize this structure, the average increase slope of the wheel cylinder hydraulic pressure that is produced by follow-up pressure control can be restricted to and be not more than predetermined slope.

Description of drawings

By simultaneously in conjunction with the accompanying drawings with reference to the preferred embodiment of following detailed description, can comprehend easily and simultaneously understand various other purposes of the present invention, feature and many attendant advantages better, wherein:

Fig. 1 is the schematic diagram that has been equipped with the vehicle of brake equipment, and this brake equipment comprises the vehicle motion control apparatus according to first embodiment of the invention;

Fig. 2 is the schematic diagram of brake fluid pressure control convenience shown in Figure 1;

Fig. 3 is a time diagram, show and suppress to be controlled under the situation about starting when the pressure accumulator hydraulic pressure that causes owing to the execution ABS control reduces at oversteer, variation in the hydraulic pressure of the output of brake switch, pressure accumulator hydraulic pressure, motor driven state and oversteer inhibition control usefulness, and this figure still is, and a width of cloth shows the time diagram of carrying out the situation of brake operating when pressure accumulator hydraulic pressure is reduced to less than the interpole limit value;

Fig. 4 is a diagram of circuit, shows the program of being calculated wheel velocity etc. by being used for of carrying out of CPU shown in Figure 1;

Fig. 5 is a diagram of circuit, shows the program of being carried out by CPU shown in Figure 1 that is used for carrying out oversteer inhibition control;

Fig. 6 is the schematic diagram according to the brake fluid pressure control convenience in the vehicle motion control apparatus of second embodiment of the invention; With

Fig. 7 is a time diagram, show and suppress to be controlled under the situation about starting when the pressure accumulator hydraulic pressure that causes owing to the execution ABS control reduces at oversteer, brake switch output, pressure accumulator hydraulic pressure, motor driven state and oversteer suppress control usefulness hydraulic pressure in variation, and this figure still is the time diagram that a width of cloth shows the situation of execution brake operating when pressure accumulator hydraulic pressure is reduced to less than normal hydraulic pressure higher limit.

The specific embodiment

Below, the vehicle motion control apparatus according to the embodiment of the invention will be described with reference to the drawings.Fig. 1 schematically shows the vehicle that comprises according to the brake equipment 10 of the motion control apparatus of first embodiment of the invention is installed on it.The vehicle that illustrates is a f-w-d vehicle, and in this vehicle, two front-wheels are drive wheel.

This brake equipment 10 has: propulsive effort transport sector part 20, and it produces propulsive effort and propulsive effort is transferred to drive wheels FL and FR; Be used in each wheel, producing the brake fluid pressure control convenience 30 of brake fluid pressure; The Sensor section 40 that comprises various sensors; With motion control apparatus 50.

Propulsive effort transport sector part 20 comprises the driving engine 21 that produces propulsive effort; Throttle actuator 22, its control are placed in the aperture (throttle opening TA) of the throttle gate TH among the driving engine 21 air inlet pipe 21a and change the open cross sectional of free air diffuser; Fuel injection apparatus 23, it is included near the fuel injector of the burner oil of driving engine 21 unshowned admission ports.

Propulsive effort transport sector part 20 also comprises change speed gear box 24, and its input shaft is connected to the output shaft of driving engine 21; Front wheel side diff 25, it is connected to the output shaft of change speed gear box 24 and will suitably distributes and be transferred to front-wheel FL and FR from the propulsive effort of driving engine 21.

As Fig. 2 schematically showed, brake fluid pressure control convenience 30 comprised that high pressure produces part 31; Brake fluid pressure produces part 32, and it produces the brake fluid pressure corresponding to the operating effort of brake pedal BP; And the FR brake fluid pressure is regulated part 33, the FL brake fluid pressure is regulated part 34, the RR brake fluid pressure regulates part 35 and the RL brake fluid pressure is regulated part 36, and each regulates part can regulate the brake fluid pressure that supplies to each wheel cylinder Wfr, Wfl, Wrr and the Wrl that are arranged in each wheel FR, FL, RR and RL place.

High pressure produces part 31 and is configured to comprise: electro-motor M; Hydraulic Pump HP, it is by the brake fluid among electro-motor M driving and pumping, discharge and the pressurized tanks RS; And pressure accumulator Acc, it is connected to the discharge side of Hydraulic Pump HP via boiler check valve CVH and stores brake fluid by Hydraulic Pump HP supercharging.

By instruction from the motion control apparatus of describing later 50 (CPU51), the hydraulic pressure (hereinafter be referred to as " pressure accumulator hydraulic pressure Pacc ") of electro-motor M in pressure accumulator Acc is driven during less than predetermined lower bound value Pon, and electro-motor M pressure accumulator hydraulic pressure Pacc surpass predetermined upper limit value Poff (＞be stopped Pon) time.Utilize this operation, in principle, pressure accumulator hydraulic pressure Pacc is adjusted to " pressure (high pressure) between lower limit Pon and higher limit Poff in the scope ".Notice that lower limit Pon is set as fully greater than the value that is enough to the required pressure accumulator hydraulic pressure Pacc low extreme value of auxiliary braking pedal operation (hereinafter being referred to as " interpole limit value Passist ") by following hydraulic intensifier HB.

Safety valve RV is arranged between pressure accumulator Acc and the storage tank RS.When pressure accumulator hydraulic pressure Pacc becomes when being higher than higher limit Poff extraordinarily, the brake fluid among the pressure accumulator Acc turns back to storage tank RS.This operation protection high pressure produce hydraulic circuit in the part 31.

Brake fluid pressure generation part 32 comprises operation hydraulic intensifier HB that drives and the master cylinder MC that is connected to hydraulic intensifier HB according to brake pedal BP.Hydraulic intensifier HB uses that to produce part 31 from high pressure that supply with and be adjusted to high-voltage pressure accumulator hydraulic pressure Pacc, to be transferred to master cylinder MC by the operating effort of the ratio auxiliary braking pedal of appointment and the operating effort that will assist.

Master cylinder MC produces master cylinder hydraulic pressure according to auxiliary operating effort.In addition, by importing this master cylinder hydraulic pressure, hydraulic intensifier HB produces regulating control hydraulic pressure, and it is identical with master cylinder hydraulic pressure basically and conform to auxiliary operating effort.The structure of master cylinder MC and hydraulic intensifier HB and operation are well-known, therefore will omit its detailed description.So, master cylinder MC and hydraulic intensifier HB produce master cylinder hydraulic pressure and regulating control hydraulic pressure corresponding to the operating effort of brake pedal BP.

Control cock SA1, its be two mouthfuls of two positions types often open electromagnetic switch valve (solenoid on-offvalve), be arranged in master cylinder MC and FR brake fluid pressure and regulate part 33 upstream sides and FL brake fluid pressure and regulate between in part 34 upstream sides each.Similarly, control cock SA2, its be two mouthfuls of two positions types often open electromagnetic switch valve, be arranged in hydraulic intensifier HB and RR brake fluid pressure and regulate part 35 upstream sides and RL brake fluid pressure and regulate between in part 36 upstream sides each.

