JP2001180472A - Brake fluid pressure control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress an inconvenience caused at switching between a first state and a second state in a brake fluid pressure control device capable of being switched between the first state where a brake cylinder fluid pressure is controlled based on the fluid pressure of a pump device and the second state where a fluid pressure corresponding to a brake operating force is supplied. SOLUTION: When a first switching condition is satisfied when a state is switched from a first state to a second state, a master shut-off valve 152 is switched to an open state and, after a set time is passed, a master shut-off valve 162 is switched to an open state. Thus, a fluid pressure difference between a brake cylinder 28 and a second hydraulic pressure source 14 when the master shut-off valve 162 is switched to the open state can be decreased, and the amount of variation of the brake cylinder 28 can be suppressed. In addition, an inconvenience at the time of switching can be suppressed such that an increase in hydraulic pressure difference between the brake cylinders 20 and 28 can be avoided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a brake fluid pressure control device.

[0002]

2. Description of the Related Art Japanese Patent Application Laid-Open No. 5-65060 discloses a brake cylinder, a power type hydraulic pressure source for generating a hydraulic pressure having a height corresponding to a brake operation force by power, and a power source for operating a brake operation member. A first state in which a master cylinder that generates hydraulic pressure and a brake cylinder are disconnected from the master cylinder to communicate with the power hydraulic pressure source, and a second state in which the brake cylinder is disconnected from the power hydraulic pressure source and communicates with the master cylinder A brake fluid pressure control device is disclosed that includes a solenoid valve that can be switched between states. In the brake fluid pressure control device, at the time of switching from the first state to the second state, for example, an inconvenience such as a change in the operation state of the brake operation member occurs.

[0003]

