JP2000118368A - Vehicle braking control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely perform braking support for avoiding contact with an object according to the possibility of contact. SOLUTION: When a contact possibility judging means M3 judges that there is the possibility that a vehicle may come in contact with an object and a braking operation detection mean M1 detects a driver's spontaneous braking operation, a braking support means M2 supports the driver's braking operation by automatically increasing a braking force. The stronger the possibility of contact judged by the contact possibility judging means M3, i.e., the greater the braking force needed to avoid contact, the greater the increase in braking force caused by the braking support means M2, the needed braking force being calculated by a necessary braking force calculation means M4. The speed of rise in braking force is such that the higher the degree of emergency of a steering operation (speed of operation of brake pedal or speed of increase in brake hydraulic pressure) detected by the braking operation detection means M1, the greater the speed of increase in braking force.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to assisting a driver's braking operation when the driver performs a voluntary braking operation when it is determined that the vehicle may come into contact with an object. The present invention relates to a vehicle braking control device that generates a braking force.

[0002]

2. Description of the Related Art An object detecting means such as a laser radar or a millimeter-wave radar detects a relative distance or a relative speed of an object such as a preceding vehicle, and when there is a possibility that the own vehicle comes into contact with the object, an alarm means. To encourage the driver to voluntarily avoid contact, and to activate the automatic braking device to avoid contact with an object or to minimize vehicle damage when contact occurs. The device is already known (see JP-A-7-132786).

[0003]

However, the above-mentioned prior art merely changes the threshold value for starting an alarm or automatic braking in accordance with the level of possibility of contact with an object detected by the object detecting means. No change is made in the magnitude of the automatic braking force or the rising speed according to the degree of contact possibility. Therefore, irrespective of whether contact avoidance is difficult or easy, the automatic braking device only provides assistance with a constant braking force,
There was a problem that it was not possible to provide detailed braking support according to the possibility of contact.

[0004] The present invention has been made in view of the above circumstances, and has as its object to provide braking assistance for avoiding contact with an object accurately in accordance with the possibility of contact.

[0005]

In order to achieve the above object, the invention described in claim 1 comprises an object detecting means for detecting an object ahead in the traveling direction of a vehicle, and detecting a braking operation by a driver. Braking operation detecting means, a contact possibility determining means for determining the possibility of the vehicle contacting the detected object, and a contact possibility determining means for determining that there is a possibility of contact, and the braking operation detecting means When a braking operation of the driver is detected, the braking assistance unit includes a braking assistance unit that increases a braking force so as to support the braking operation. The amount of increase in the braking force is changed based on the possibility of contact.

According to the above arrangement, when the contact possibility determining means determines that there is a possibility of contact, and when the braking operation detecting means detects the driver's braking operation, the braking support means makes a decision based on the contact possibility. Since the amount of increase in the braking force that supports the driver's braking operation is changed, it is possible to perform accurate braking support according to the possibility of contact and effectively avoid contact with an object.

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the contact possibility determining means includes a braking force necessary to avoid a contact based on at least a detection result of the object detecting means. Required braking force calculation means for calculating the braking force, and the braking support means avoids the contact based on a result of comparing the braking force by the driver's braking operation with the braking force calculated by the required braking force calculation means. In other words, it compensates for the shortage of the braking force required for the vehicle.

According to the above arrangement, the required braking force calculating means calculates the braking force required to avoid contact with the object, and compares the required braking force with the braking force generated by the driver's braking operation. Based on the above, the braking support means compensates for the shortage of the necessary braking force, so that a necessary and sufficient braking force can be generated to reliably avoid contact.

According to a third aspect of the present invention, in addition to the configuration of the first or second aspect, the braking support means increases the braking force rising speed in accordance with the contact possibility determined by the contact possibility determining means. It is characterized by changing.

According to the above configuration, the speed at which the braking force is raised by the braking support means is changed in accordance with the possibility of contact with an object. Therefore, the braking force is rapidly increased in accordance with the degree of possibility of contact. It is possible to generate an optimal braking force by starting up slowly or slowly.

