JP2001146154A - Method and device of anti-lock brake controlling - Google Patents

Method and device of anti-lock brake controlling

Info

Publication number
JP2001146154A
JP2001146154A JP32972499A JP32972499A JP2001146154A JP 2001146154 A JP2001146154 A JP 2001146154A JP 32972499 A JP32972499 A JP 32972499A JP 32972499 A JP32972499 A JP 32972499A JP 2001146154 A JP2001146154 A JP 2001146154A
Authority
JP
Japan
Prior art keywords
motor
pressure increasing
gradient
brake control
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP32972499A
Other languages
Japanese (ja)
Inventor
Noriyuki Takemasa
武政規之
Norihiko Usui
臼井紀彦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nisshinbo Holdings Inc
Original Assignee
Nisshinbo Industries Inc
Nisshin Spinning Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nisshinbo Industries Inc, Nisshin Spinning Co Ltd filed Critical Nisshinbo Industries Inc
Priority to JP32972499A priority Critical patent/JP2001146154A/en
Priority to DE2000157451 priority patent/DE10057451A1/en
Publication of JP2001146154A publication Critical patent/JP2001146154A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/50—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition having means for controlling the rate at which pressure is reapplied to or released from the brake
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B60T8/17616—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • B60T8/4059—Control of the pump unit involving the rate of delivery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/42—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition having expanding chambers for controlling pressure, i.e. closed systems
    • B60T8/4275—Pump-back systems
    • B60T8/4291—Pump-back systems having means to reduce or eliminate pedal kick-back

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Regulating Braking Force (AREA)

Abstract

PROBLEM TO BE SOLVED: To prevent degradation of feeling due to kickback to a brake pedal during anti-lock brake controlling. SOLUTION: This method and device of anti-lock brake controlling calculates the intensifying gradient of fluid pressure in a wheel cylinder 14 and controls a motor 26 so as to adjust brake fluid amount returned to a main fluid pressure circuit 41 from an auxiliary reservoir 27 in accordance with the calculated intensified gradient.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】本発明は、車輌におけるアン
チロックブレーキ制御に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to antilock brake control for a vehicle.

【０００２】[0002]

【従来の技術】従来、アンチロックブレーキ制御中はモ
ータが常にオンのため、ポンプの駆動により補助リザー
バからブレーキ液量が掻き出されるため、ブレーキペダ
ルへのキックバックが起こり、フィーリングが良くな
い。特に、多量のブレーキ液量が掻き出されると、キッ
クバックが大きくなりフィーリングが悪化する。2. Description of the Related Art Conventionally, during antilock brake control, the motor is always on, and the amount of brake fluid is scraped out from the auxiliary reservoir by driving the pump. . In particular, when a large amount of brake fluid is scraped, kickback becomes large and feeling is deteriorated.

【０００３】[0003]

【発明が解決しようとする課題】本発明は、アンチロッ
クブレーキ制御中のブレーキペダルへのキックバックに
よるフィーリングの悪化を防止することにある。SUMMARY OF THE INVENTION It is an object of the present invention to prevent the feeling from being deteriorated due to kickback of a brake pedal during antilock brake control.

【０００４】[0004]