Problem to be solved by the invention, problem solving means and effect
Consequently, the present invention provides a switch between the first state and the second state.
It is to suppress the inconvenience that occurs at the time of replacement. This challenge
The brake fluid pressure control device with the configuration of each of the following aspects
It is solved by doing. Each aspect is the same as the claim
, Subdivided into sections, numbered each section, and
Enter the number of the section in a format that cites it. This is a bear
The purpose of the present invention is to facilitate the technical understanding of the present invention.
The technical features described in the detailed description and their combinations are as follows:
Should not be construed as limited to the terms Also,
If more than one item is listed in a section, always
Not all things have to be adopted together.
It is also possible to take out only some items and adopt them
is there. (1) Pressurize hydraulic fluid with brake cylinder
A first hydraulic pressure source including a pressurizing device, and a brake operating member.
Is a hydraulic pressure source that generates hydraulic pressure due to
The hydraulic pressure generated by the operating force of the
A second hydraulic pressure source to be applied and the brake cylinder
With the brake cylinder fluid pressure reduced to the
A first state controlled based on the hydraulic pressure of one hydraulic pressure source;
When the brake cylinder is disconnected from the first hydraulic pressure source,
Switch to the second state where the hydraulic fluid of the second hydraulic pressure source is supplied
State switching device, and the state switching device
The brake associated with switching between a first state and a second state
Change in operating state of operating member and hydraulic pressure of brake cylinder
Switching state that suppresses at least one of the state changes
A brake fluid pressure control device including a change suppression device.
1). In the brake fluid pressure control device described in this section,
Brake operation associated with switching between the first state and the second state
Changes in operating state of members and hydraulic pressure of brake cylinder
At least one of the changes is suppressed. Therefore, the first
Suppresses inconvenience that occurs when switching between the state and the second state
can do. Specifically, it is described in each section shown below
For example, the brake hydraulic pressure control device
It can reduce driver discomfort caused by changes in crop conditions,
When the state switching device switches between the first state and the second state;
The noise produced can be reduced or the braking force produced during switching can be changed.
Can be suppressed. Brake operation member
Changes in operation state include changes in operation stroke and operation reaction force.
Changes in the brake cylinder pressure, etc.
Is the height of the hydraulic pressure, such as the amount of change in hydraulic pressure, change gradient, and change acceleration
Changes related to hydraulic pressure and changes in the control state of hydraulic pressure, etc.
I do. Switching between the first state and the second state depends on the state of the vehicle.
It is done based on state. The state of the vehicle is the driving of the vehicle
The components such as the power source, braking system, and steering system are normal or abnormal.
The normal state, the running state of the vehicle, and the like correspond to the state. vehicle
The abnormal state of the first hydraulic pressure source, the second hydraulic pressure source, etc.
Hit. The running condition should be anti-lock control
The state, the state in which the turning control should be performed, and the like correspond to the state. Running
The state changes to the state where the predetermined switching condition is satisfied.
Switch between the first state and the second state
It is. For example, anti-lock system during braking
When the control start condition is satisfied, the turning control start condition is satisfied.
Is switched from the second state to the first state,
When the antilock control end condition is satisfied,
If the termination condition is satisfied, the first state is changed to the second state.
Is switched to. In addition, the operation panel and operation
Be able to switch by operation of working members
Can also. For example, if you want to control the braking effect,
Is performed from the second state to the first state.
It is possible to switch to. In addition,
Vehicle with rake control device equipped with electric motor as drive source
Installed on both, regenerative braking force and brake by electric motor
The sum of the hydraulic braking force according to the cylinder hydraulic pressure and the
Times to control the hydraulic braking force to achieve the required braking force
Live cooperative control may be performed. Regenerative cooperative control is the first
It is performed in the state,
When the condition is satisfied, the state is switched to the second state. Ma
Further, as described above, the hydraulic pressure of the brake cylinder is equal to the first hydraulic pressure.
The first hydraulic pressure source is controlled by controlling the pressure source.
Of the pressurizing device and the pressurizing device and the brake cylinder
If it includes a hydraulic pressure control valve device provided between
The hydraulic pressure control valve device is controlled, and the first hydraulic pressure source is a hydraulic pressure control valve.
If no device is included, the power supplied to the
It will be controlled by the control. Note that in this section
Of "hydraulic pressure corresponding to the operating force of the brake operating member"
Is the hydraulic pressure that is proportional to the operating force.
The relationship with pressure may be non-linear, in short, the operating force
Is determined, it is sufficient that the hydraulic pressure is uniquely determined. (2) The second hydraulic pressure source operates the brake operating member.
The booster that boosts the force and the operation of the brake operating member
Less pressure booster to increase the generated hydraulic pressure
The brake fluid pressure control device according to the above mode (1), including one of the two.
The second hydraulic pressure source is at least one of a booster and a booster.
If the hydraulic pressure of the second hydraulic pressure source is
It is made higher than the hydraulic pressure by force. Therefore, the first state
Fluid that is higher than the hydraulic pressure used to operate the brake operating member.
When the braking force corresponding to the pressure is generated
Change of the braking force when switching from the first state to the second state.
Of the brake operating member of the driver
Changes in the operation state can be suppressed. Therefore,
State change suppression device at the time of switching by booster or pressure booster
Can be considered to be composed. The booster is (3)
Even if the hydraulic booster described in the section, the vacuum booth
May be used. Also, hydraulic fluid supply source
Is higher than the maximum value of the hydraulic pressure to be generated by the second hydraulic pressure source
It is a supply source that can supply hydraulic pressure hydraulic fluid.
Including an accumulator or an accumulator
And can be. Uses the pressurizing device of the first hydraulic pressure source
You can also. (3) The second hydraulic pressure source generates the pressure at the second hydraulic pressure source
It is activated by hydraulic fluid with a hydraulic pressure higher than the maximum
Hydraulic booster for boosting the operating force of the brake operating member.
Brake pressure control described in paragraph (1) or (2)
Control device (Claim 2). (4) The hydraulic pressure booster is a hydraulic fluid supply source.
An adjusting device that adjusts the pressure to the height corresponding to the brake operating force
And a power piston linked to the brake operating member
Formed behind the ton and adjusted by the adjusting device
(3) Including the booster chamber to which the hydraulic fluid is supplied
Brake fluid pressure control device. This section describes the hydraulic booster
One preferred embodiment has been described. (5) The state switching device includes the second hydraulic pressure source and a brake.
The electromagnetic shut-off valve provided in the liquid passage connecting the cylinder
The switching state change suppressing device has its electromagnetic shut-off
Item (1) to (4) including an electromagnetic shut-off valve control unit that controls the valve
The brake fluid pressure control device according to any one of claims
Item 3). When in the first state, the solenoid shut-off valve is shut off.
Brake cylinder and the second hydraulic pressure source
Is shut off. And the electromagnetic shut-off valve is the second hydraulic pressure source
To allow hydraulic fluid to flow between the brake cylinder
State (hereinafter abbreviated as communication state),
The brake cylinder communicates with the second hydraulic pressure source. So
Here, if this electromagnetic shutoff valve is controlled, the first state and the second state
Switching between the states can be performed smoothly.
The solenoid shutoff valve is used to turn on / off the current as described in (9).
Electromagnetic open switchable between open and closed by FF
Close the valve or change the supply current as described in (8).
Electromagnetic flow control valve that allows the flow of hydraulic fluid at an open angle
Can be Control of the electromagnetic shut-off valve described in this section and
For example, the electromagnetic shut-off valve is an electromagnetic on-off valve, and the first
When switching from the state to the second state, the state changes from the closed state to the open state.
When switching is enabled, the electromagnetic
Duty to switch valve closing between open and closed states alternately
Control applies. During this duty control, the solenoid on-off valve
Can be considered to be in communication. Also, electromagnetic shielding
The valve cutoff is an electromagnetic flow control valve, and from the first state to the second state
At the time of switching, a predetermined set current amount is supplied,
Allow the flow of hydraulic fluid with an opening corresponding to the set current
If you can switch to the communication state
The set current amount and the supply current in the cutoff state (for example,
0) corresponds to a control for supplying an intermediate amount of current. This
In these cases, the pressure increase gradient of the brake cylinder fluid pressure is suppressed.
Can be controlled. "Control of electromagnetic shut-off valve"
Control of the opening / closing timing of the shutoff valve is also included. (6) The second hydraulic pressure source is linked to the brake operating member
Formed behind the power piston
Adjust the hydraulic pressure of the supply fluid to a height that corresponds to the brake operating force.
Hydraulic fluid adjusted by the adjusting regulator is supplied
A first hydraulic chamber, and a pressure chamber connected to the power piston.
And a second hydraulic chamber provided in front of the pressure piston.
The state switching device is connected to the first hydraulic chamber and the brake series.
At least one of the first brake cylinders
A first solenoid shut-off valve provided in a first liquid passage to be connected;
At least another of the second hydraulic chamber and the brake cylinder
The second fluid passage for connecting to one second brake cylinder
A second electromagnetic shut-off valve provided in a road,
A valve control unit configured to control the first electromagnetic shut-off valve and the second electromagnetic shut-off valve;
By controlling at least one of
Hydraulic pressure difference between one brake cylinder and the first hydraulic chamber;
Fluid between the second brake cylinder and the second hydraulic chamber
At least one of the pressure difference, the first brake cylinder,
At least one of a hydraulic pressure difference with the second brake cylinder;
Brake fluid pressure control described in paragraph (5).
Control device (Claim 4). The brake fluid pressure control device described in this section
The brake system including the brake system is of the two-system type,
A first brake cylinder is connected to the pressure chamber, and a second hydraulic chamber is
Has a second brake cylinder separate from the first brake cylinder
Connected. In addition, each of the two systems
First, a second electromagnetic shut-off valve is provided. Therefore,
If the first and second solenoid shut-off valves are controlled,
The hydraulic pressure difference between the first brake cylinder and the first hydraulic chamber and the second hydraulic cylinder
Suppress the hydraulic pressure difference between the brake cylinder and the second hydraulic chamber
Can be Also, the first brake cylinder and the second brake
It can also suppress the hydraulic pressure difference between the rake cylinder
You. (7) The electromagnetic shut-off valve controller is configured to switch the first state to the second state.
When switching to the state, the second solenoid shut-off valve is switched to the first power supply.
Allows hydraulic fluid flow from shut-off state before magnetic shut-off valve
Bring the brake fluid pressure control device (6)
Item 5). In the brake fluid pressure control device described in this section
Is the shut-off state of each of the first and second solenoid shut-off valves?
Is switched to the communication state. For example, the first
Whether the solenoid shut-off valve and the second solenoid shut-off valve are shut off at intervals
Switch to the communication state at the same time.
Electromagnetic that can be switched to communication later
Fluid between the brake cylinder corresponding to the shut-off valve and the hydraulic chamber
The pressure difference can be reduced and the brake cylinder
In some cases, the amount of change in hydraulic pressure can be suppressed. Also,
Reduce hydraulic pressure difference between first and second brake cylinders
Sometimes you can. First electromagnetic shut-off valve and second electromagnetic shut-off valve
Any of the valve disconnection may be switched to the communication state first,
Electromagnetic cutoff for brake cylinders with better responsiveness
It is often better to switch the valve later. In this section
In the brake fluid pressure control device, the first brake cylinder
The first solenoid shut-off valve
Is desirable to be switched later
Many. However, it operates from the second hydraulic pressure source to the brake cylinder
When the liquid is supplied, the first hydraulic chamber and the first brake
Hydraulic cylinder and the second hydraulic chamber and the second brake system.
When the pressure difference with the cylinder is the same, the pressure increase gradient is large.
Brake cylinder with good response
And Hydraulic fluid is adjusted from the hydraulic fluid supply source to the first hydraulic chamber
Because it is regulated and supplied by the device,
Supply hydraulic fluid to the first brake cylinder at a large flow rate
And the pressure increase gradient of the first brake cylinder is large.
The second brake cylinder has the second hydraulic pressure
Hydraulic fluid is supplied from the chamber as the pressurizing piston advances
Therefore, the pressure increase gradient of the second brake cylinder is
Often smaller than a cylinder. In that case
Then, the second solenoid shut-off valve is first switched to the communication state, and the second liquid
A state in which the hydraulic pressure in the pressure chamber has decreased and the hydraulic pressure in the first hydraulic chamber has decreased.
If the first solenoid shut-off valve is switched to the communication state in
When the first solenoid shut-off valve is switched to the open state;
The hydraulic pressure difference between the first brake cylinder and the first hydraulic chamber
It can be smaller than when switching occasionally. That
As a result, the amount of change in hydraulic pressure of the first brake cylinder can be suppressed.
The first brake cylinder and the second brake cylinder
The difference in hydraulic pressure between the damper and the damper can be suppressed. like this
In addition, the brake fluid pressure control device according to
Response differs between the key cylinder and the second brake cylinder
It is effective when applied to a brake device. (8) The electromagnetic shut-off valve has an opening area corresponding to a supply current.
An electromagnetic flow control valve that allows the flow of hydraulic fluid.
An opening area in the electromagnetic flow control valve,