According to a fourth aspect of the present invention, in addition to the configuration of the third aspect, the higher the possibility of contact determined by the possibility of contact determination means, the higher the braking support means increases the speed at which the braking force starts. It is characterized by the following.

[0012] According to the above configuration, since the rising speed of the braking force increases as the possibility of contact with an object increases, the braking force is quickly raised when contact avoidance is difficult to avoid contact effectively. Can be.

According to a fifth aspect of the present invention, in addition to any one of the first to fourth aspects, the braking operation detecting means determines the urgency of the braking operation of the driver. The braking support means changes a rising speed of the braking force according to the degree of urgency.

[0014] According to the above configuration, the speed at which the braking force is raised by the braking support means is changed according to the urgency of the driver's braking operation. It is possible to generate an optimal braking force by raising or slowly starting up.

According to a sixth aspect of the present invention, in addition to the configuration of the fifth aspect, the braking assistance means increases the braking force rising speed as the urgency determined by the braking operation detection means increases. Features.

According to the above structure, the higher the urgency of the driver's braking operation, the higher the speed at which the braking force starts up.
When contact avoidance is difficult, the braking force can be quickly raised to avoid contact effectively.

According to a seventh aspect of the present invention, in addition to any one of the first to sixth aspects, the braking operation detecting means includes:
When the release of the braking operation by the driver is detected, the braking force by the braking support means is reduced according to at least one of the release speed and the release amount.

According to the above configuration, when the driver releases the braking operation, the braking force of the braking support means decreases in accordance with the release speed and the release amount. It is possible to prevent the occurrence of uncomfortable feeling by reducing the braking force.

According to the invention described in claim 8, in addition to the constitution of claim 7, the braking operation detecting means may determine the degree to which the braking force is reduced as the release speed increases and the release amount increases. It is characterized in that it is increased.

According to the above configuration, the braking force by the braking support means decreases as the release speed of the braking operation increases and the release amount of the braking operation increases, so that the braking force decreases as the driver's intention to release the braking increases. It can be quickly released and the occurrence of discomfort can be effectively prevented.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on embodiments of the present invention shown in the accompanying drawings.

FIG. 1 to FIG. 9 show an embodiment of the present invention. FIG. 1 is an overall configuration diagram of a vehicle equipped with a braking control device.
FIG. 2 is a block diagram of a braking system, FIG. 3 is a block diagram showing a circuit configuration of an electronic control unit, FIG. 4 is a flowchart of an embodiment for performing feedback control of an assist amount of a braking force,
FIG. 5 is a flowchart of an embodiment in which the assist amount of the braking force is feedforward controlled. FIG. 6 is a diagram illustrating a method of determining the assist amount of the braking force. FIG. FIG. 8 is a diagram for explaining the rise of the deceleration based on the pedal operation speed, and FIG. 9 is a diagram for explaining the release speed of the braking force according to the pedal return speed.

As shown in FIGS. 1 and 2, a four-wheeled vehicle V equipped with the braking control device of the present invention has left and right front wheels W as driving wheels to which a driving force of an engine E is transmitted via a transmission T. _FL , W _FR, and left and right rear wheels W _RL , W _{RR as} driven wheels that rotate as the vehicle V travels. A brake pedal 1 operated by a driver is connected to a master cylinder 3 via an electronic control negative pressure booster 2 which forms a part of the braking device of the present invention. The electronic control negative pressure booster 2 mechanically boosts the depression force of the brake pedal 1 to operate the master cylinder 3, and at the time of braking assistance, operates the electronic control unit U without operating the brake pedal 1.
The master cylinder 3 is operated by the braking command signal from the controller. When a pedaling force is input to the brake pedal 1 and a braking command signal is input from the electronic control unit U, the electronic control negative pressure booster 2 outputs a brake hydraulic pressure in accordance with the larger one of the two. The input rod of the electronic control negative pressure booster 2 is connected to the brake pedal 1 via a lost motion mechanism, and the electronic control negative pressure booster 2 is operated by a signal from the electronic control unit U to move the input rod forward. , The brake pedal 1 remains at the initial position.