Control cock SA3, it is the normally closed electromagnetic switch valve of two mouthfuls of two positions types, is arranged in to connect the FR brake fluid pressure and regulate part 33 upstream sides and FL brake fluid pressure and regulate each and RR brake fluid pressure in part 34 upstream sides and regulate part 35 upstream sides and RL brake fluid pressure and regulate each pipeline place in part 36 upstream sides.

In addition, change-over valve STR, it is the normally closed electromagnetic switch valve of two mouthfuls of two positions types, is arranged in high pressure and produces between part 31 and the above-mentioned pipeline.

As control cock SA1 and control cock SA3 (with change-over valve STR) when being in its primary importance, master cylinder hydraulic pressure supplies to the FR brake fluid pressure and regulates part 33 upstream sides and FL brake fluid pressure and regulate in part 34 upstream sides each.When control cock SA1 and SA2 and change-over valve STR are in its second place (being in excited state), produce pressure accumulator hydraulic pressure Pacc (high pressure) that part 31 produces by high pressure and supply to the FR brake fluid pressure and regulate part 33 upstream sides and FL brake fluid pressure and regulate in part 34 upstream sides each.

Similarly, when control cock SA2, control cock SA3 and change-over valve STR were in its primary importance, the regulating control hydraulic pressure supply was regulated part 35 upstream sides and RL brake fluid pressure to the RR brake fluid pressure and is regulated in part 36 upstream sides each.When control cock SA2 and SA3 and change-over valve STR were in its second place, pressure accumulator hydraulic pressure Pacc supplied to the RR brake fluid pressure and regulates part 35 upstream sides and RL brake fluid pressure and regulate in part 36 upstream sides each.

The FR brake fluid pressure is regulated part 33 and is comprised pressure charging valve PUfr, its be two mouthfuls of two positions types often open electromagnetic switch valve and reducing valve PDfr, it is the normally closed electromagnetic switch valve of two mouthfuls of two positions types.When pressure charging valve PUfr is in its as shown in Figure 2 first state (being in the position of unactivated state), it is regulated to form between part 33 upstream sides and the wheel cylinder Wfr at the FR brake fluid pressure and is communicated with, and when it was in its second state (being in the position of excited state), it cut off the connection between FR brake fluid pressure adjusting part 33 upstream sides and the wheel cylinder Wfr.When reducing valve PDfr is in its as shown in Figure 2 first state (being in the position of unactivated state), it cuts off the connection between wheel cylinder Wfr and the storage tank RS, and when it was in its second state (being in the position of excited state), it formed connection between wheel cylinder Wfr and storage tank RS.

Therefore, the hydraulic pressure that the FR brake fluid pressure is regulated part 33 upstream sides supplies to wheel cylinder Wfr when pressure charging valve PUfr and reducing valve PDfr are in its first state, and then the brake fluid pressure among the wheel cylinder Wfr (wheel cylinder hydraulic pressure Pwfr) is increased (boost control).When pressure charging valve PUfr is in its second state and reducing valve PDfr and is in its first state,, all be held (retentive control) at the wheel cylinder hydraulic pressure Pwfr in moment of conversion no matter the hydraulic pressure that the FR brake fluid pressure is regulated part 33 upstream sides how.When pressure charging valve PUfr and reducing valve PDfr were in its second state, wheel cylinder hydraulic pressure Pwfr reduced (decompression control), because the brake fluid among the wheel cylinder Wfr has been got back to storage tank RS.

Only allow brake fluid to be connected in parallel to the boiler check valve CV1 and the pressure charging valve PUfr that flow along the folk prescription of regulating part 33 upstream sides from wheel cylinder Wfr side to the FR brake fluid pressure.As a result, when control cock SA1 was in its first state and brake pedal BP and is released after operation, wheel cylinder hydraulic pressure Pwfr reduced rapidly.

Similarly, FL brake fluid pressure adjusting part 34, RR brake fluid pressure are regulated part 35, the RL brake fluid pressure is regulated part 36 and comprised pressure charging valve PUfl and reducing valve PDfl, pressure charging valve PUrr and reducing valve PDrr and pressure charging valve PUrl and reducing valve PDrl respectively.By controlling the position of each pressure charging valve and reducing valve, the brake fluid pressure among wheel cylinder Wfl, wheel cylinder Wrr and the wheel cylinder Wrl (wheel cylinder hydraulic pressure Pwfl, Pwrr, Pwfr) can be increased, keeps or reduce.Boiler check valve CV2, CV3 and CV4 are arranged in parallel with pressure charging valve PUfl, PUrr and PUrl respectively, so that the identical functions with boiler check valve CV1 to be provided.

In addition, only allow brake fluid to be connected in parallel to the boiler check valve CV5 and the control cock SA2 that flow along the folk prescription from the upstream side to the downstream.As a result, when control cock SA2 was in its second state and hydraulic intensifier HB and RR brake fluid pressure and regulates part 35 and RL brake fluid pressure and regulate connection between the part 36 and be cut off, BP can increase wheel cylinder hydraulic pressure Pwrr and Pwrl by the operation brake pedal.

Utilize said structure, when all electromagnetic valves are in its first state (the non-position that excites), brake fluid pressure control convenience 30 will supply to each wheel cylinder corresponding to the brake fluid pressure of brake pedal BP operating effort.In this state, for example, might only the brake fluid pressure among the wheel cylinder Wrr be increased, keep and be reduced to the scope of the brake fluid pressure (that is master cylinder hydraulic pressure) that is not more than corresponding to the brake pedal operating effort by control pressure charging valve PUrr and reducing valve PDrr.

By respectively control cock SA1, change-over valve STR and pressure charging valve PUfl being changed to the second place and control pressure charging valve PUfr and reducing valve PDfr, be not operated at brake pedal BP under the state of (being released) when wheel cylinder hydraulic pressure Pwfl is held " 0 ", produce the pressure accumulator hydraulic pressure Pacc (high pressure) that part 31 produces by utilizing by high pressure, brake fluid pressure control convenience 30 can only increase wheel cylinder hydraulic pressure Pwfr, keep, be reduced in the scope that is not more than pressure accumulator hydraulic pressure Pacc (high pressure).

As mentioned above, the wheel cylinder hydraulic pressure of each wheels of the independent control of brake fluid pressure control convenience 30, and no matter the operation of brake pedal BP how, thereby can independently apply predetermined braking force on the wheel at each.As a result, brake fluid pressure control convenience 30 can be realized known ABS control and following follow-up pressure control (oversteer suppresses control) by the instruction of motion control apparatus 50.

Refer again to Fig. 1, Sensor section 40 comprises that electromagnetism picks up type vehicle-wheel speed sensor 41 ^*, its output has corresponding to wheel ^*The signal of pulse of wheel velocity, accel sensor 42, it surveys the signal (accelerator operation amount Accp) that is shown accelerator pedal AP operational ton by the operational ton of the accelerator pedal AP of driver's operation and output, brake switch 43, its output is according to brake pedal BP operation and inactive ON/OFF signal, yawing velocity sensor (yaw rate sensor) 44, the signal of the yawing velocity of its detection vehicle and output indication yawing velocity Yr, lateral acceleration sensor 45, the signal of the lateral acceleration of its detection vehicle and output indication lateral acceleration Gy, pressure accumulator hydraulic pressure transducer 46 (see figure 2)s, it surveys the signal of pressure accumulator hydraulic pressure Pacc and output indication pressure accumulator hydraulic pressure Pacc, wheel cylinder hydraulic pressure transducer 47 ^*(see figure 2), it surveys wheel cylinder hydraulic pressure Pw ^*And output indication wheel cylinder hydraulic pressure Pw ^*Signal.