Is the hydraulic pressure difference between the brake cylinder and the second hydraulic pressure source.
Control based on any one of paragraphs (5) to (7)
The brake fluid pressure control device according to claim (claim 6). brake
The absolute value of the difference between the cylinder hydraulic pressure and the hydraulic pressure of the second hydraulic pressure source is large.
Opening area of the electromagnetic flow control valve
(Opening) is reduced. If the opening is the same,
When the absolute value of the difference is large, the brake series
The hydraulic pressure change gradient of the solder increases. Therefore, the absolute difference
It is reasonable to reduce the opening when the logarithmic value is large
It is. Further, the opening degree is, for example, changed between the first state and the second state.
With the passage of time since the switching condition between
It can also change gradually. Cut from the first state to the second state
If it is changed, if it gradually increases over time,
The inconvenience that occurs at the time of switching can be suppressed. Difference
Similar results are obtained when controlling based on absolute values.
can get. (9) The electromagnetic shut-off valve is turned on / off by the current.
An electromagnetic on-off valve that can be switched between an open state and a closed state,
The electromagnetic shut-off valve control unit sets the duty of the electromagnetic on-off valve.
Including the duty control unit to control
The brake fluid pressure control device according to any one of claims
7). If the solenoid on-off valve is duty-controlled, the solenoid shut-off valve
Can control the allowable hydraulic fluid flow rate,
The hydraulic pressure change gradient can be suppressed. Duty ratio
Is the same as the brake cylinder hydraulic pressure as described in paragraph (8).
Determination based on the absolute value of the difference from the hydraulic pressure of the two hydraulic pressure sources
Can be. (10) Control of the electromagnetic shut-off valve by the electromagnetic shut-off valve control unit
Is the absolute value of the hydraulic pressure difference between the second hydraulic pressure source and the brake cylinder
(5) to (9) performed when is greater than the set value
The brake fluid pressure control device according to any one of the above. Second liquid
The absolute value of the hydraulic pressure difference between the pressure source and the brake cylinder is small.
The solenoid shut-off valve from the shut-off state to the open state.
It is not a problem to switch to the
It is necessary to control the electromagnetic shut-off valve with the state change suppression device
Low. On the other hand, when the absolute value of the hydraulic pressure difference is large,
Indicates that the change gradient of the brake cylinder
The degree of inconvenience, such as the size of the
The necessity of performing the control becomes higher. (11) The control by the electromagnetic shut-off valve control unit is in the first state.
A precursor to switching between the second state and the second state has been detected.
In any one of paragraphs (5) to (10)
A brake fluid pressure control device as described in the above. For example, if the switching condition is near
It is predicted that it is likely to be satisfied in the future (within the set time).
Control when measurable conditions (pre-switching conditions) are met
Is started when the switching condition is satisfied.
Inconvenience that occurs at the time of switching
In addition, it is possible to more effectively suppress. I mentioned earlier
Thus, the anti-lock control start condition during normal braking
(For example, the braking slip state is the first set slip state.
Lock state), turning control start condition (example
For example, the turning state of the vehicle is more limited than the first set turning state.
From the second state when the
In the case of switching to the 1 state, the switch precursor condition
Means that, for example, the braking slip state is the first set slip state
It is closer to the locked state than the more stable second slip state.
And if the locking tendency is getting stronger
Or the turning state is cheaper than the first set turning state.
It is on the limit state side from the fixed side second set turning state, and
Filled when approaching the limit
Can be In addition, the first state is changed to the second state.
The switch sign condition is also similar to the antilock control end condition.
If it is predicted to be satisfied in the future, the turning control end condition
Will be met if is predicted to be met in the near future
Can be done. Furthermore, the regenerative cooperative control end condition
(For example, the rotation speed of the electric motor is equal to or less than the first set rotation speed.
Or the remaining charge capacity of the battery is
When the capacity is less than the set capacity)
When switching from the state to the second state,
The second set speed at which the rotation speed of the motor is higher than the first set speed
The battery is less than
The remaining charge capacity is larger than the first set capacity and smaller than the second set capacity
Is satisfied when there is no
Can also be. Also, when an abnormality is detected in the first hydraulic pressure source
When the condition for switching from the first state to the second state is satisfied,
From the second state when an abnormality is detected in the second hydraulic pressure source.
When switching to the first state, an abnormality is detected.
The switch precursor condition is met when a precursor signal is detected
It can be. For example, the pressurizing device of the first hydraulic pressure source
If the fluid pressure output from the
If it is determined that the pressure is normal,
Lower than the abnormal pseudo judgment set pressure
In some cases, it can be assumed that the switch precursor condition is satisfied.
You. (12) The control by the electromagnetic shut-off valve control unit is performed in the first state.
Is performed when switching from the second state to the second state.
It is not performed at the time of switching to the state of (5) to (11).
A brake fluid pressure control device according to any one of the preceding claims. 1st state
When switching to the second state from
The state is switched from the cutoff state to the communication state. Brake brake
The hydraulic fluid is communicated with the second hydraulic pressure source,
The pressure is set to the same level as the hydraulic pressure of the second hydraulic pressure source. for that reason,
The difference between the hydraulic pressure in the first state and the hydraulic pressure of the second hydraulic pressure source is
If it is large, the change gradient of the brake cylinder fluid pressure is large.
It will be good. In contrast, switch from the second state to the first state
When changed, the solenoid shut-off valve changes from the open state to the closed state.
Even if it is switched to, brake by the control of the first hydraulic pressure source
A change in cylinder hydraulic pressure can be suppressed. Accordingly
Therefore, the control of the electromagnetic shut-off valve is switched from the second state to the first state.
It is not necessary to do this when changing
The need for switching to a state is increased. (13) The switching state change suppressing device is provided with the second liquid
Orifice provided between pressure source and brake cylinder
The blur described in any one of paragraphs (1) to (12), including
A hydraulic pressure control device (claim 8). Second hydraulic pressure source and brake
If an orifice is provided between the cylinder and the
Even if the shut-off valve is opened, the brake cylinder
The change gradient can be suppressed. The orifice is an electromagnetic shield
It can also be provided in the valve shut-off. (14) The switching state change suppressing device includes the first liquid
A first fluid passage connecting the pressure chamber and the first brake cylinder;
Path, the second hydraulic chamber and the second brake cylinder
A second liquid passage connected to the first liquid passage;
A portion closer to the brake cylinder than the magnetic shutoff valve and the second fluid communication
A portion of the road closer to the brake cylinder than the second electromagnetic shut-off valve
Is provided in the middle of a connecting passage connecting the
Switchable between a state in which the
Controls the valve and the communication valve so that the connection passage is in communication.
And the first electromagnetic shut-off valve and the second electromagnetic shut-off
Either the valve or the valve is controlled to allow the flow of hydraulic fluid.
Claims (6) to (13) including a communication valve control section for controlling
The brake fluid pressure control device according to any one of claims
Item 9). Control the communication valve so that the connection passage is in communication.
And any one of the first electromagnetic shut-off valve and the second electromagnetic shut-off valve
If one of them is controlled to allow the flow of hydraulic fluid,
One of the first hydraulic chamber and the second hydraulic chamber,
The first hydraulic chamber and the second hydraulic chamber are communicated with the brake cylinder.
One of the hydraulic fluids in the hydraulic chamber is used for the first and second brakes.
It will be supplied to the cylinder. Therefore, the first shake
Check the difference between the brake cylinder fluid pressure and the second brake cylinder fluid pressure.
Can be smaller. In addition, the first and second brake systems
With the Linda shut off, the first and second hydraulic
Compared to when the hydraulic fluid is supplied from the chamber
To suppress the increase gradient of the hydraulic pressure of the first and second brake cylinders.
Can be controlled. Hydraulic fluid can be supplied to the first and second hydraulic chambers
When the working flow rates are almost the same, the first and second hydraulic chambers
Whichever hydraulic fluid is supplied, the first and second brake systems
Can suppress the increasing gradient of any hydraulic pressure of the Linda
You. On the other hand, one of the first and second hydraulic chambers, for example, the first
The supply flow rate of the hydraulic fluid in the hydraulic chamber is higher than that in the second hydraulic chamber.
If it is large, the hydraulic pressure increase gradient of the first brake cylinder
Can always be suppressed, but the hydraulic pressure of the second brake cylinder increases
There are cases where the slope can be suppressed and cases where it becomes larger.
You. However, the fluid combining the first and second brake cylinders
The pressure increase gradient can always be suppressed. The above "1st block
Difference between rake cylinder fluid pressure and second brake cylinder fluid pressure
The effect is that the hydraulic fluid in the first and second hydraulic chambers
Particularly large when the suppliable flow rates are different from each other. Further
One of the second solenoid shut-off valve and the first solenoid shut-off valve
Only need to be controlled, and there is no need to control both.
There are also advantages. The communication valve is the same as that of the electromagnetic shutoff valve.
As in the case of an electromagnetic on-off valve or an electromagnetic flow control valve,
Good. (15) The first hydraulic pressure source includes the pressurizing device and the shaker.
Provided in the first state.
Electromagnetic hydraulic control valve device that can control brake cylinder hydraulic pressure
Wherein the switching state change suppressing device comprises:
Switching the state by controlling the hydraulic pressure control valve device
In the control state of the hydraulic pressure of the brake cylinder before and after
(1) to (1) including a control state change suppression unit that suppresses
4) The brake fluid pressure control device (contract
Claim 10) The first state and the second state are obtained by using the electromagnetic hydraulic pressure control valve device.
Control of brake cylinder fluid pressure when switching between
Changes in the state can be suppressed. The control state includes
The control state of the hydraulic pressure by controlling the power supply energy and the mechanical
It also includes the state under the appropriate control. Between the first state and the second state
Even if electrical control is performed in both, the first
In the second state, electrical control is performed.
Mechanical control may be performed. From the first state to the
When the condition for switching to the two states is satisfied, the solenoid shutoff valve
Is switched from the cutoff state to the communication state, and the brake
The hydraulic pressure of the cylinder is changed from the control pressure in the first state to the brake operation.
The control pressure is switched to the control pressure according to the operating force of the working member. Blur
The control state (effectiveness characteristics) of the hydraulic pressure of the
Switch from the control characteristic in the second state to the control characteristic in the second state.
They can be replaced. In contrast, the blocks described in this section
In the rake hydraulic pressure control device, the electromagnetic shut-off valve is in communication.
Electromagnetic fluid pressure control valve without switching to
By controlling the device, for example, the brake cylinder
The control pressure corresponding to the operating force of the rake operating member and the first state
The height is controlled in consideration of both the control pressure and the control pressure. sand
That is, between the control characteristics in the first state and the control characteristics in the second state.
Between the characteristics of the
A change in state can be suppressed. This electromagnetic hydraulic pressure control valve
Switching of brake cylinder fluid pressure control by device control
This can be referred to as special hydraulic control. At the time of this change
Special hydraulic pressure control is performed in advance after the switching condition is satisfied.
Time and the number of brakings
So that it is performed until the number of brakings is reached
be able to. Also, the brake cylinder pressure is
Control between the control characteristics of the second state and the control characteristics of the second state.
Control over time, or
As the number of movements increases, the control characteristics in the second state are linked.
Continuous or step-by-step approach
The change can be suppressed well. Also in the second state
When the condition for switching from the first state to the first state is satisfied,
The valve cut is immediately switched to the shut-off state, and the brake
The hydraulic pressure is controlled by the control of the electromagnetic hydraulic pressure control valve device.
You. The brake cylinder pressure is controlled by the control characteristic in the second state.
Controlled by a characteristic intermediate between the control characteristic and the control characteristic in the first state.
However, the control characteristics in the first state immediately
Suppress changes in control characteristics compared to when switching is possible
can do. The control state change suppression described in this section
The control by the control unit switches between the first state and the second state.
Should be applied when it is not necessary to perform
No. Also, only when the electromagnetic hydraulic pressure control valve device is normal
It is. On the other hand, the first hydraulic pressure source is an electromagnetic hydraulic pressure control valve device.
If not included, controls the power supplied to the pressurizing device
To suppress changes in the hydraulic pressure control state
Can be. (16) The brake hydraulic pressure control device is configured to control the second hydraulic pressure source
Connected to the fluid passage connecting the
Stroke simulator and its stroke simulator
For shutting off or communicating the fluid from the fluid passage.
Stroke simulation including a control valve for a row simulator
A switching device, wherein the switching state change suppressing device includes:
Controlling the stroke simulator control valve.
Therefore, the operation between the stroke simulator and the liquid passage is performed.
Control at least one of the inflow state and outflow state of the fluid
Including (1) to (15)
The brake fluid pressure control device according to any one of claims 1 to
1). The control valve for the stroke simulator is in the first state.
In the communication state, and in the second state, in the cutoff state.
Usually it is. In the first state, the brake