【課題を解決するための手段】本発明は、マスタシリン
ダから入口弁を介してホイールシリンダに接続される主
液圧回路と、ホイールシリンダから出口弁を介して補助
リザーバに接続される補助液圧回路と、補助リザーバの
ブレーキ液を主液圧回路に戻すポンプと、ポンプを駆動
するモータとを有する液圧ユニットと、各車輪の速度を
測定する車輪速センサと、液圧ユニットを制御する電子
制御装置とを備えた車輌のアンチロックブレーキ制御方
法において、ホイールシリンダの液圧の増圧勾配を算出
し、増圧勾配に合わせて補助リザーバから主液圧回路に
戻すブレーキ液量を調整するようにモータを制御するこ
とを特徴とする、アンチロックブレーキ制御方法、又
は、アンチロックブレーキ制御方法において、増圧勾配
が所定値以下の場合、モータを停止し、増圧勾配が所定
値以上の場合、増圧勾配に合わせてモータのデューティ
比を調整することを特徴とする、アンチロックブレーキ
制御方法、又は、アンチロックブレーキ制御方法におい
て、１輪のみが増圧モードの増圧勾配の場合、モータを
停止し、２輪以上が増圧モードの増圧勾配の場合、増圧
モードの車輪数に合わせてモータのデューティ比を調整
することを特徴とする、アンチロックブレーキ制御方法
である。SUMMARY OF THE INVENTION The present invention comprises a main hydraulic circuit connected from a master cylinder to a wheel cylinder via an inlet valve, and an auxiliary hydraulic circuit connected from the wheel cylinder to an auxiliary reservoir via an outlet valve. Circuit, a pump for returning the brake fluid of the auxiliary reservoir to the main hydraulic circuit, a hydraulic unit having a motor for driving the pump, a wheel speed sensor for measuring the speed of each wheel, and an electronic device for controlling the hydraulic unit. In the anti-lock brake control method for a vehicle having a control device, a pressure increasing gradient of a hydraulic pressure of a wheel cylinder is calculated, and a brake fluid amount returned from an auxiliary reservoir to a main hydraulic circuit is adjusted in accordance with the pressure increasing gradient. In the anti-lock brake control method or the anti-lock brake control method, wherein the pressure increase gradient is equal to or less than a predetermined value. An anti-lock brake control method or an anti-lock brake control method, wherein the motor is stopped and the duty ratio of the motor is adjusted in accordance with the pressure increase gradient when the pressure increase gradient is equal to or more than a predetermined value. When only the wheels have the pressure increasing gradient in the pressure increasing mode, the motor is stopped, and when two or more wheels have the pressure increasing gradient in the pressure increasing mode, the duty ratio of the motor is adjusted according to the number of wheels in the pressure increasing mode. This is an anti-lock brake control method.

【０００５】[0005]

【発明の実施の形態】以下、図面を用いて本発明の実施
の形態を説明する。Embodiments of the present invention will be described below with reference to the drawings.

【０００６】＜イ＞車輌用ブレーキ液圧装置の概要 車輌用ブレーキ液圧装置において、図１のように液圧ユ
ニット２０で発生した液圧は前輪や後輪の各ホイールシ
リンダ１４に付与され、各車輪（左前輪１、右前輪２、
左後輪３、右後輪４）にブレーキ制御を行う。例えば、
アンチロックブレーキ制御（ＡＢＳ）や制動力配分制御
や車輌挙動制御などのブレーキ制御において、車輪速セ
ンサ３１やブレーキスイッチ３２などからの信号を基に
電子制御装置３０により、液圧ユニット２０を制御して
車輪に対して最適なブレーキ制御を行う。なお、電子制
御装置３０は、専用ハード装置、また、マイクロコンピ
ュータなど一般のコンピュータ装置の構成を有していて
も良い。<A> Outline of Vehicle Brake Hydraulic System In a vehicle brake hydraulic system, hydraulic pressure generated by a hydraulic unit 20 is applied to each wheel cylinder 14 of a front wheel and a rear wheel as shown in FIG. Each wheel (left front wheel 1, right front wheel 2,
The brake control is performed for the left rear wheel 3 and the right rear wheel 4). For example,
In brake control such as antilock brake control (ABS), braking force distribution control, and vehicle behavior control, the electronic control unit 30 controls the hydraulic unit 20 based on signals from the wheel speed sensor 31, the brake switch 32, and the like. To perform optimal brake control on the wheels. The electronic control unit 30 may have a configuration of a dedicated hardware device or a general computer device such as a microcomputer.