In the following description, invest symbol after the various variablees etc. " ^*" the conventional letter fl of collective, fr, rl and rr, and represent that specific variable etc. is applicable to all wheel FR, FL etc. of wheel.For example, wheel cylinder hydraulic pressure Pw ^*Collective represents wheel cylinder hydraulic pressure Pwfr, wheel cylinder hydraulic pressure Pwfl, wheel cylinder hydraulic pressure Pwrr and wheel cylinder hydraulic pressure Pwrl.

Yawing velocity Yr and lateral acceleration Gy be set at vehicle get when rotating counterclockwise (from the vehicle upside) on the occasion of, when vehicle clockwise rotates, get negative value.

Motion control apparatus 50 is a kind of micro computers, and it comprises CPU 51; ROM 52, store the program (program code) carried out by CPU 51, table (look-up table and mapping), constant etc. therein in advance; RAM 53, and CPU 51 stores essential data temporarily therein; Standby RAM 54, its storage data and when supply disconnecton, keep the data of this storage when power connection; The interface 55 that comprises A/D converter, and other.Above-mentioned parts are via bus interconnection.Interface 55 is connected to sensor 41 to 47.Interface 55 signal of autobiography sensor 41 to 47 in the future supplies to CPU 51.In addition, according to the instruction of CPU 51, interface 55 is transferred to drive signal motor M and electromagnetic valve, throttle actuator 22 and the fuel injection apparatus 23 of brake fluid pressure control convenience 30.

Because said structure, throttle actuator 22 drives throttle gate TH, makes throttle opening TA basically with consistent corresponding to the aperture of accelerator operation amount Accp; And fuel injection apparatus 23 sprays a certain amount of fuel, and described amount is to obtain the required amount of intended target air-to-fuel ratio (theoretical air-fuel ratio) at the cylinder interior suction quantity, and wherein the cylinder interior suction quantity is the amount of air that enters each cylinder.

[OS suppresses the control general introduction]

What illustrate subsequently is to suppress control (OS suppresses to control) as the oversteer that follow-up pressure control is carried out by the vehicle brake apparatus 10 (hereinafter being referred to as " this equipment ") of the motion control apparatus of the first embodiment of the invention that comprises configuration like this.

The car body slip angle θ that is used for OS inhibition control is defined as " by the angle of car body direction (that is, car body is vertical) and the formation of car body working direction ".Car body slip angle θ is set at, when the vehicle upside is seen, when the car body direction is mobile in the counterclockwise direction with respect to the car body working direction, be assumed to be on the occasion of, and when the vehicle upside is seen, when the car body direction is mobile along clockwise direction with respect to the car body working direction, be assumed to be negative value.Therefore, can obtain car body slip angle θ according to following equation (1).In equation (1), Vso is a body speed of vehicle.

θ＝∫(Yr-(Gy/Vso)) (1)

Big car body slip angle θ means that vehicle is in so-called " skidding " state (that is, being in the oversteer state).Therefore, when arriving predetermined OS inhibition control entry condition, this equipment is carried out OS and is suppressed control with supression oversteer state, and wherein said predetermined OS suppresses the control entry condition and comprises the state of the absolute value of car body slip angle θ greater than predetermined value (＞0).

Particularly, this equipment is independent of OS that the absolute value of the operation of brake pedal BP, the car body slip angle θ when suppressing the control entry condition based on OS and arrive sets and suppresses control with the given pattern of the hydraulic pressure wheel cylinder W at the front-wheel in the turning track outside ^*The last hydraulic pressure (therefore, suppressing control is forced to be applied to the turning track outside with the braking force of hydraulic pressure front-wheel) of forcing to apply OS inhibition control usefulness corresponding to OS.Therefore, the yawing moment positive action of the direction that the edge is opposite with steering direction makes the absolute value of car body slip angle θ reduce thereby carried out control on vehicle.The stability that can keep as a result, Vehicular turn.

Above-mentioned " OS suppresses the given pattern of control with hydraulic pressure " can adopt a kind of like this pattern, in this pattern, OS suppresses control and at first is increased to abutment pressure Pt by alternately carrying out boost control and retentive control with the slope Gradup that increases with hydraulic pressure, during predetermined period, remain on abutment pressure Pt by continuing retentive control then, reduce with predetermined reduction slope by alternately carrying out decompression control and retentive control then.

Slope Gradup that increases and abutment pressure Pt determine based on arriving OS inhibition control entry condition car body slip angle θ constantly in principle.Particularly, the slope Gradup of increase and abutment pressure Pt the two suppress the absolute value of control entry condition car body slip angle θ constantly and all be set at big value when big arriving OS.

In fact, in this embodiment, the slope Gradup of increase is expressed by following equation (2).In following equation (2), Tup is the continuous time of a boost control, and Thold is the continuous time of a retentive control.Particularly, determine based on arriving OS inhibition control entry condition car body slip angle θ constantly in principle corresponding to the slope Gradup that increases " combination of Tup and Thold ".

Gradup＝Tup/(Tup+Thold) (2)

In addition, carry out at this equipment under the situation of OS inhibition control, suppress the braking force that control applies with hydraulic pressure except above-mentioned by OS, it is also carried out driving engine output and reduces control, and this control reduces predetermined amount with the output of driving engine 21 from the level corresponding to accelerator pedal operation amount Accp.As a result, because the body speed of vehicle that reduces, the centnifugal force that acts on the vehicle reduces, thereby can keep the turning track performance of vehicle.The above-mentioned general introduction that suppresses control for OS.

Suppress brake operating is stably guaranteed in control with the slope Gradup of the increase of hydraulic pressure auxiliary force by means of hydraulic intensifier HB by restriction OS

As mentioned above, this equipment suppresses the slope Gradup (" combination of Tup and Thold " particularly) that control entry condition car body slip angle θ s constantly determines increase based on arriving OS in principle.Yet this equipment is restricted to the value that is not more than particular value (limits value α) with the slope Gradup that increases under predetermined condition, and no matter the value of determining based on car body slip angle θ s how.These will be hereinafter with reference to figure 3 explanations.

Fig. 3 is a time diagram, the moment t4 that shows after carrying out ABS control during the period from moment t1 to moment t3 and following the ABS control end closely starts under the situation of OS inhibition control, and brake switch 43, pressure accumulator hydraulic pressure Pacc, motor MT driving condition and OS suppress to control the variation with in the output of hydraulic pressure.

As shown in Figure 3, supposed before moment t1 that brake pedal BP inoperation (promptly, brake switch 43 output OFF signals), pressure accumulator hydraulic pressure Pacc places between lower limit Pon and the higher limit Poff, and motor MT is in its OFF state (therefore, Hydraulic Pump HP is stopped).

When chaufeur begins operation (therefore, brake switch 43 begins to export the ON signal) with when moment t1 starts ABS control on brake pedal BP, brake fluid is via reducing valve PD ^*Be performed the wheel cylinder W of ABS control term of execution of from decompression control ^*Get back to storage tank RS (see figure 2).