A pair of output ports 8 of the master cylinder 3
9 is a hydraulic control device 4 which forms a part of the braking device of the present invention.
, Brake calipers 5 _FL , 5 _FR , 5 _RL , 5 _RR provided on front wheels W _FL , W _FR and rear wheels W _RL , W _RR , respectively.
Connected to. The hydraulic control device 4 includes four pressure regulators 6... Corresponding to the four brake calipers 5 _FL , 5 _FR , 5 _RL , 5 _RR , and each of the pressure regulators 6 is an electronic control unit U. Connected to the front wheels W _FL , W _FR and the rear wheels W
Brake calipers 5 _FL , 5 _FR , 5 provided on _RL and W _RR
RL , 5 Control the operation of _RR individually. Therefore, the brake calipers 5 _FL , 5 _FR , 5 _RL , 5
If the brake hydraulic pressure transmitted to the _RR is independently controlled, anti-lock brake control for suppressing wheel lock during braking can be performed.

The electronic control unit U transmits an electromagnetic wave such as a laser or a millimeter wave toward the front of the vehicle body, and detects a relative distance and a relative speed between the own vehicle and an object such as a preceding vehicle based on the reflected wave. a radar device S ₁ to the front wheels W _FL, W _FR and the rear wheels W _RL, W _RR wheel speed sensor S ₂ ... of the rotational speed detecting respective brake pedal 1 by the driver's operation
Pedal stroke sensor S for detecting the stroke of the pedal
_3, the oil pressure sensor S ₄ for detecting the brake hydraulic pressure master cylinder 3 is generated is connected.

The electronic control unit U on the basis of the signal and the signal from the sensor S ₂ to S ₄ from the radar apparatus S ₁ constituting the object detecting means of the present invention, the electronic control vacuum booster 2 and the hydraulic pressure control The operation of the device 4 is controlled.

As shown in FIG. 3, the electronic control unit U is provided with a braking operation detecting means M1, a braking support means M2, a contact possibility determining means M3, and a necessary braking force calculating means M4.

The braking operation detecting means M1 is the presence or absence of braking operation by the driver while the determination based on a signal from the pedal stroke sensor S _3, the urgency of the braking operation by the driver, the output of the pedal stroke sensor S ₃ The determination is made based on the pedal operation speed which is a differential value of. That is, when the driver depresses the brake pedal 1 strongly in an emergency, the pedal operation speed increases, and conversely, when the driver depresses the brake pedal 1 loosely, the pedal operation speed decreases. Therefore, the braking operation is performed based on the pedal operation speed. Can be determined.

The contact possibility determining means M3 is a vehicle based on the relative distance and the relative speed, and the vehicle detected by the wheel speed sensor S ₂ ... vehicle speed between the vehicle and the object detected by the radar device S ₁ The magnitude of the possibility of contact with an object is determined. In the embodiment, the contact possibility determining means M3 includes the necessary braking force calculating means M4, and the required braking force calculating means M4 is provided with a braking force necessary for the vehicle to stop at a position in front of the object by braking (necessary to be described later). The deceleration α ₀ ^* ) is calculated, and the contact possibility determining means M3 determines that the contact possibility is high when the required deceleration α ₀ ^* is large, and the contact is possible when the required deceleration α ₀ ^* is small. Is determined to be low.

The method of judging the possibility of contact by the contact possibility judging means M3 is not limited to the one described above. For example, when the relative distance between the own vehicle and the object falls below a predetermined threshold value, or when the own vehicle When the approaching relative speed exceeds a predetermined threshold, it can be determined that the possibility of contact with the object is high. At this time, if the vehicle's speed or positive acceleration is large,
Considering that it is difficult to avoid contact by braking or contact by steering, it is possible to make a more accurate determination by correcting each of the thresholds based on the vehicle speed and the magnitude of acceleration of the own vehicle. Furthermore, and the overlap amount in the lateral direction of the vehicle and the object detected by the radar device S _1, it is also possible to consider together turning state of the vehicle.