【０００７】＜ロ＞液圧ユニットの構成 液圧ユニット２０は、図２にその一例が示され、アンチ
ロックブレーキ制御（ＡＢＳ）や制動力配分制御や車輌
挙動制御などのブレーキ制御の液圧回路を備えている。
なお、図２はＸ配管の例であり、一方の第１液圧回路２
１には左前輪１と右後輪４が接続され、他方の独立した
第２液圧回路２２には右前輪２と左後輪３が接続されて
いる。<B> Structure of Hydraulic Unit The hydraulic unit 20 is shown in FIG. 2 as an example. The hydraulic unit 20 is a hydraulic circuit for brake control such as antilock brake control (ABS), braking force distribution control, and vehicle behavior control. It has.
FIG. 2 shows an example of the X pipe, and the first hydraulic circuit 2
1 is connected to the left front wheel 1 and the right rear wheel 4, and the other independent second hydraulic circuit 22 is connected to the right front wheel 2 and the left rear wheel 3.

【０００８】液圧ユニット２０は、マスタシリンダ１２
と入口弁２３を介して各車輪のホイールシリンダ１４を
結ぶ主液圧回路４１、各車輪のホイールシリンダ１４と
出口弁２４を介して補助リザーバ２７を結ぶ補助液圧回
路４２、補助リザーバ２７からポンプ２５を介して主液
圧回路４１に戻る戻り液圧回路４３を備えており、入口
弁２３と出口弁２４の開閉を制御して、各車輪に対して
所定のブレーキ制御を行う。なお、主リザーバ１３はブ
レーキ液を蓄積し、逆止弁２８は逆流の防止をし、又、
モータ２６はポンプ２５を駆動制御する。The hydraulic unit 20 includes a master cylinder 12
And a main hydraulic circuit 41 connecting the wheel cylinders 14 of the respective wheels via the inlet valve 23, an auxiliary hydraulic circuit 42 connecting the wheel cylinders 14 of the respective wheels and the auxiliary reservoir 27 via the outlet valve 24, and a pump from the auxiliary reservoir 27. A return hydraulic circuit 43 is provided to return to the main hydraulic circuit 41 via 25, and controls the opening and closing of the inlet valve 23 and the outlet valve 24 to perform predetermined brake control on each wheel. The main reservoir 13 accumulates brake fluid, the check valve 28 prevents backflow,
The motor 26 drives and controls the pump 25.

【０００９】以下に、ブレーキ動作について説明する。Hereinafter, the braking operation will be described.

【００１０】＜イ＞通常ブレーキ 通常のブレーキ（ノーマルブレーキ）においては、ブレ
ーキペダル１１が踏み込まれると、マスタシリンダ１２
にブレーキ液圧が発生し、入口弁２３が開状態で出口弁
２４が閉状態にあるので、マスタシリンダ１２に発生し
たブレーキ液圧は、直接ホイールシリンダ１４に加わ
り、各車輪１、２、３、４にブレーキがかかる。<A> Normal brake In a normal brake (normal brake), when the brake pedal 11 is depressed, the master cylinder 12
Brake fluid pressure is generated, and the inlet valve 23 is open and the outlet valve 24 is closed. Therefore, the brake fluid pressure generated in the master cylinder 12 is directly applied to the wheel cylinder 14, and the respective wheels 1, 2, 3 4, brake is applied.

【００１１】＜ロ＞アンチロックブレーキ制御 電子制御装置３０は、アンチロックブレーキ制御とし
て、例えば車輪にブレーキがかかり車輪がロック状態に
なると、ホイールシリンダの液圧を増圧する増圧モード
や、保持する保持モードや、減圧する減圧モードを備
え、そのために、入口弁２３と出口弁２４を開閉制御
し、ポンプ２５を駆動するモータ２６を制御する。<B> Antilock Brake Control The electronic control unit 30 performs, as antilock brake control, a pressure increasing mode in which the hydraulic pressure of the wheel cylinder is increased, for example, when a wheel is braked and the wheel is in a locked state. A holding mode and a pressure reducing mode for reducing the pressure are provided. For this purpose, the opening and closing of the inlet valve 23 and the outlet valve 24 are controlled, and the motor 26 for driving the pump 25 is controlled.