Utilize this operation, brake fluid supplies to the brake fluid pressure loop, and pressure accumulator hydraulic pressure Pacc reduces like this.Suppose that therefore pressure accumulator hydraulic pressure Pacc becomes less than lower limit Pon at moment t2.In this case, after moment t2, motor M remains on its ON state (therefore, Hydraulic Pump HP remains on its driving condition).As a result, when the delivery flow of the brake fluid by Hydraulic Pump HP was higher than the average velociity (that is, the depletion rate of brake fluid) of the brake fluid that turns back to storage tank RS, pressure accumulator hydraulic pressure Pacc raise at once and gets back to value greater than lower limit Pon.

On the other hand, suppose in example shown in Figure 3 that because the frequent execution of boost control and decompression control, the depletion rate of brake fluid is bigger, and therefore, the depletion rate of brake fluid surpasses the delivery flow by the brake fluid of Hydraulic Pump HP.In this case, even Hydraulic Pump HP keeps driving, pressure accumulator hydraulic pressure Pacc still reduces.Therefore, suppose that pressure accumulator hydraulic pressure Pacc is reduced to value near interpole limit value Passist at moment t3, wherein t3 is the moment of ABS control when finishing constantly.

OS suppresses control and starts at moment t4 according to reaching OS inhibition control entry condition, and pressure accumulator hydraulic pressure Pacc is reduced to the value near above-mentioned interpole limit value Passist.Suppose in example shown in Figure 3, reaching moment that OS suppresses the control entry condition (promptly, t4 constantly) the car body slip angle θ s that locates is relatively large, and the slope Gradup of the increase of therefore determining based on car body slip angle θ s is set to relatively large value.

Dotted line among Fig. 3 is represented: OS suppresses control and starts constantly (t4 constantly) afterwards, " OS suppresses the given pattern of control with hydraulic pressure " when the slope Gradup that increases is set as above-mentioned " based on the higher value of car body slip angle θ s " and the variation of pressure accumulator hydraulic pressure Pacc.In this case, OS suppresses to be controlled at t5 place end constantly.

When the slope Gradup that increases is set to above-mentioned " based on the higher value of car body slip angle θ s ", exist to supply to wheel cylinder W ^*The wheel cylinder hydraulic pressure Pw that suppresses the front-wheel of control with the execution OS that increases the turning track outside ^*The feed speed of brake fluid become big and therefore feed speed surpass the situation of the delivery flow of the brake fluid by Hydraulic Pump HP.

In this case, even Hydraulic Pump HP keeps driving, pressure accumulator hydraulic pressure Pacc still reduces after moment t4, as described in the dotted line among Fig. 3.As a result, may exist pressure accumulator hydraulic pressure Pacc after moment t4, to change to such an extent that be lower than the situation of interpole limit value Passist.

In this case, think after the moment in the moment t5 when OS suppresses control and finishes, chaufeur is at moment t6 operation brake pedal BP, wherein moment before the t6 moment t7 that is pressure accumulator hydraulic pressure Pacc when still the Hydraulic Pump HP of continuous drive becomes greater than interpole limit value Passist once more constantly.

In this case, may produce a problem, promptly in the pressure accumulator hydraulic pressure Pacc from moment t6 to moment t7 became period (seeing the dash area Fig. 3) less than interpole limit value Passist, the brake pedal operation of being implemented by chaufeur just was carried out.

The pressure accumulator hydraulic pressure Pacc that suppresses control and start constantly (t4 constantly) as OS (see figure 3) during less than " less times greater than interpole limit value Passist and enough specific for hydraulic pressure Pref less than lower limit Pon ", this equipment is restricted to the slope Gradup that increases and is not more than specific limited value α.

More specifically, the pressure accumulator hydraulic pressure Pacc that starts constantly (t4 constantly) in OS inhibition control surpasses under the situation of limits value α with reference to hydraulic pressure Pref and " based on the slope Gradup of the definite increase of car body slip angle θ s " less than above-mentioned, and this equipment changes (restriction) for equaling the value of limits value α with the slope Gradup that increases.Particularly, above-mentioned Tup and Thold be the value of changing into Tuplim and Tholdlim respectively, and they all are the values corresponding to limits value α.

Limits value α supplies to wheel cylinder W for setting ^*The wheel cylinder hydraulic pressure Pw that suppresses the front-wheel of control with the execution OS that increases the turning track outside ^*The slope Gradup of the necessary increase of brake fluid feed speed, thereby be the value of the minimum delivery flow that is slightly less than the brake fluid by Hydraulic Pump HP.

Solid line after the moment t4 shown in Figure 3 is represented: be limited under the situation of above-mentioned limits value α at the slope Gradup that increases, suppress control at OS and start constantly (t4 constantly) " OS suppresses the given pattern of control with hydraulic pressure " and variation among the pressure accumulator hydraulic pressure Pacc afterwards.In this case, OS suppresses to be controlled at t8 end constantly.

When the slope Gradup that increases is restricted to above-mentioned limits value α, supply to wheel cylinder W ^*Carry out the wheel cylinder hydraulic pressure Pw that OS suppresses control to increase ^*The feed speed of brake fluid always less than the delivery flow of the brake fluid by Hydraulic Pump HP.As a result, can guarantee that pressure accumulator hydraulic pressure Pacc is at wheel cylinder hydraulic pressure Pw ^*Suppress always to increase during control increases by OS.

Therefore, will never occur (hardly) becoming less than the situation of interpole limit value Passist after the moment in the moment t8 of pressure accumulator hydraulic pressure Pacc when OS suppresses the control end.Therefore, even the executable operations on brake pedal once more of the moment t9 after the moment t8 of chaufeur when OS suppresses control and finishes, the auxiliary force of the brake pedal operation that produces by hydraulic intensifier HB also can stably fully obtain.

Practical operation

The Figure 4 and 5 explanation of the program of carrying out below with reference to the CPU 51 that illustrates in a flowchart by motion control apparatus 50 comprises the practical operation according to the brake equipment 10 of the vehicle motion control apparatus with said structure of first embodiment of the invention.

CPU 51 is every to repeat program shown in Figure 4 to calculate wheel velocity etc. through the schedule times (execution interval Δ t: for example 6msec).Therefore, when arriving predetermined timing, CPU 51 begins to handle and proceed to step 405 to calculate wheel respectively from step 400 ^*Current wheel velocity (excircle speed) Vw ^*Particularly, CPU 51 is based on vehicle-wheel speed sensor 41 ^*The oscillation frequency of output valve calculates wheel velocity Vw respectively ^*

Next, CPU 51 proceeds to step 410 and judges that the accelerator pedal operation amount Accp that obtains from accel sensor 42 is whether greater than " 0 " (that is, vehicle is in acceleration mode or not).When CPU 51 made the judgement of " YES ", it proceeded to step 415 with from wheel velocity Vw ^*Select minimum value as the body speed of vehicle Vso that estimates.On the other hand, when CPU 51 made the judgement of " NO ", it proceeded to step 420 with from wheel velocity Vw ^*Select maxim as the body speed of vehicle Vso that estimates.