The brake operation unit is shut off from the second hydraulic pressure source
In order to avoid a short operation stroke of the material
Communication is established. On the other hand, in the second state
Means that the hydraulic fluid of the second hydraulic pressure source is supplied to the stroke simulator.
Is switched off because it is not desirable
Can be By controlling the stroke simulator control valve
To allow the stroke simulator to communicate with the liquid passage.
The hydraulic fluid of the stroke simulator
Make it outflow state,
The hydraulic fluid to the hydraulics
Can be In other words, the stroke simulator
Use the contained hydraulic fluid or perform stroke simulation.
Using the remaining storage capacity of the
In this way, the inflow and outflow of the working fluid are performed.
Stroke simulator and liquid passage (brake cylinder)
If hydraulic fluid is transferred between the second hydraulic pressure
The amount of hydraulic fluid transferred between the source and the brake cylinder
Change of the operation state of the brake operation member
Can be controlled. For stroke simulator
The control valve is an electric valve that is opened and closed by turning on and off the current.
It is often used as a magnetic on-off valve, but with an opening corresponding to the amount of current
An electromagnetic flow control valve that allows the flow of hydraulic fluid can also be used.
Wear. (17) The switching state change suppressing device is provided with
Control valve for work simulator and the electromagnetic shut-off valve
Item (16) including the control timing control unit that controls the control timing
The brake fluid pressure control device according to claim 12. (18) The control timing control section is configured to switch the second state from the first state to the second state.
When the condition for switching to the state is satisfied, the electromagnetic shut-off valve
With the stroke simulator control valve shut off.
Brake fluid as described in (17)
Pressure control device. The condition for switching from the first state to the second state is satisfied.
When the valve is turned on, the solenoid shut-off valve is switched to the open state.
After that, the stroke simulator control valve is shut off.
It is switched to the state. The solenoid shut-off valve switches to the communication state
Control valve for stroke simulator is open
It remains in a state. The solenoid shut-off valve is switched to the communication state.
The hydraulic pressure of the brake cylinder
If the pressure is higher than the
And the hydraulic pressure of the second hydraulic pressure source brakes
If it is higher than the cylinder fluid pressure (stroke simulator
When the liquid pressure is lower than the liquid pressure in the liquid passage). straw
If the hydraulic pressure of the simulator is higher,
Both the hydraulic fluid of the stroke simulator and the hydraulic fluid of the stroke simulator
Supplied to the brake cylinder. Stroke simulation
The hydraulic fluid is supplied to the brake cylinder from the
Reducing the amount of hydraulic fluid discharged from the second hydraulic pressure source
The brake operation member can be
Roke) can be reduced. Brake cylinder
If the hydraulic pressure is higher, the hydraulic fluid in the brake cylinder
The second hydraulic pressure supplied to the stroke simulator
Returned to source. Therefore, the second fluid
The amount of hydraulic fluid returned to the pressure source
Pushing back the brake operating member
The amount can be reduced. (19) The switching state change suppressing device is provided with the electromagnetic shielding
Switching between the shut-off state and the communication state of the valve disconnection,
Between the open and closed states of the control valve for the simulator
Non-brake that is performed during non-brake operation with at least one of
Any of the items (16) to (18) including the switch during rake operation
The brake fluid pressure control device according to any one of claims 1 to
3). Control of electromagnetic shut-off valve and control for stroke simulator
If the control of the control valve is switched during non-brake operation,
Changes in the rake cylinder hydraulic pressure and brake operating members
Changes in the operation state can be suppressed. In this section
The brake fluid pressure control device switches from the first state to the second state.
Even if the change condition is satisfied, the second state is switched to the first state.
Can be applied even if the switching condition of
You. For example, when switching from the second state to the first state,
If the stroke simulator control valve is shut off,
Will be switched to the communication state.
Then, the hydraulic fluid of the second hydraulic pressure source is supplied to the stroke simulator.
The brake operating member changes operation state,
I don't. On the other hand, switch to non-brake operation state
If possible, a change in the operation state can be suppressed. (20) When the non-brake operation switching unit is in the first state and the second state
When the condition for switching to the state
Switch after waiting for the operation time (section (19))
4. The brake fluid pressure control device according to item 1. The first state and the second state
Wait until the switch between
Done. The switching unit for non-brake operation described in this section
Switching is suitable when there is room for switching. (21) The state change suppressing device at the time of switching is in the second state.
When the condition for switching from the first state to the first state is satisfied,
Stroke for controlling control valve for stroke simulator
Items (16) to (20) including the control valve control unit for the simulator
The brake fluid pressure control device according to any one of the above. The aforementioned
Is switched from the second state to the first state
If the stroke simulator control valve is controlled,
Transfer of hydraulic fluid between the second hydraulic pressure source and the stroke simulator
Can control the receiving state and operate the brake operating member.
Changes in the cropping state can be suppressed. For example, Stra
The brake simulator control valve is operated by the brake operating member.
Control is performed according to the change in stroke. Stroke changes
Communication status when the communication is completed, and shut off otherwise.
To keep it. Also, control for stroke simulator
If the valve is an electromagnetic on-off valve, the second state to the first state
Set time from when the condition for switching to
During this period, duty control is performed. In this case,
The tee ratio increases over time (the open
Higher). (22) Pressurize hydraulic fluid with brake cylinder
A first hydraulic pressure source including a pressurizing device, and a brake operating member.
The operation corresponds to the operation force of the brake operation member.
A second hydraulic pressure source for generating a hydraulic pressure of
With the cylinder shut off from the second hydraulic pressure source,
Brake cylinder fluid pressure is controlled based on the fluid pressure of the first fluid pressure source.
A first state in which the brake cylinder is in the first hydraulic pressure
And the hydraulic fluid of the second hydraulic pressure source is supplied.
A state switching device capable of switching to a second state.
Rake hydraulic control. The brake fluid pressure described in this section
The control device may include any one of the above items (1) to (21).
The following technical features can be adopted. (23) The second hydraulic pressure source starts at the second hydraulic pressure source.
Hydraulic fluid higher than the maximum hydraulic pressure to be generated
Actuated by the operating force of the brake operating member
The booster that boosts the pressure and the operation of the brake operating member
Less pressure booster to increase the generated hydraulic pressure
(22) The brake fluid pressure control device according to the above (22).
In the brake fluid pressure control device described in this section, the second fluid
The pressure source connects at least one of the hydraulic booster and the pressure intensifier.
Including. (24) The brake fluid pressure control device is provided with the state switching device.
At the time of switching from the first state to the second state by
Between the brake cylinder and the second hydraulic pressure source
(22) or including a differential pressure reducing device to reduce the hydraulic pressure difference
The brake fluid pressure control device according to the mode (23).
When switching from the first state to the second state, the brake cylinder
If the hydraulic pressure difference between the hydraulic pressure source and the second hydraulic pressure source is reduced,
The change amount of the key cylinder and the change gradient were suppressed.
To reduce inconvenience during switching.
be able to. As described in (6) above,
If there are two systems, each of the two systems
The hydraulic pressure difference between the brake cylinder and the hydraulic chamber
It is not always necessary, either one of the brake cylinders
What is necessary is just to suppress the hydraulic pressure difference between the pressure chamber and the hydraulic chamber. In addition,
Hydraulic pressure difference between one of the brake cylinders and the hydraulic chamber
If suppressed, as a result, between the first and second brake cylinders
In some cases, it is also possible to suppress the hydraulic pressure difference. this
If the differential pressure reducing device is
Brake hydraulic pressure difference reduction device
You can think. (25) The brake fluid pressure control device includes the state switching device.
At the time of switching from the first state to the second state by
Hydraulic fluid between the second hydraulic pressure source and the brake cylinder
Item (22) including a hydraulic fluid transfer volume reduction device that reduces the transfer volume
Or the brake fluid pressure control according to any one of (24) to (24).
Apparatus (claim 15). If the hydraulic fluid transfer volume is reduced,
It is possible to reduce the influence of the rake operation member on the operation state.
it can. Operation reaction force and operation stroke of the brake operation member
Can be suppressed. Less hydraulic fluid transfer
To do this, for example, as described in (16),
Work simulator can be used. (26) The brake fluid pressure control device is provided with the state switching device.
At the time of switching from the first state to the second state by
A change gradient that suppresses a hydraulic pressure change gradient of the brake cylinder.
In any one of paragraphs (22) to (25), including
The brake fluid pressure control device according to claim 16. For example,
As described in paragraph (9), the second hydraulic pressure source and the brake cylinder
Control the electromagnetic shut-off valve provided between
Change when compared to the case where the
The formation gradient can be suppressed. (27) The state switching device is at least the first state.
To the second state during non-braking operation.
Described in any one of paragraphs (22) to (26).
(Claim 17). (28) The brake fluid pressure control device is provided with the state switching device.
At the time of switching between the first state and the second state by
Characteristics change suppression device that suppresses changes in control characteristics in a vehicle
B) according to any one of paragraphs (22) to (27),
A rake hydraulic pressure control device (Claim 18). For example, the first hydraulic pressure
By controlling the source hydraulic pressure, the brake cylinder
A change in the control state of the hydraulic pressure can be suppressed. (29) The control characteristic change suppressing device, wherein the control characteristic
Is brought closer to the control state of the switching destination for each brake operation
The brake fluid pressure control device according to the above mode (28). Control characteristics are blurred
If the control status is gradually changed for each
Can be suppressed. In addition, the operation
Reduces wheeling and reduces discomfort
Can be done. Note that the control characteristics are
After being established, it is changed over time
You may do so. The control characteristics are continuously changed
Or may be changed stepwise. (30) The brake fluid pressure control device is provided with the state switching device.
Between the first state and the second state.
The brake operation feeling when switching
Item (22) to including the feeling reduction suppression device to suppress
(29) The brake fluid pressure control device according to any one of the above (29).
(Claim 19). For example, as described in paragraph (16),
While the control valve for the roke simulator is in communication,
If the magnetic shutoff valve is switched to the communication state, the first state is switched to the second state.
The operation of the brake operating member when switching to the state
It is possible to suppress the change of the stroke and the change of the reaction force.
You. Also, the brake operation filter is controlled by the electromagnetic shut-off valve.
The lowering of the ring can also be suppressed. (31) The brake fluid pressure control device is provided with the state switching device.
Switching between the first state and the second state
Brake cylinder fluid pressure is different from normal
(22) Including the specific control device at the time of switching to control
Or the brake fluid pressure control according to any one of the modes (30) to (30).
Apparatus (claim 20). For example, the hydraulic pressure of the first hydraulic pressure source is
The mode in which control is performed in a state different from that in the first state is
Hit. (32) The brake fluid pressure control device is provided with the state switching device.
Switching between the first state and the second state
When a precursor to the operation is detected, the brake operation is performed.
Operating state of members and state change of brake cylinder hydraulic pressure
Predictive switching to start control to suppress at least one of
Item (22) to (31) including the state change suppression device during replacement
2. The brake fluid pressure control device according to claim 1,
1). (33) The brake hydraulic pressure control device is configured to control the first hydraulic pressure
A first hydraulic pressure source abnormality detecting device for detecting an abnormality of the power source;
A second hydraulic pressure source abnormality detecting device for detecting an abnormality of the second hydraulic pressure source;
(22) to (32) containing at least one of
Rake hydraulic control. (34) The brake fluid pressure control device is provided with the state switching device.
Including a state control device that controls the position based on the state of the vehicle
The brake fluid pressure control device according to any one of the modes (22) to (33). car
Both states include the drive source, drive transmission,
The state of whether the braking device etc. is abnormal, the running state of the vehicle
And so on. (35) The running state of the vehicle is the hydraulic pressure of the brake.
Corresponds to the operating force of the brake operating member by the driver.
If it is necessary to control the height to a level other than the
The state controller sets the state switching device to the first state.
(34). The brake fluid pressure control device according to the above mode (34). (36) The running state of the vehicle is controlled by the hydraulic pressure of the brake.
If the state is not to be controlled for all four wheels, the state control is performed.
The device sets the state switching device to the first state (34).
Or the brake fluid pressure control device according to the mode (35). (37) The running state of the vehicle is the hydraulic pressure of the brake.
Is different from the hydraulic pressure generated by the second hydraulic pressure source.
If the height is to be controlled to
(34) does not set the state switching device to the first state.
(36) The brake fluid pressure control device according to any one of (36).
Place. (38) The traveling state of the vehicle is changed from a traveling prohibited state to a traveling state.
When the state control device is switched to the permission state,
The state switching device is set to the second state (34) to (3).
The brake fluid pressure control device according to any one of the above items 7). (39) When the running state of the vehicle is in a stopped state,
The state control device sets the state switching device to a second state.
Brake fluid according to any one of paragraphs (34) to (38)
Pressure control device.