【００１２】この際、ポンプ２５の駆動により、補助リ
ザーバ２７に蓄えられたブレーキ液が主液圧回路４１に
戻され、そのブレーキ液圧の増加によってブレーキペダ
ル１１へキックバックが作用する。ポンプ２５を駆動制
御することにより、キックバックを弱めることができ
る。このポンプ２５の駆動制御は、モータ２６のオン、
オフ制御や、モータ駆動信号のデューティ比の調整でき
め細かく行うことができる。このモータ２６の制御は、
電子制御装置３０のモータ制御手段３０２で行うことが
できる。At this time, by driving the pump 25, the brake fluid stored in the auxiliary reservoir 27 is returned to the main hydraulic circuit 41, and the brake hydraulic pressure increases, so that kickback acts on the brake pedal 11. By controlling the drive of the pump 25, kickback can be reduced. The drive control of the pump 25 is performed by turning on the motor 26,
The off-control and the adjustment of the duty ratio of the motor drive signal can be performed finely. The control of this motor 26
This can be performed by the motor control means 302 of the electronic control unit 30.

【００１３】＜ハ＞ブレーキ液の戻し制御 ブレーキ液の戻し制御は、ポンプ２５によって補助リザ
ーバ２７に蓄えられたブレーキ液を主液圧回路４１に戻
す制御であり、キックバックを小さくするために、例え
ば図３に従って行われる。<C> Return control of brake fluid The return control of brake fluid is control for returning the brake fluid stored in the auxiliary reservoir 27 by the pump 25 to the main hydraulic circuit 41. In order to reduce kickback, For example, this is performed according to FIG.

【００１４】そこで先ず、アンチロックブレーキ制御中
か否か調べる（Ｓ１）。アンチロックブレーキ制御中の
場合、全体のホイールシリンダ１４に液圧が増加する割
合、即ち増圧勾配を算出する（Ｓ２）。First, it is checked whether or not the antilock brake control is being performed (S1). If the anti-lock brake control is being performed, the rate at which the hydraulic pressure increases in all the wheel cylinders 14, that is, the pressure increase gradient is calculated (S2).

【００１５】増圧勾配は、例えば簡単な算出方法として
は、４輪の幾つのホイールシリンダが増圧モードにある
か調べることにより求めることができる。４輪全部が増
圧モードの場合、増圧勾配が大きくなり、また、１輪の
み増圧モードの場合、増圧勾配は小さいことになる。そ
のために、電子制御装置３０は、増圧モードの状態にあ
る車輪数をカウントする増圧勾配算出手段３０１を備え
ておく。The pressure increase gradient can be obtained, for example, as a simple calculation method by checking how many wheel cylinders of the four wheels are in the pressure increase mode. When all four wheels are in the pressure increasing mode, the pressure increasing gradient is large, and when only one wheel is in the pressure increasing mode, the pressure increasing gradient is small. For this purpose, the electronic control unit 30 includes a pressure increase gradient calculating means 301 for counting the number of wheels in the pressure increase mode.

【００１６】次に、補助リザーバ内のブレーキ液量が所
定量Ａより大きいか否か調べる（Ｓ３）。ブレーキ液量
が多過ぎると、ホイールシリンダ１４の液圧を減少でき
なくなるので、ポンプのモータ２６を駆動して補助リザ
ーバ内のブレーキ液を排出する（Ｓ５）。Next, it is checked whether or not the amount of brake fluid in the auxiliary reservoir is larger than a predetermined amount A (S3). If the amount of the brake fluid is too large, the hydraulic pressure of the wheel cylinder 14 cannot be reduced, so the pump motor 26 is driven to discharge the brake fluid in the auxiliary reservoir (S5).