The contact possibility determining means M3 determines whether the contact possibility exists.
When it is determined that there is, the braking operation detecting means M1 operates.
When the driver's spontaneous braking operation is detected, the braking support means M2
Operates the electronically controlled negative pressure booster 2 to
3 generates a brake oil pressure, and this brake oil pressure is
Brake caliper 5 via control device 4_FL, 5_FR,
5 _RL, 5_RRThe braking operation of the driver.
Generate braking force to support the operation. At this time, braking support
The magnitude of the braking force generated by the means M2 depends on the possibility of contact.
Determined according to the level of contact possibility determined by determination means M3
And the rising gradient of the braking force is determined by the braking operation detection.
According to the urgency of the driver's braking operation detected by means M1
Be changed.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG.

First, in step S1, the radar device S ₁
Detects the relative distance X (m) and the relative speed V '(m / sec) of the object in front of the own vehicle. At the same time, the vehicle speed V ₀ (m / s) of the own vehicle is determined based on the output of the wheel speed sensors S ₂ .
ec) is detected. In step S2, the relative distance X, the relative speed V 'and the host vehicle speed V ₀ is input contact possibility determining means M3, the relative velocity V' of the subject vehicle to the vehicle speed V
The velocity V ₁ (m / sec) of the object is calculated by adding ₀ .

V ₁ = V ′ + V ₀ (1) When the object decelerates at a deceleration α ₁ (m / sec ² ) and the vehicle decelerates at a contact avoidance deceleration α ₀ ^* (m / sec ² ) ,
If it is assumed that the vehicle stops before the object after a time t (sec) from the present time, since the speed of the object after the time t is equal to the vehicle speed of the vehicle, V ₀ −α ₀ ^* · t = V ₁ -Α ₁ · t (2) holds, and the moving distance of the own vehicle during the time t is the time t
Since equal to the sum of the travel distance and the relative distance X of the object _{between, V 0 · t-α 0} * · t 2/2 = V 1 · t-α 1 · t 2/2 + X ... (3) is To establish. However, it is assumed that the vehicle speed V _{0 of} the own vehicle, the contact avoidance deceleration α ₀ ^{* of} the own vehicle, the speed V ₁ of the object, and the deceleration α _{1 of the} object maintain the current values.

By substituting the time t obtained from the above equation (2) into the above equation (3) and eliminating the time t, the vehicle stops immediately before the object without contacting the object. contact avoidance deceleration alpha ₀ ^* of the vehicle can is given by the following equation (4).

Α ₀ ^* = {(V ₁ −V ₀ ) ² / (2 ×)} + α ₁ = {V ′ ² / (2 ×)} + α ₁ (4) instead of calculating the contact avoidance deceleration alpha ₀ ^*, a vehicle speed V ₀ which vehicle, the object velocity V ₁ of the (or the relative speed V '), the self and a relative distance X from the three-dimensional map as parameters It is also possible to search for the contact avoidance deceleration α ₀ ^* of the car.

In the following step S3, the braking operation detecting stage M1
There compares the pedal actuation speed S calculated as a time differential value of the stroke of the brake pedal 1 has been detected by the pedal stroke sensor S ₃ and the threshold value S _L, the pedal actuation speed S exceeds the threshold value S _L, the braking assistance in step S4 Set the mode. Then, in the following step S5, if the actual deceleration α ₀ of the own vehicle is less than the contact avoidance deceleration α ₀ ^* and contact with the object cannot be avoided as it is, in step S6, The deceleration α is the contact avoidance deceleration α ₀
^{* As described} above, the braking assist means M2 feedback-controls the brake oil pressure to increase the assist amount of the braking force.