[0004]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a hydraulic brake device including a hydraulic brake control device according to an embodiment of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the hydraulic brake device includes a brake pedal 10 as a brake operating member, a pump device 12, a master cylinder 14 with a hydro booster as a second hydraulic pressure source, and a front wheel 16
A brake cylinder 20 of a brake 18 provided in
It includes a brake cylinder 28 of a brake 26 provided on the rear wheel 24 and a linear valve device 30 provided corresponding to each of the brake cylinders 20, 28. The first state in which the brakes 18 and 26 are operated by supplying the hydraulic fluid from the first hydraulic pressure source 12 to the brake cylinders 20 and 28 of the wheels 16 and 24, and the second hydraulic pressure source 1
4 to supply the hydraulic fluid, the brakes 18,
It is possible to switch to a second state in which 26 is operated. In the first state, the brake cylinder 20,
The hydraulic pressures 28 can be individually controlled by controlling the linear valve device 30. In the present embodiment, a first hydraulic pressure source 31 is configured by the pump device 12 and the linear valve device 30. Switching between the first state and the second state is performed by a command from the brake ECU 32. In the present embodiment, the linear valve device 30
This constitutes an electromagnetic hydraulic control valve device.

[0005] Master cylinder 14 with hydro booster
Includes a hydraulic booster 78 and a master cylinder 80. The master cylinder 80 includes a housing 82, a pressurizing piston 84 fitted to the housing 82 in a liquid-tight and slidable manner, and a pressurizing chamber 86. The liquid pressure in the pressurizing chamber 86 is increased. The hydraulic booster 78 includes a hydraulic pressure adjusting unit 88 that adjusts the hydraulic pressure of the first hydraulic pressure source 12 to a height corresponding to the brake operating force.
And an input unit 92 including a power piston 90. The brake pedal 10 is associated with the power piston 90 via an operating rod 94. Further, the working fluid adjusted by the fluid pressure adjusting unit 88 is supplied to the rear pressure chamber (booster chamber) 98 behind the power piston 90, whereby the power piston 90 is moved forward (leftward in the figure). A force is applied to assist the braking force. The forward force applied to the power piston 90 according to the hydraulic pressure of the booster chamber 98 is referred to as an assisting force. The hydraulic pressure adjusting unit 88 includes a hydraulic pressure adjusting piston 100,
The pressure control chamber 106 includes a spool 102 and a reaction force applying device 104, and is located in front of the hydraulic pressure adjustment piston 100.
Is connected to the first hydraulic pressure source 12, is connected to the master reservoir 108, or is cut off from both by the action of the spool 102, and thereby the pressure regulation chamber 1 is
The hydraulic pressure of 06 is adjusted to a height corresponding to the brake operating force. The spool 102 is moved integrally with the hydraulic pressure adjustment piston 100.