【００１７】補助リザーバ内のブレーキ液量が所定量Ａ
より大きくない場合、増圧勾配が所定量Ｂより小さいか
否か判断する。増圧勾配が所定量Ｂより小さい場合、モ
ータ２６を停止する（Ｓ６）。これにより、アンチロッ
クブレーキ制御中でも、ブレーキ液が主液圧回路４１に
戻されないので、ブレーキペダル１１にキックバックが
発生しなくなり、フィーリングの悪化を防止できる。When the amount of brake fluid in the auxiliary reservoir is a predetermined amount A
If not, it is determined whether or not the pressure increase gradient is smaller than a predetermined amount B. If the pressure increase gradient is smaller than the predetermined amount B, the motor 26 is stopped (S6). As a result, even during the anti-lock brake control, the brake fluid is not returned to the main hydraulic circuit 41, so that kickback does not occur on the brake pedal 11 and deterioration of feeling can be prevented.

【００１８】増圧勾配が所定量Ｂより大きい場合、増圧
勾配に合わせてモータ２６を制御する。例えば、モータ
駆動信号のデューティ比を調整する（Ｓ７）。即ち、増
圧勾配が大きい場合、モータ２６のオンの時間を長くす
る。増圧勾配がそれほど大きくない場合、モータ２６の
オフの時間を長くする。このように、モータ駆動信号の
デューティ比を調整して、増圧勾配に見合うブレーキ液
を主液圧回路に戻せれば、キックバックの発生を抑制で
きる。When the pressure increasing gradient is larger than the predetermined amount B, the motor 26 is controlled in accordance with the pressure increasing gradient. For example, the duty ratio of the motor drive signal is adjusted (S7). That is, when the pressure increase gradient is large, the ON time of the motor 26 is lengthened. If the pressure increase gradient is not so large, the off time of the motor 26 is lengthened. As described above, by adjusting the duty ratio of the motor drive signal and returning the brake fluid corresponding to the pressure increase gradient to the main hydraulic circuit, the occurrence of kickback can be suppressed.

【００１９】[0019]

【発明の効果】本発明は、次のような効果を得ることが
できる。 ＜イ＞本発明は、アンチロックブレーキ制御中のブレー
キペダルへのキックバックによるフィーリングの悪化を
防止することができる。According to the present invention, the following effects can be obtained. <A> The present invention can prevent deterioration of feeling due to kickback to the brake pedal during antilock brake control.

【図面の簡単な説明】[Brief description of the drawings]

【図１】ブレーキ制御装置の概略図FIG. 1 is a schematic diagram of a brake control device.

【図２】４輪におけるブレーキ液圧装置の説明図FIG. 2 is an explanatory view of a brake hydraulic device for four wheels.

【図３】ブレーキ液の戻し制御のフローチャート図FIG. 3 is a flowchart of brake fluid return control.

【符号の説明】[Explanation of symbols]

１・・・左前輪 ２・・・右前輪 ３・・・左後輪 ４・・・右後輪 １１・・ブレーキペダル １２・・マスタシリンダ １３・・主リザーバ １４・・ホイールシリンダ ２０・・液圧ユニット ２１・・第１液圧回路 ２２・・第２液圧回路 ２３・・入口弁 ２４・・出口弁 ２５・・ポンプ ２６・・モータ ２７・・補助リザーバ ２８・・逆止弁 ３０・・電子制御装置 ３０１・増圧勾配算出手段 ３０２・モータ制御手段 ３１・・車輪速センサ ３２・・ブレーキスイッチ ４１・・主液圧回路 ４２・・補助液圧回路 ４３・・戻り液圧回路 DESCRIPTION OF SYMBOLS 1 ... Left front wheel 2 ... Right front wheel 3 ... Left rear wheel 4 ... Right rear wheel 11 ... Brake pedal 12 ... Master cylinder 13 ... Main reservoir 14 ... Wheel cylinder 20 ... Liquid Pressure unit 21 First hydraulic circuit 22 Second hydraulic circuit 23 Inlet valve 24 Outlet valve 25 Pump 26 Motor 27 Auxiliary reservoir 28 Check valve 30 Electronic control device 301, pressure increase gradient calculating means 302, motor control means 31, wheel speed sensor 32, brake switch 41, main hydraulic circuit 42, auxiliary hydraulic circuit 43, return hydraulic circuit