Although the assist amount of the braking force is feedback-controlled in the embodiment of FIG. 4, the assist amount of the braking force can be feed-forward controlled as shown in the embodiment of FIG.

Steps S11 to S11 in the flowchart of FIG.
S13 corresponds to steps S1 to S3 in the flowchart of FIG.
And are the same, and detects the object ahead of the vehicle at step S11, contact avoidance deceleration is calculated the alpha ₀ ^* at step S12, it compares the pedal actuation speed S with the threshold S _L at step S13. As a result, the pedal actuation speed S exceeds the threshold value S _L, in step S14, detects a brake hydraulic pressure by the hydraulic pressure sensor S _4, in step S15, calculates the assist amount of the braking force based on the brake hydraulic pressure.

As shown in FIG. 6, for example, when the measured oil pressure is A when the vehicle V is in a constant load state (capacity riding state), the actually generated deceleration is α ₀ . At this time, the contact avoidance deceleration α ₀ required to avoid contact with the object
^* Actually deviation α ₀ ^* -α of the deceleration α ₀ occurring
₀ corresponds to the deceleration shortage, and if the brake oil pressure is increased to B, the necessary contact avoidance deceleration α ₀ ^* can be generated. Therefore, the brake hydraulic pressure corresponding to BA is the assist amount generated by the braking support means M2. When the vehicle V is in the lightly loaded state (single-person riding state), the characteristic line in the lightly loaded state is used instead of the characteristic line in the constant load state.

In step S16, feedforward control is performed to increase the brake oil pressure to B in order to assist the braking force by the braking support means M2.

When the contact avoidance deceleration α ₀ ^* is large, contact with an object cannot be avoided unless a large braking force is generated. Conversely, when the contact avoidance deceleration α ₀ ^* is small, a small braking force is applied. The contact avoidance deceleration α ₀ ^* is a parameter indicating the degree of possibility of contact since contact with an object can be avoided simply by generating the contact. Therefore, by generating a braking force according to the contact avoidance deceleration α ₀ ^* , it is possible to perform appropriate contact avoidance control according to the level of contact possibility.

When the deceleration of the vehicle is increased to the contact avoidance deceleration α ₀ ^* by the braking support means M2 in order to avoid contact with an object, contact is avoided or the contact is avoided. The starting speed of the braking force (that is, the starting speed of the deceleration) is changed according to the urgency of the driver's steering operation.

FIG. 7 shows the deceleration according to the degree of contact possibility.
It shows an example of changing the startup speed. That is,
Predetermined time t from the start of movement^*Is set in advance, and at this time
Interval t ^*Deceleration within the contact avoidance deceleration α₀ ^*To reach
When the possibility of contact is high (contact avoidance deceleration α₀
^*Is large), the deceleration ramp-up speed increases.
Conversely, when the possibility of contact is low (contact avoidance deceleration α₀ ^*
Is small), the deceleration ramp-up speed is low.
You. This allows quick deceleration when the possibility of contact is high.
Start-up effectively shortening the braking distance
You.

FIG. 8 shows an example in which the rising speed of the deceleration is changed according to the urgency of the driver's steering operation to avoid contact. That is, using the pedal operating speed S when stepping driver brake pedal 1 in order to avoid contact, the pedal actuation speed S is equal to the threshold S _L, when urgency is relatively low, the launch of deceleration Speed is the lowest. And with the urgency pedal actuation speed S becomes larger than the threshold S _L is increased, raising the rate of deceleration is increased gradually. As described above, since the rising speed of the deceleration set based on the possibility of contact is corrected according to the urgency of the driver's steering operation, the deceleration can be started more quickly when the urgency is high. The braking distance can be effectively reduced.