Subsequently, CPU 51 proceeds to step 425 obtains car body slip angle θ with the equation of describing the yawing velocity Yr, the lateral acceleration Gy that current time obtains from lateral acceleration sensor 45, the body speed of vehicle Vso that obtains and the step 425 that obtain from yawing velocity sensor 44 based on current time corresponding to equation (1) time diffusion value d θ.Then, in following step 430, CPU 51 with the product of the time diffusion value d θ that obtains and execution interval Δ t (promptly, the increment of car body slip angle θ during the execution interval Δ t) is added among the car body slip angle θ of current time, thereby upgraded car body slip angle θ (that is, having obtained the last look of car body slip angle θ).Then, CPU 51 proceeds to step 495 to finish this execution of this program.

In addition, CPU 51 is every repeats program shown in Figure 5 through the schedule times (execution interval Δ t: for example 6msec) and suppresses control to carry out OS.Therefore, when reaching predetermined timing, CPU 51 begins to handle and proceeds to step 505 with judge mark (flag) OS for " 0 " or not from step 500.Mark OS represents to carry out OS and suppresses control when its value is " 1 ", represent not carry out OS and suppress to control when its value is " 0 ".

Now, suppressing control at OS is not performed (OS=0) and does not reach under the hypothesis of above-mentioned " OS suppresses the control entry condition " and proceed to describe.In this case, CPU 51 makes the judgement of " YES " and proceeds to step 510 above-mentioned to judge " OS suppresses the control entry condition " and whether reaches in step 505.Here, it is made " NO " and judges and be directly to step 595 to finish this execution of this program.

After this, CPU 51 repeats the program at step 505 and 510 places, till reaching " OS suppresses the control entry condition ".Therefore, the value of mark OS remains " 0 " (see among Fig. 3 constantly t4 before).

Illustrate subsequently in the situation that reaches " OS suppresses the control entry condition " with this state (seeing the moment t4 among Fig. 3).In this case, CPU 51 makes " YES " judgement and proceeds to step 515 then and becomes " 1 " with the value with mark OS from " 0 " when proceeding to step 510.

Then, CPU 51 proceeds to the last look that step 520 will when suppressing the control entry condition " reach OS car body slip angle θ s " be set at the car body slip angle θ that step 430 in front upgrades.Then, CPU 51 proceeds to step 525 to determine " Tup and the Thold combination " corresponding to slope Gradup that increases and abutment pressure Pt based on the absolute value of " the car body slip angle θ when reaching OS inhibition control entry condition ".

Subsequently, CPU 51 proceed to pressure accumulator hydraulic pressure Pacc that step 530 judges that current time obtains from pressure accumulator hydraulic pressure transducer 46 less than above-mentioned with reference to hydraulic pressure Pref or not.When CPU 51 made " YES " and judges, it judged that in following step 535 " the slope Gradup of the increase of determining based on car body slip angle θ " by " Tup and Thold combination " expression of determining is not greater than limits value α or.

Making " YES " in the judgement of CPU 51 in step 535 judges (promptly, as Pacc＜Pref, and when " the slope Gradup of the increase of determining based on car body slip angle θ s "＞α), it proceeds to step 540 and is Tuplim and Tholdlim corresponding to the value of limits value α Tup and Thold are become it.Particularly, the slope Gradup of increase is restricted to limits value α.

On the other hand, when step 530 or step 535 were made " NO " and judged, CPU 51 was directly to step 545 and the program of execution in step 540 not.These steps 530,535 and 540 are corresponding to restraint device.

Subsequently, CPU 51 proceeds to step 545 to determine " OS suppresses the given pattern of control with hydraulic pressure " and to provide the instruction that is used for control brake hydraulic-pressure control apparatus 30 from abutment pressure Pt, value Tup and the value Thold that determines, like this from wheel cylinder hydraulic pressure transducer 47 ^*The wheel cylinder hydraulic pressure Pw of the turning track outside front-wheel that obtains ^*Change based on " OS suppresses the given pattern of control with hydraulic pressure " determined.This step 545 is corresponding to the follow-up pressure control setup.The symbol that should be noted that the yawing velocity Yr that can obtain from yawing velocity sensor 44 is determined steering direction.

Then, thereby CPU 51 proceeds to step 550 reduces control reduces driving engine 21 based on " the car body slip angle θ when reaching OS inhibition control entry condition " that obtains output to carry out above-mentioned driving engine output, then, proceed to step 595 to finish this execution of this program.

After this,, judge, then, proceed to step 555 to judge that OS suppresses the control termination condition and whether reaches so CPU makes " NO " when proceeding to step 505 because the value of mark OS becomes " 1 ".When making " NO " judgement, CPU 51 is directly to step 595 to finish this execution of this program.

After this, CPU 51 repeats the program at step 505 and 555 places, and till reaching OS inhibition control termination condition, and during this period, OS suppresses control and driving engine output reduction control continues to carry out.In addition, during this period, the value of mark OS remains " 1 " (seeing the period from moment t4 to moment t8 among Fig. 3).

When being issued to OS inhibition control termination condition at this state (seeing the moment t8 of Fig. 3), CPU51 makes " YES " and judges when proceeding to step 555, then, proceed to step 560 and become " 0 " with the value with mark OS from " 1 ".Then, CPU 51 proceeds to step 595 to finish this execution of this program.

Because after this value of mark OS becomes " 0 ", judge so CPU 51 makes " YES " once more in step 505, and monitor whether reach OS inhibition control entry condition once more at following step 510 place.

As mentioned above, brake pedal operation for driver assistance person, motion control apparatus according to first embodiment of the invention is applied to the vehicle brake apparatus that is provided with hydraulic intensifier HB, pass through motor M (therefore on the wherein said hydraulic intensifier HB using priciple, Hydraulic Pump HP) drive controlling is adjusted to the pressure accumulator hydraulic pressure Pacc of predetermined high pressure (be not less than lower limit Pon, be not more than higher limit Poff).

For the OS that carries out as follow-up pressure control suppresses control, this motion control apparatus is controlled a plurality of electromagnetic valves (PUfr, PDfr, STR, SA1 etc.) by using pressure accumulator hydraulic pressure Pacc.The slope Gradup that OS suppresses the increase of the brake fluid pressure in the control determines based on state of motion of vehicle (car body slip angle θ particularly) in principle.Note, under the situation of pressure accumulator hydraulic pressure Pacc when OS suppresses control and starts less than " less times greater than the low extreme value by the required pressure accumulator hydraulic pressure Pacc of hydraulic intensifier HB auxiliary braking operation (; interpole limit value Passist) and enough specific for hydraulic pressure Pref less than lower limit Pon ", the slope Gradup of increase is restricted to predetermined limits value α.

Utilize this operation, can guarantee that pressure accumulator hydraulic pressure Pacc is suppressing control increase wheel cylinder hydraulic pressure Pw by OS ^*Increase during this time always, and therefore, can occur pressure accumulator hydraulic pressure Pacc hardly and suppress to become less than the situation of interpole limit value Passist after control finishes at OS.Particularly, carry out the brake pedal operation even chaufeur suppresses control at OS after finishing, the brake pedal operation auxiliary force that is produced by hydraulic intensifier HB also is enough to stable generation, and therefore, can stablize to obtain chaufeur with the desired deceleration of brake operating.