Claims (6)

【特許請求の範囲】[Claims] 【請求項１】マスタシリンダから入口弁を介してホイー
ルシリンダに接続される主液圧回路と、ホイールシリン
ダから出口弁を介して補助リザーバに接続される補助液
圧回路と、補助リザーバのブレーキ液を主液圧回路に戻
すポンプと、ポンプを駆動するモータとを有する液圧ユ
ニットと、各車輪の速度を測定する車輪速センサと、液
圧ユニットを制御する電子制御装置とを備えた車輌のア
ンチロックブレーキ制御方法において、 ホイールシリンダの液圧の増圧勾配を算出し、 増圧勾配に合わせて補助リザーバから主液圧回路に戻す
ブレーキ液量を調整するようにモータを制御することを
特徴とする、 アンチロックブレーキ制御方法。1. A main hydraulic circuit connected from a master cylinder to a wheel cylinder via an inlet valve, an auxiliary hydraulic circuit connected from the wheel cylinder to an auxiliary reservoir via an outlet valve, and a brake fluid for the auxiliary reservoir. And a hydraulic unit having a motor that drives the pump, a wheel speed sensor that measures the speed of each wheel, and an electronic control unit that controls the hydraulic unit. The anti-lock brake control method is characterized in that a pressure increasing gradient of a wheel cylinder hydraulic pressure is calculated, and a motor is controlled so as to adjust a brake fluid amount returned from an auxiliary reservoir to a main hydraulic circuit in accordance with the pressure increasing gradient. The anti-lock brake control method. 【請求項２】請求項１に記載のアンチロックブレーキ制
御方法において、 増圧勾配が所定値以下の場合、モータを停止し、 増圧勾配が所定値以上の場合、増圧勾配に合わせてモー
タのデューティ比を調整することを特徴とする、 アンチロックブレーキ制御方法。2. The antilock brake control method according to claim 1, wherein the motor is stopped when the pressure increasing gradient is equal to or less than a predetermined value, and the motor is adjusted in accordance with the pressure increasing gradient when the pressure increasing gradient is equal to or more than the predetermined value. An anti-lock brake control method, comprising: adjusting a duty ratio of a vehicle. 【請求項３】請求項２に記載のアンチロックブレーキ制
御方法において、 １輪のみが増圧モードの増圧勾配の場合、モータを停止
し、 ２輪以上が増圧モードの増圧勾配の場合、増圧モードの
車輪数に合わせてモータのデューティ比を調整すること
を特徴とする、 アンチロックブレーキ制御方法。3. The anti-lock brake control method according to claim 2, wherein when only one wheel has a pressure increasing gradient in the pressure increasing mode, the motor is stopped, and when two or more wheels have the pressure increasing gradient in the pressure increasing mode. An anti-lock brake control method, wherein the duty ratio of the motor is adjusted according to the number of wheels in the pressure increasing mode. 【請求項４】マスタシリンダから入口弁を介してホイー
ルシリンダに接続される主液圧回路と、ホイールシリン
ダから出口弁を介して補助リザーバに接続される補助液
圧回路と、補助リザーバのブレーキ液を主液圧回路に戻
すポンプと、ポンプを駆動するモータとを有する液圧ユ
ニットと、各車輪の速度を測定する車輪速センサと、液
圧ユニットを制御する電子制御装置とを備えた車輌のア
ンチロックブレーキ制御装置において、 ホイールシリンダの液圧の増圧勾配を算出する算出手段
と、 増圧勾配に合わせて補助リザーバから主液圧回路に戻す
ブレーキ液量を調整するようにモータを制御するモータ
制御手段とを備えたことを特徴とする、 アンチロックブレーキ制御装置。A main hydraulic circuit connected from the master cylinder to the wheel cylinder via an inlet valve; an auxiliary hydraulic circuit connected from the wheel cylinder to an auxiliary reservoir via an outlet valve; and a brake fluid for the auxiliary reservoir. And a hydraulic unit having a motor that drives the pump, a wheel speed sensor that measures the speed of each wheel, and an electronic control unit that controls the hydraulic unit. In the anti-lock brake control device, calculating means for calculating a pressure increase gradient of the wheel cylinder hydraulic pressure, and controlling the motor so as to adjust a brake fluid amount returned from the auxiliary reservoir to the main hydraulic circuit in accordance with the pressure increase gradient. An antilock brake control device, comprising: a motor control unit. 【請求項５】請求項４に記載のアンチロックブレーキ制
御装置において、 モータ制御手段は、増圧勾配が所定値以下の場合、モー
タを停止し、増圧勾配が所定値以上の場合、増圧勾配に
合わせてモータのデューティ比を調整することを特徴と
する、 アンチロックブレーキ制御装置。5. The anti-lock brake control device according to claim 4, wherein the motor control means stops the motor when the pressure increase gradient is equal to or less than a predetermined value, and increases the pressure increase when the pressure increase gradient is equal to or more than the predetermined value. An antilock brake control device, wherein a duty ratio of a motor is adjusted according to a gradient. 【請求項６】請求項５に記載のアンチロックブレーキ制
御装置において、 モータ制御手段は、１輪のみが増圧モードの増圧勾配の
場合、モータを停止し、２輪以上が増圧モードの場合、
増圧モードの車輪数に合わせてモータのデューティ比を
調整することを特徴とする、アンチロックブレーキ制御
装置。6. The anti-lock brake control device according to claim 5, wherein the motor control means stops the motor when only one wheel has the pressure increasing mode in the pressure increasing mode, and controls the motor in at least two wheels in the pressure increasing mode. If
An antilock brake control device, wherein a duty ratio of a motor is adjusted according to the number of wheels in a pressure increasing mode.
JP32972499A 1999-11-19 1999-11-19 Method and device of anti-lock brake controlling Pending JP2001146154A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP32972499A JP2001146154A (en) 1999-11-19 1999-11-19 Method and device of anti-lock brake controlling
DE2000157451 DE10057451A1 (en) 1999-11-19 2000-11-20 Antilock brake control method for motor vehicles, involves controlling pump motor to adjust brake liquid quantity added to pressure increasing gradient, and returned to main hydraulic circuit from auxiliary reservoir