[0006] Between the spool 102 and the housing 82,
Return springs 110 and 112 are provided between the hydraulic pressure adjusting piston 100 and the pressurizing piston 84, respectively. Return spring 110 is spool 10
2 is urged in a retreating direction (rightward in the drawing), and a return spring 112 urges the pressurizing piston 84 in a retreating direction. The pressurizing piston 84
The set load of the return spring 112 provided between the piston 102 and the hydraulic pressure adjustment piston 100 is set to be larger than the set load of the return spring 110 provided between the spool 102 and the housing 82. for that reason,
When the driving force applied to the pressurizing piston 84 is smaller than the set load of the return spring 112 and larger than the set load of the return spring 110, the hydraulic pressure adjusting piston 100 is advanced with the advance of the pressurized piston 84, The spool 102 is advanced. The driving force applied to the pressurizing piston 84 is the return spring 112
Is larger than the set load, the pressurizing piston 84 is advanced relatively to the hydraulic pressure adjusting piston 100, and the volume of the pressurizing chamber 86 is reduced.

The housing 82 has a plurality of ports 114 to 114.
118 are formed. The high pressure port 114 has the first
The hydraulic pressure source 12 is connected, and the low pressure ports 115 and 116 are connected to the master reservoir 108. The brake cylinder 118 on the front wheel side is connected to the brake port 118 connected to the pressurizing chamber 86, and the brake cylinder 28 on the rear wheel side is connected to the brake port 117 connected to the booster chamber 98. It is connected. Since the pressure regulation chamber 106 is connected to the booster chamber 98 via the fluid passage 120, the hydraulic fluid of the first hydraulic pressure source 12 of the hydraulic pressure adjusted by the hydraulic pressure adjusting unit 88 is directly used on the rear wheel side. It is supplied to the brake cylinder 28. The hydraulic fluid in the pressurizing chamber 86 is supplied to the brake cylinder 20 on the front wheel side as the pressurizing piston 84 advances. The hydraulic brake system according to the present embodiment is of a front-rear two-system type. The front wheel-side brake cylinder 20 is a second brake cylinder described in the claims, and the rear wheel-side brake cylinder 28 is a first brake cylinder. It is a cylinder. A hydraulic chamber 122 is provided in the middle of the liquid passage 120. As will be described later, the reaction force imparting device 104 is
Is activated.