Second embodiment

The following describes the vehicle brake apparatus that comprises according to the vehicle motion control apparatus of second embodiment of the invention.This second embodiment is with the different of first embodiment, replaces using by utilizing the hydraulic intensifier HB of pressure accumulator hydraulic pressure Pacc driver assistance person brake operating, carries out brake-by-wire (brake-by-wire) control by utilizing pressure accumulator hydraulic pressure Pacc.Brake-by-wire control is used for producing wheel cylinder hydraulic pressure Pw based on the signal of brake operating signal output apparatus output ^*, the output of wherein said brake operating signal output apparatus is corresponding to the chaufeur brake operating, corresponding to the signal (electric signal) of coherent signal (that is, corresponding to the chaufeur brake operating).Therefore, hereinafter different places will be described mainly.In the explanation of second embodiment, with same numbers or the symbolic representation used among usefulness first embodiment such as identical or corresponding parts, variable such as the parts that use in the explanation of first embodiment, variable.

Fig. 6 schematically shows the brake fluid pressure control convenience 30 according to second embodiment.According to the comparison of the brake fluid pressure control convenience 30 of first embodiment, obviously, be with the different of brake fluid pressure control convenience 30 according to the brake fluid pressure control convenience 30 of second embodiment according to first embodiment, brake pedal BP is not directly connected to master cylinder MC by hydraulic intensifier HB, omitted control cock SA3, the simulator SS of known stroke is arranged on the arm that goes out from the line branches that connects master cylinder MC and control cock SA1 by control cock SA4, described control cock SA4 is two mouthfuls of normally closed electromagnetic switch valves of two positions type, and is provided with the stroke sensor 48 (brake operating signal output apparatus) of the signal of surveying brake pedal BP operational stroke and this operational stroke of output indication St.

Stroke simulator SS is provided with as described above, thereby, be under the situation of its excited state at control cock SA1 and control cock SA2 (with change-over valve STR), enter the operation that its excited state can obtain brake pedal BP by making control cock SA4.

Under normal condition, always control cock SA1, SA2 and SA4 and change-over valve STR are remained on its excited state according to the brake fluid pressure control convenience 30 of second embodiment.Determine target wheel cylinder hydraulic pressure according to the brake fluid pressure control convenience 30 of second embodiment based on operational stroke St corresponding to the operational stroke St (that is, corresponding to the chaufeur brake operating) of the brake pedal BP that obtains from stroke sensor 48.Then, the brake fluid pressure control convenience 30 according to second embodiment uses pressure accumulator hydraulic pressure Pacc to control pressure charging valve PU ^*With reducing valve PD ^*, it has controlled wheel cylinder hydraulic pressure Pw thus ^*Thereby it is consistent with the target wheel cylinder hydraulic pressure of determining.

Particularly, under normal condition, control the wheel cylinder hydraulic pressure Pw that produces corresponding to the chaufeur brake operating according to the brake fluid pressure control convenience 30 of second embodiment by so-called brake-by-wire ^*

In addition, according to the brake fluid pressure control convenience 30 of second embodiment, no matter the operational stroke St of brake pedal BP how, can freely and independently control wheel cylinder hydraulic pressure Pw as the brake fluid pressure control convenience 30 according to first embodiment ^*As a result, also can realize the follow-up pressure control (OS suppress control) identical according to the brake fluid pressure control convenience 30 of second embodiment with first embodiment.

On the other hand, when abnormal thing occurring, bring all electromagnetic valves into its unactivated state according to the brake fluid pressure control convenience 30 of second embodiment.Utilize this operation, it can produce the wheel cylinder hydraulic pressure Pw corresponding to the operating effort of brake pedal BP own ^*Therefore, realized the automatic anti-fault function of brake operating.

Suppressing control by restriction OS stablizes with the slope Gradup of the increase of hydraulic pressure and guarantees target wheel cylinder hydraulic pressure Pw ^*

Above-mentioned brake-by-wire control can not produce the wheel cylinder hydraulic pressure Pw above pressure accumulator hydraulic pressure Pacc ^*Therefore, suppose to be called as " normal hydraulic pressure higher limit Pupper " corresponding to the target wheel cylinder hydraulic pressure of the maximum brake operating of the chaufeur of supposing, when pressure accumulator hydraulic pressure Pacc reduces less than normal hydraulic pressure higher limit Pupper, then when the brake operating carried out near maximum brake operating, wheel cylinder hydraulic pressure Pw ^*Can not be elevated to the target wheel cylinder hydraulic pressure of operational stroke St.The situation of the desired deceleration of brake operating may appear obtaining as a result.Especially, normal hydraulic pressure higher limit Pupper is enough less than above-mentioned lower limit Pon.

Under the condition identical, may be created in pressure accumulator hydraulic pressure Pacc and reduce less than the situation of carrying out brake operating under the normal hydraulic pressure higher limit Pupper situation with the above-mentioned condition that illustrates with reference to figure 3.

Fig. 7 is the time diagram corresponding to Fig. 3.Moment t1-t9 among Fig. 7 (except that moment t7) corresponds respectively to the moment t1-t9 (except that moment t7) among Fig. 3.Moment t7 among Fig. 7 suppresses control at OS to become start constantly promptly t4 constantly with the slope Gradup (seeing dotted line) of relatively large increase after and get back to moment when being not less than normal hydraulic pressure higher limit Pupper less than the normal pressure accumulator hydraulic pressure Pacc (seeing dotted line) of hydraulic pressure higher limit Pupper.

In this case, suppose that the moment t6 of chaufeur before pressure accumulator hydraulic pressure Pacc gets back to moment t7 when being not less than normal hydraulic pressure higher limit Pupper carries out the brake operating near above-mentioned maximum brake operating.

In this case, in the period (seeing the dash area among Fig. 7) less than normal hydraulic pressure higher limit Pupper, may produce wheel cylinder hydraulic pressure Pw to the pressure accumulator hydraulic pressure Pacc of t7 constantly at moment t6 ^*Can not be elevated to the problem of the target wheel cylinder hydraulic pressure (brake fluid pressure deficiency) of operational stroke St.

In order to prevent this problem, suppress under pressure accumulator hydraulic pressure Pacc that control starts constantly (t4 constantly) the situation at OS less than " less times greater than normal hydraulic pressure higher limit Pupper and enough specific less than lower limit Pon " (see figure 7) with reference to hydraulic pressure Pref, as first embodiment, the slope Gradup of Zeng Jiaing is restricted to and is not more than limits value α in a second embodiment.

Solid line after the moment t4 shown in the image pattern 3, solid line after the moment t4 shown in Figure 7 is represented: be restricted under the situation of above-mentioned limits value α at the slope Gradup that increases, OS suppresses control and starts constantly (t4 constantly) variation among " OS suppresses the given pattern of control with hydraulic pressure " and the pressure accumulator hydraulic pressure Pacc afterwards.In this case, OS suppresses to be controlled at t8 end constantly.

When the slope Gradup that increases is restricted to above-mentioned limits value α, will never occur (hardly) becoming less than the situation of normal hydraulic pressure higher limit Pupper after the moment t8 of pressure accumulator hydraulic pressure Pacc when OS suppresses control and finishes.Therefore, even the moment t9 after the moment t8 of chaufeur when OS suppresses the control end carries out the brake operating near maximum brake operating, wheel cylinder hydraulic pressure Pw ^*Also rise to the target wheel cylinder hydraulic pressure of operational stroke St, and therefore, can stablize and obtain the desired wheel cylinder hydraulic pressure Pw of brake operating ^*

The practical operation of second embodiment

Below explanation is comprised practical operation according to the brake equipment of the vehicle motion control apparatus of second embodiment of the invention.CPU 51 carries out as them in the program shown in the Figure 4 and 5 of carrying out by CPU 51 among first embodiment.