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP32972499A JP2001146154A (en) 1999-11-19 1999-11-19 Method and device of anti-lock brake controlling

Publications (1)

Publication Number Publication Date
JP2001146154A true JP2001146154A (en) 2001-05-29

Family

ID=18224575

Family Applications (1)

Application Number Title Priority Date Filing Date
JP32972499A Pending JP2001146154A (en) 1999-11-19 1999-11-19 Method and device of anti-lock brake controlling

Country Status (2)

Country Link
JP (1) JP2001146154A (en)
DE (1) DE10057451A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006137285A (en) * 2004-11-11 2006-06-01 Nissan Motor Co Ltd Brake fluid pressure control device
DE112017001691T5 (en) 2016-03-31 2018-12-27 Advics Co., Ltd. Vehicle brake control device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006004745A1 (en) * 2005-04-02 2006-11-30 Continental Teves Ag & Co. Ohg Hydraulic brake system with anti-lock control

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006137285A (en) * 2004-11-11 2006-06-01 Nissan Motor Co Ltd Brake fluid pressure control device
JP4581638B2 (en) * 2004-11-11 2010-11-17 日産自動車株式会社 Brake hydraulic pressure control device
DE112017001691T5 (en) 2016-03-31 2018-12-27 Advics Co., Ltd. Vehicle brake control device

Also Published As

Publication number Publication date
DE10057451A1 (en) 2001-07-26

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