FIG. 9 shows a change in the deceleration when the driver determines that it is possible to avoid contact and releases the braking force. When the brake assist mode is not set and the pedaling force of the brake pedal 1 is reduced from the point A when the brake assist mode is not set, the deceleration decreases with the characteristic indicated by the solid line. When the braking assist mode is set and the assisting of the braking force is being performed, when the depression force of the brake pedal 1 is decreased from the point A, the deceleration decreases with different characteristics indicated by three broken lines. Reduction when returning speed of the brake pedal 1 obtained as a differential value of the output of the pedal stroke sensor S ₃ is relatively small, although the deceleration in the normal characteristics decreases, with the return speed of the brake pedal 1 is increased The speed decreases and the speed increases. As described above, when the driver quickly returns the brake pedal 1, the assist force is reduced in accordance with the speed of the release, and the braking force is quickly released. Can be prevented from being felt.

As described above, instead of decreasing the assist force in accordance with the return speed of the brake pedal 1, it is also possible to decrease the assist force in accordance with the return amount of the brake pedal 1. Assist power can also be reduced.

Although the embodiments of the present invention have been described above, various design changes can be made in the present invention without departing from the gist thereof.

For example, in this embodiment, the urgency of the driver's steering operation is detected based on the pedal operation speed S of the brake pedal 1, but this is detected based on the increase rate of the brake oil pressure and the return speed of the accelerator pedal. Can be detected. Specifically, since the driver in an emergency increases rapidly strongly depresses the brake hydraulic pressure of the brake pedal 1, it is determined that the higher urgency is high increasing rate of the brake hydraulic pressure detected by the oil pressure sensor S ₄ Can be. The driver changes his / her foot from the accelerator pedal to the brake pedal 1 in an emergency. At this time, the higher the speed at which the accelerator pedal is released, that is, the greater the speed at which the accelerator pedal is returned, the higher the urgency can be determined.

[0050] In yet embodiment illustrated radar apparatus S ₁ as the object detecting means, it is possible to employ the imaging means such as a camera as an object detecting means.

[0051]

As described above, according to the first aspect of the present invention, the contact possibility determining means determines that there is a possibility of contact and the braking operation detecting means detects the driver's braking operation. Since the braking support means changes the amount of increase in the braking force that supports the driver's braking operation based on the possibility of contact, it performs accurate braking support according to the possibility of contact to effectively contact the object. Can be avoided.

According to the second aspect of the present invention,
The necessary braking force calculating means calculates the braking force necessary to avoid contact with the object, and based on the result of comparing the required braking force with the braking force of the driver's braking operation, the braking support means Since the required braking force is compensated for, the necessary and sufficient braking force can be generated to reliably avoid contact.

According to the third aspect of the present invention,
Since the rising speed of the braking force by the braking support means is changed according to the possibility of contact with an object, the braking force is optimally increased rapidly or gradually according to the height of the possibility of contact. Can be generated.

According to the fourth aspect of the present invention,
Since the rising speed of the braking force increases as the possibility of contact with the object increases, the braking force can be quickly increased when contact avoidance is difficult, and the contact can be effectively avoided.

According to the fifth aspect of the present invention,
Depending on the urgency of the driver's braking operation, the speed at which the braking force is raised by the braking support means is changed, so that the braking force is rapidly or gradually increased according to the degree of urgency. It is possible to generate an optimal braking force.

According to the invention described in claim 6,
The higher the urgency of the driver's braking operation, the higher the speed at which the braking force rises. Therefore, when it is difficult to avoid contact, the braking force can be quickly raised to effectively avoid contact.

According to the seventh aspect of the present invention,
When the driver releases the braking operation, the braking force of the braking support means decreases in accordance with the release speed and the release amount, so the braking force is reduced at a speed that matches the driver's intention to release the brake, causing an uncomfortable feeling Can be prevented.

According to the invention described in claim 8,
As the release speed of the braking operation is higher and the release amount of the braking operation is larger, the braking force by the braking support means decreases.
The stronger the driver's intention to release the braking, the more quickly the braking force is released, so that the occurrence of discomfort can be effectively prevented.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a vehicle equipped with a braking control device.