After step 555 arrived OS inhibition control termination condition, CPU 51 provided the brake-by-wire control command by carrying out unshowned program (step) to brake fluid pressure control convenience 30.As a result, control cock SA1, SA2 and SA4 and change-over valve STR remain on its excited state as mentioned above.In addition, pressure accumulator hydraulic pressure Pacc is used to control pressure charging valve PU ^*With reducing valve PD ^*Thereby, controlled wheel cylinder hydraulic pressure Pw ^*With consistent with the target wheel cylinder hydraulic pressure of determining corresponding to operational stroke St.

As mentioned above, in order to carry out so-called brake-by-wire control, vehicle motion control apparatus according to second embodiment of the invention is applied in the vehicle brake apparatus, on the wherein said vehicle brake apparatus using priciple since motor M (therefore, Hydraulic Pump HP) drive controlling is adjusted to the pressure accumulator hydraulic pressure Pacc of predetermined high pressure (be not less than lower limit Pon, be not more than higher limit Pon).

As first embodiment, the OS that motion control apparatus is carried out as follow-up pressure control suppresses control.The slope Gradup that OS suppresses the increase of the brake fluid pressure in the control determines based on state of motion of vehicle (car body slip angle θ particularly) in principle.Especially, suppress control at OS and start under the situation of pressure accumulator hydraulic pressure Pacc constantly less than " carry out brake-by-wire and control higher limit of necessary wheel cylinder hydraulic pressure scope (promptly; normal hydraulic pressure higher limit Pupper) and enough specific for hydraulic pressure Pref less than lower limit Pon less times greater than being positioned at ", the slope Gradup of increase is restricted to be not more than and is scheduled to limits value α.

In view of the above, at wheel cylinder hydraulic pressure Pw ^*During OS inhibition control increase, can guarantee that pressure accumulator hydraulic pressure Pacc increases always.As a result, can occur pressure accumulator hydraulic pressure Pacc hardly becomes less than the situation of normal hydraulic pressure higher limit Pupper after OS suppresses the control end.Particularly, finish the back and carry out the brake pedal operation, also can stablize and obtain the desired wheel cylinder hydraulic pressure Pw of brake operating even chaufeur suppresses control at OS ^*And therefore,, can stablize and obtain the desired deceleration of chaufeur brake operating.

The invention is not restricted to above-mentioned first and second embodiment, can carry out various modifications within the scope of the invention.For example, though the limits value α of the slope Gradup that increases be fixed, limits value α also can according to vehicle-state (for example, the brake fluid temperature, it is a kind of influential factor of delivery flow to the brake fluid by Hydraulic Pump HP, or the like) change.In this case, limits value α is set at bigger value when for example the brake fluid temperature is higher.

In first and second embodiment, value " Tup/ (Tup+Thold) " (square journey (2)) is used as the slope Gradup that OS suppresses the increase of brake fluid pressure in the control, and this is the pressure charging valve PU that constitutes because of by switch electromagnetic valve ^*With reducing valve PD ^*Be used as pressure-regulating device.Yet, can being used as under the situation of pressure-regulating device by the linear linear solenoid valve that increases brake fluid pressure, gather way (to the gathering way of time) of brake fluid pressure can be used as the slope Gradup of increase.

In addition, in first and second embodiment, OS suppresses control and is performed as the follow-up pressure device.Yet other control examples such as anti-rollover control, understeer suppress control, adaptive cruise control, traction control etc. and can be performed as follow-up pressure control.

In short, according to an aspect of the present invention, provide a kind of vehicle motion control apparatus that is applied to vehicle brake apparatus, described vehicle brake apparatus comprises:

Hydraulic Pump HP;

Be used to drive the driving control device M of Hydraulic Pump, 51;

Store its pressure by the pressure accumulator Acc of driving control device by the brake fluid of the driving increase of Hydraulic Pump;

Be used to regulate the pressure-regulating device PUfr of wheel cylinder hydraulic pressure, PDfr, STR, SA1 etc., described wheel cylinder hydraulic pressure are the brake fluid pressure in the wheel cylinder;

Be used for surveying the detector 46 of pressure accumulator hydraulic pressure of the brake fluid of pressure accumulator; With

Be used to survey chaufeur brake operating and output brake operating signal output apparatus 48 corresponding to the signal of brake operating,

Described vehicle motion control apparatus comprises:

Braking force control system 51 is used for by using pressure accumulator hydraulic control pressure control apparatus to carry out brake-by-wire control to produce the wheel cylinder hydraulic pressure corresponding to brake operating signal output apparatus 48 output signals; With

Follow-up pressure control setup 51,545 is used for producing the wheel cylinder hydraulic pressure of control vehicle motion by using pressure accumulator hydraulic control pressure control apparatus to carry out follow-up pressure control with the brake operating that is independent of chaufeur,

It is characterized in that:

Described vehicle motion control apparatus comprises restraint device 51,530,535,540, be used for the pressure accumulator hydraulic pressure that detects less than the situation of predetermined hydraulic pressure under the degree of increase of the wheel cylinder hydraulic pressure that produces by follow-up pressure control of restriction.

Wherein, described driving control device is configured to: drive Hydraulic Pump when the pressure accumulator hydraulic pressure of surveying becomes less than predetermined lower bound value Pon, and stop solution press pump when pressure accumulator hydraulic pressure surpasses predetermined upper limit value Poff greater than lower limit Pon, and described restraint device is configured to: use less than lower limit Pon and greater than being positioned at and carry out brake-by-wire and control the value Pref of higher limit Pupper of necessary wheel cylinder hydraulic pressure scope as predetermined hydraulic pressure.

Wherein, restraint device is configured to: under the situation of pressure accumulator hydraulic pressure less than predetermined hydraulic pressure of surveying, the restraint device restriction makes that by the degree of the increase in the wheel cylinder hydraulic pressure of follow-up pressure control generation pressure accumulator hydraulic pressure increases at least during wheel cylinder hydraulic pressure is increased by follow-up pressure control.

Wherein, restraint device is configured to: under the situation of pressure accumulator hydraulic pressure less than predetermined hydraulic pressure of surveying, the slope of the increase of the wheel cylinder hydraulic pressure that restraint device will be produced by follow-up pressure control is restricted to and is not more than predetermined slope.

Wherein, the follow-up pressure control setup is configured to: under the situation that wheel cylinder hydraulic pressure is increased by follow-up pressure control, the control of follow-up pressure control setup by pressure-regulating device alternately carry out the boost control that increases wheel cylinder hydraulic pressure and the retentive control that keeps wheel cylinder hydraulic pressure and

Restraint device is configured to: the ratio of summation that will continue the time of time of time of boost control and lasting boost control and lasting retentive control is restricted to and is not more than predetermined value.