When the spool 102 is at the retracted end position, the pressure regulating chamber 1 in front of the hydraulic pressure adjusting piston 100
A master reservoir 108 communicates with 06 via a low-pressure port 115. The hydraulic pressure in the pressure adjustment chamber 106 is atmospheric pressure, and the hydraulic pressure in the booster chamber 98 is also atmospheric pressure. When the spool 102 is advanced along with the advance of the hydraulic pressure adjustment piston 100, the pressure adjustment chamber 106 becomes a master reservoir 108
From the first hydraulic pressure source 12 via the high pressure port 114. The hydraulic pressure in the pressure regulating chamber 106 is increased, and the hydraulic fluid flows through the fluid passage 120 to the booster chamber 98.
Supplied to A brake operating force and an assisting force are applied to the power piston 90, whereby the power piston 90 is advanced and the pressurizing piston 84 is advanced. The brake operation force is boosted, and a corresponding hydraulic pressure is generated in the pressurizing chamber 86. Hydraulic pressure adjustment piston 100
Are a force in the forward direction corresponding to the hydraulic pressure in the pressurizing chamber 86, a force corresponding to the hydraulic pressure in the pressure adjusting chamber 106, and the return spring 11.
It is held at a position where the zero urging force (retraction force) is balanced. Thus, the relative position of the spool 102 is determined, and the hydraulic pressure in the pressure adjustment chamber 106 is controlled to a height corresponding to the brake operation force.

When the forward force applied to the hydraulic pressure adjusting piston 100 increases, the hydraulic pressure in the pressure adjusting chamber 106 increases, and the hydraulic pressure in the hydraulic pressure chamber 122 increases. Reaction force applying device 1
At 04, the reaction disk 124 is deformed by applying a force in the backward direction. Reaction Disk 1
The reaction force by 24 is applied to the spool 102 via the reaction rod 126. Hydraulic pressure adjusting piston 10
0, the reaction force applied to the brake pedal 10 via the pressurizing piston 84 increases, and as the brake operating force increases, the boosting factor decreases.

The pump device 12 includes an accumulator 13
4, a pump 136, an electric motor 138 for driving the pump 136, a check valve 139, and the like. The hydraulic pressure of the hydraulic fluid supplied from the pump device 12 is detected by a hydraulic pressure sensor 140. According to the hydraulic pressure sensor 140, the accumulator 1
It is possible to detect the hydraulic pressure of the working fluid stored in the storage 34. In the present embodiment, the electric motor 13 is controlled so that the accumulator pressure is maintained within a predetermined set range.
8 is controlled, whereby the accumulator 134 stores hydraulic fluid having a hydraulic pressure substantially within the set range. The pump 136 is a plunger pump in this embodiment, but may be a gear pump. A relief valve 142 is provided in a liquid passage connecting the discharge side and the low-pressure side of the pump 136 to prevent the hydraulic pressure of the hydraulic fluid discharged from the pump 136 from becoming excessive.

In the second hydraulic pressure source 14, a hydraulic pressure is generated when the brake pedal 10 is depressed. As the brake pedal 10 is depressed, the power piston 90 and the pressurizing piston 84 are advanced, and the hydraulic pressure adjusting piston 100 and the spool 102 are advanced.
The hydraulic pressure in the pressure adjustment chamber 106 is increased by the hydraulic fluid of the pump device 12, adjusted to a height corresponding to the brake operation force, and supplied to the booster chamber 98. Pressurizing piston 84
Is advanced by the braking force and assisting force,
The liquid pressure in the pressurizing chamber 86 is increased. The hydraulic fluid in the booster chamber 98 is supplied to the brake cylinder 28 on the rear wheel side, and the hydraulic fluid in the pressurizing chamber 86 is supplied to the brake cylinder 20 on the front wheel side. When the brake operation force is reduced, the brake operation force applied to the pressurizing piston 84 decreases,
The hydraulic pressure in the pressurizing chamber 86 is reduced, and the hydraulic pressure adjusting piston 100 is retracted. By retreating the spool 102, the pressure regulation chamber 106 communicates with the master reservoir 108, and the hydraulic pressure decreases. The hydraulic fluid returned from the brake cylinder 20 is returned to the master reservoir 108 via the pressurizing chamber 86, the center valve 144, and the low-pressure port 116.

The brake cylinder 20 on the front wheel side is connected to the pressurizing chamber 86 via a liquid passage 150. The liquid passage 150 has an electromagnetic on-off valve (hereinafter, referred to as a master shutoff valve).
In the figure, described as SMCF) 152 is provided,
Connection passage 153 connecting two brake cylinders 20
Is provided with an electromagnetic on-off valve (hereinafter, referred to as a front-wheel-side communication valve; described as SCF in the figure) 154. A stroke simulator 156 is connected to a portion of the liquid passage 150 upstream of the master shut-off valve 152 via an electromagnetic on-off valve (hereinafter, referred to as an on-off valve for a stroke simulator; described as SCSS in the drawing) 158. I have. The stroke simulator 159, the stroke simulator opening / closing valve 158, and the like constitute a stroke simulator device 159. In the booster chamber 98, the brake cylinder 28 on the rear wheel side is
0. An electromagnetic on-off valve (hereinafter, referred to as a master shutoff valve) is provided in the liquid passage 160.
R) 162 is provided, and a connecting passage 163 connecting the two brake cylinders 28 is provided with an electromagnetic on-off valve 16.
4 (hereinafter referred to as a rear-wheel side communication valve.
Is described). Master shut-off valve 152,
The brake cylinder 162 is closed when current is supplied to the solenoid including the coil, and the brake cylinders 20 and 28 are shut off from the second hydraulic pressure source 14. The cylinders 20 and 28 are
The fluid pressure source 14 is communicated. Master shut-off valve 152, 1
62 and the front-wheel and rear-wheel communication valves 154 and 164 are normally open valves, and the stroke simulator on-off valve 158 is a normally closed valve.