FIG. 2 is a block diagram of a braking system.

FIG. 3 is a block diagram showing a circuit configuration of an electronic control unit.

FIG. 4 is a flowchart of an embodiment in which the assist amount of the braking force is feedback controlled.

FIG. 5 is a flowchart of an embodiment for performing feedforward control of an assist amount of a braking force.

FIG. 6 is a diagram illustrating a method of determining an assist amount of a braking force.

FIG. 7 is a view for explaining the start of deceleration based on the required deceleration.

FIG. 8 is a view for explaining the start of deceleration based on the pedal operation speed.

FIG. 9 is a diagram illustrating a release speed of a braking force according to a pedal return speed.

[Explanation of symbols]

M1 Braking operation detecting means M2 Braking support means M3 Contact possibility determining means M4 Necessary braking force calculating means S ₁ Radar device (object detecting means) V Vehicle (own vehicle) α ₀ Deceleration actually generated (for driver Braking force by braking operation) α ₀ ^* Contact avoidance deceleration (braking force required to avoid contact)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shoji Ichikawa 1-4-1, Chuo, Wako, Saitama Prefecture Inside Honda R & D Co., Ltd. (72) Inventor Yoshihiro Urai 1-4-1, Chuo, Wako, Saitama No. F-term in Honda R & D Co., Ltd. (Reference) 3D046 BB00 BB18 EE01 HH02 HH16 HH20 HH23 HH26 HH36 JJ19 KK07 5H180 AA01 BB04 BB15 CC03 CC12 CC14 LL01 LL09

Claims (8)

[Claims] 1. An object detecting means (S ₁ ) for detecting an object ahead of a vehicle (V) in a traveling direction, and a braking operation detecting means (M1) for detecting a braking operation of a driver.
Contact possibility determining means (M3) for determining the possibility that the vehicle (V) comes into contact with the detected object; and contact possibility determining means (M3) for determining that there is a possibility of contact, and braking. When the operation detecting means (M1) detects a driver's braking operation, a braking support means (M2) for increasing a braking force so as to assist the braking operation is provided. The means (M2) is a contact possibility determination means (M3)
A braking control device for a vehicle, wherein the amount of increase in braking force is changed based on the possibility of contact determined in (1). 2. The contact possibility determining means (M3) calculates a braking force (α ₀ ^* ) required to avoid contact based on at least a detection result of the object detecting means (S ₁ ). Including calculation means (M4), braking support means (M2)
Is necessary to avoid the contact based on the result of comparing the braking force (α ₀ ) by the driver's braking operation with the braking force (α ₀ ^* ) calculated by the required braking force calculation means (M4). 2. The braking control apparatus for a vehicle according to claim 1, wherein the shortage of a sufficient braking force (α ₀ ^* ) is compensated. 3. The braking support means (M2) changes the rising speed of the braking force according to the contact possibility determined by the contact possibility determining means (M3). A braking control device for a vehicle according to any one of the preceding claims. 4. The brake assisting means (M2) increases the braking force rising speed as the contact possibility determined by the contact possibility determining means (M3) is higher.
A braking control device for a vehicle according to claim 1. 5. A braking operation detecting means (M1) for determining an urgency of a driver's braking operation, and a braking assistance means (M2) for changing a rising speed of a braking force according to the determined urgency. The braking control device for a vehicle according to any one of claims 1 to 4, wherein: 6. The vehicle according to claim 5, wherein the higher the degree of urgency determined by the braking operation detecting means (M1), the higher the braking support means (M2) increases the speed at which the braking force starts up. Braking control device. 7. A braking operation detecting means (M1), when detecting release of a braking operation by a driver, according to at least one of a releasing speed and a releasing amount.
The vehicle braking control device according to any one of claims 1 to 6, wherein the braking force according to (2) is reduced. 8. The vehicle according to claim 7, wherein the braking operation detecting means (M1) increases the degree to which the braking force is reduced as the release speed increases and the release amount increases. Brake control device.