According to another aspect of the present invention, provide a kind of vehicle movement control program that is applied to vehicle brake apparatus, described vehicle brake apparatus is provided with:

Hydraulic Pump HP;

Be used to drive the driving control device M of Hydraulic Pump, 51;

Be used to store its pressure by the pressure accumulator Acc of driving control device by the brake fluid of the driving increase of Hydraulic Pump;

The hydraulic intensifier HB of the pressure accumulator hydraulic pressure driver assistance person brake operating by the brake fluid in the pressure accumulator;

Be used to regulate the pressure-regulating device PUfr of wheel cylinder hydraulic pressure, PDfr, STR, SA1 etc., described wheel cylinder hydraulic pressure are the brake fluid pressure in the wheel cylinder; With

Be used to survey the detector 46 of pressure accumulator hydraulic pressure,

Described program comprises:

Follow-up pressure controlled step 545, described follow-up pressure controlled step produces the wheel cylinder hydraulic pressure of control vehicle motion by using pressure accumulator hydraulic control pressure control apparatus to carry out follow-up pressure control with the brake operating that is independent of chaufeur,

It is characterized in that:

Described program comprises conditioning step 530,535,540, described conditioning step the pressure accumulator hydraulic pressure that detects less than the situation of predetermined hydraulic pressure under the degree of increase in the wheel cylinder hydraulic pressure that produces by follow-up pressure control of restriction.

According to another aspect of the invention, provide a kind of vehicle movement control program that is applied to vehicle brake apparatus, described vehicle brake apparatus is provided with:

Hydraulic Pump HP;

Be used to drive the driving control device M of Hydraulic Pump, 51;

Store its pressure by the pressure accumulator Acc of driving control device by the brake fluid of the driving increase of Hydraulic Pump;

Be used to regulate the pressure-regulating device PUfr of wheel cylinder hydraulic pressure, PDfr, STR, SA1 etc., described wheel cylinder hydraulic pressure are the brake fluid pressure in the wheel cylinder;

Be used for surveying the detector 46 of pressure accumulator hydraulic pressure of the brake fluid of pressure accumulator; With

Be used to survey chaufeur brake operating and output brake operating signal output apparatus 48 corresponding to the signal of brake operating,

Described program comprises:

The control of braking step, described control of braking step is carried out brake-by-wire control to produce the wheel cylinder hydraulic pressure corresponding to brake operating signal output apparatus 48 output signals by using pressure accumulator hydraulic control pressure control apparatus; With

Follow-up pressure controlled step 545, the follow-up pressure controlled step produces the wheel cylinder hydraulic pressure of control vehicle motion by using pressure accumulator hydraulic control pressure control apparatus to carry out follow-up pressure control with the brake operating that is independent of chaufeur,

It is characterized in that:

Described program comprises conditioning step 530,535,540, described conditioning step the pressure accumulator hydraulic pressure that detects less than the situation of predetermined hydraulic pressure under the degree of increase in the wheel cylinder hydraulic pressure that produces by follow-up pressure control of restriction.

According to another aspect of the invention, provide a kind of vehicle motion control apparatus that is applied to vehicle brake apparatus, described vehicle brake apparatus comprises:

Store the pressure accumulator of its pressure by the brake fluid of Hydraulic Pump generation;

The hydraulic intensifier of the first hydraulic pressure driver assistance person brake operating by the brake fluid in the pressure accumulator; With

Be used for regulating the pressure-regulating device etc. of second hydraulic pressure of wheel cylinder brake fluid, described second hydraulic pressure is produced by first hydraulic pressure;

Described vehicle motion control apparatus comprises:

The follow-up pressure control setup is used for being used for by the brake operating control that pressure-regulating device is independent of chaufeur second hydraulic pressure of the wheel cylinder of vehicle movement control,

It is characterized in that:

Described vehicle motion control apparatus comprises restraint device, described restraint device be used for first hydraulic pressure at pressure accumulator less than the situation of predetermined hydraulic pressure under restriction by the degree of the increase of second hydraulic pressure in the wheel cylinder of follow-up pressure control control.

Claims (5)

1, a kind of vehicle motion control apparatus that is applied to vehicle brake apparatus, described vehicle brake apparatus comprises:

Hydraulic Pump (HP);

Be used to drive the driving control device (M, 51) of Hydraulic Pump;

Store its pressure by the pressure accumulator (Acc) of driving control device by the brake fluid of the driving increase of Hydraulic Pump;

The hydraulic intensifier (HB) of the pressure accumulator hydraulic pressure driver assistance person brake operating by the brake fluid in the pressure accumulator;

Be used to regulate the pressure-regulating device (PUfr, PDfr, STR, SA1 etc.) of wheel cylinder hydraulic pressure, described wheel cylinder hydraulic pressure is the brake fluid pressure in the wheel cylinder; With

Be used to survey the detector (46) of pressure accumulator hydraulic pressure,

Described vehicle motion control apparatus comprises:

Follow-up pressure control setup (51,545) is used for producing the wheel cylinder hydraulic pressure of control vehicle motion by using pressure accumulator hydraulic control pressure control apparatus to carry out follow-up pressure control with the brake operating that is independent of chaufeur,

It is characterized in that:

Described vehicle motion control apparatus comprises restraint device (51,530,535,540), described restraint device be used for the pressure accumulator hydraulic pressure that detects less than the situation of predetermined hydraulic pressure (Pref) under the degree of increase of the wheel cylinder hydraulic pressure that produces by follow-up pressure control of restriction.

2, vehicle motion control apparatus according to claim 1 is characterized in that:

Described driving control device is configured to: drive Hydraulic Pump when the pressure accumulator hydraulic pressure of surveying becomes less than predetermined lower bound value (Pon), and stop solution press pump when pressure accumulator hydraulic pressure surpasses predetermined upper limit value (Poff) greater than lower limit (Pon), and described restraint device is configured to: use less than lower limit (Pon) and greater than the value (Pref) of operating necessary pressure accumulator hydraulic pressure low extreme value (Passist) by the hydraulic intensifier auxiliary braking as predetermined hydraulic pressure.

3, vehicle motion control apparatus according to claim 2 is characterized in that:

Restraint device is configured to: under the situation of pressure accumulator hydraulic pressure less than predetermined hydraulic pressure of surveying, the restraint device restriction makes that by the increase degree in the wheel cylinder hydraulic pressure of follow-up pressure control generation pressure accumulator hydraulic pressure increases at least during wheel cylinder hydraulic pressure is increased by follow-up pressure control.

4, vehicle motion control apparatus according to claim 1 is characterized in that:

Restraint device is configured to: under the situation of pressure accumulator hydraulic pressure less than predetermined hydraulic pressure of surveying, the slope of the increase of the wheel cylinder hydraulic pressure that restraint device will be produced by follow-up pressure control is restricted to and is not more than predetermined slope.

5, vehicle motion control apparatus according to claim 4 is characterized in that:

The follow-up pressure control setup is configured to: under the situation that wheel cylinder hydraulic pressure is increased by follow-up pressure control, the follow-up pressure control setup by the control of pressure-regulating device alternately carry out the boost control that increases wheel cylinder hydraulic pressure and the retentive control that keeps wheel cylinder hydraulic pressure and

Restraint device is configured to: the time that will be used for continuing boost control is restricted to the ratio of summation that is used for continuing the time of boost control and is used for continuing the time of retentive control and is not more than predetermined value.

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