Each of the brake cylinders 20 and 28 is connected to the pump device 12 via a liquid passage 170. A pressure increasing linear valve 172 is provided in the liquid passage 170,
A pressure reducing linear valve 176 is provided in a liquid passage 174 connecting the brake cylinders 20 and 28 and the master reservoir 108.
Is provided. The linear valve device 30 is configured by the pressure increasing linear valve 172 and the pressure reducing linear valve 176.

As shown in FIG. 2, each of the pressure-increasing linear valve 172 and the pressure-decreasing linear valve 176 is a normally closed valve, and includes a solenoid including a coil 188 and a spring 1.
90 and a seating valve including a valve element 192 and a valve seat 194. While no current is supplied to the coil 188, the urging force of the spring 190
2 acts in the direction of seating on the valve seat 194,
The differential pressure acting force corresponding to the differential pressure before and after the linear valve acts in a direction to separate the valve element 192 from the valve seat 194.
When the differential pressure acting force is larger than the biasing force of the spring, the valve 192 is separated from the valve seat 194. Coil 18
When a current is supplied to the valve 8, an electromagnetic driving force acts in a direction in which the valve 192 is separated from the valve seat 194. The seating valve has an electromagnetic driving force, a differential pressure acting force, and a spring 19.
The urging force of 0 acts, and the relative position of the valve element 192 with respect to the valve seat 194 is determined by the relationship between the magnitudes of these forces. The electromagnetic driving force is made to increase as the supply current to the coil 188 increases.

If the current supplied to the coil 188 is increased, the electromagnetic driving force is increased. The force in the direction of pressing the valve 192 against the valve seat 194 is reduced, and the valve 192 is
4 is easy to separate. If the sum of the differential pressure acting force and the electromagnetic driving force is greater than the urging force of the spring 190, the spring 190 is separated, and the valve opening pressure decreases as the supply current increases. In the pressure increasing linear valve 172, the differential pressure acting force applied to the valve element 192 is a force corresponding to the difference between the hydraulic pressure of the pump device 12 and the brake cylinder hydraulic pressure. The acting force is a force corresponding to a difference between the hydraulic pressure of the master reservoir 108 and the hydraulic pressure of the brake cylinder. In any case, if the electromagnetic driving force is controlled (the current supplied to the coil 188 is controlled), the hydraulic pressure of the brake cylinder can be controlled.

A fluid pressure sensor 196 is provided between the pressure increasing linear valve 172 of the fluid passage 170 and the pump device 12.
Is provided. The hydraulic pressure of the hydraulic fluid supplied to the pressure increasing linear valve 172 is detected by the hydraulic pressure sensor 196. As compared with the case where the hydraulic pressure detected by the pressure sensor 140 is adopted, the pump device 12 and the linear valve 172 for increasing pressure are used.
And the effect of pressure loss between them can be eliminated, and the control accuracy of the linear valve device 30 can be improved.

The dynamic pressure system is constituted by the first hydraulic pressure source 31, including the pump device 12 and the linear valve device 30, the liquid passage 170, the brake cylinders 20, 28, etc.
It can be considered that the fluid pressure source 14, the fluid passages 150 and 160, the brake cylinders 20 and 28, and the like constitute a static pressure system. In the dynamic pressure system, the hydraulic pressure is generated without depending on the operation of the brake pedal 10, and its magnitude is controlled to a predetermined magnitude. In the static pressure system, a hydraulic pressure is generated by operating the brake pedal 10. The state where the brakes 18 and 26 are operated by the dynamic pressure system is the first state described in the claims, and the state where the brakes 18 and 26 are operated by the static pressure system is the second state.

The operating rod 94 includes:
A stroke simulator 200 is provided. In the stroke simulator 200, a pedal-side rod 202 on the brake pedal side of the operating rod 94 and a booster-side rod 204 on the hydraulic booster side are engaged via a spring 206.
02 is relatively movable with respect to the hydraulic pressure source side rod 204. In the present hydraulic brake device, as described above, the stroke simulator 15
6 are provided, and a total of two stroke simulators are provided. The stroke simulator 156 can be distinguished as a wet stroke simulator, and the stroke simulator 200 can be distinguished as a dry stroke simulator.

In the present hydraulic brake system, the hydraulic pressure sensors 210 and 211 for detecting the hydraulic pressures of the pressurizing chamber 86 and the booster chamber 98 of the second hydraulic pressure source 14, respectively, and the hydraulic pressures of the brake cylinders 20 and 28 respectively. Hydraulic pressure sensor 212 to detect
To 218 are provided. Also, the brake pedal 10
Stroke sensors 220 and 221 are provided for detecting a stroke as an operation amount of. Required braking torque, which is the braking torque intended by the driver (total required braking torque)
Are the stroke sensors 220 and 221 and the hydraulic pressure sensor 21
It is obtained based on the detection value by 0,211. In the initial stage of the operation, it is obtained based on the output values of the stroke sensors 220 and 221; otherwise, it is obtained based on the output values of the hydraulic pressure sensors 210 and 211. If the pressure is acquired based on the output values of the stroke sensors 220 and 221 in the initial stage of the operation, the influence of the pressure increase delay in the second hydraulic pressure source 14 due to the brake operation can be reduced. It is not essential to provide two stroke sensors, but if two are provided, the reliability can be improved. The hydraulic pressure detected by the hydraulic pressure sensors 210 and 211 (the hydraulic pressure in the pressurizing chamber 86, the booster chamber 98
Are not necessarily the same in terms of design, but each is a height corresponding to the brake operating force.

In order to obtain the total required braking torque, it is not indispensable to provide these four sensors. Only one tread force sensor is provided, and the tread force sensor is obtained based on the detected value. You can also.
Further, it can also be obtained based on both the operation stroke and the hydraulic pressure corresponding to the operation force. The brake device further includes a stop switch 224 for detecting whether or not the brake pedal 10 is depressed, and a wheel speed sensor 22 for detecting the rotational speed of each of the wheels 16, 24.
6. An operation state detection device 228 is provided. The slip state of each of the wheels 16, 24 is detected based on the output value of the wheel speed sensor 226, and the operation state detection device 228
By the operation state of the driver's operation panel,
It is detected whether braking effect control is desired.

The present hydraulic brake device includes a brake ECU 3
2 is controlled. The brake ECU is a CPU 24
0, a RAM 242, a ROM 244, an input unit 246, an output unit 248, and the like. The input unit 246 includes the above-described hydraulic pressure sensor 140,
196, 210, 211, 212 to 218, stroke sensors 220, 221, stop switch 224, wheel speed sensor 226, operation state detecting device 228, etc. are connected.
A drive circuit for controlling the supply current to the coils 158, 162, 164 and a drive circuit for controlling the supply current to the coil 188 and the like of the linear valve device 30 are connected. R
The OM 244 includes, in addition to the switching state change suppression control program shown in the flowchart of FIG. 3 and the like, a linear valve device control program for controlling the linear valve device in the first state, and a program between the first and second states. A plurality of programs such as a state switching program for switching, an antilock control program, a turning state control program, a regenerative cooperative control program, a linear valve device control program, and a plurality of tables are stored. The linear valve device 30 is controlled so that the actual brake fluid pressure approaches the target fluid pressure, and feedback control of the actual brake fluid pressure is performed.

The operation of the hydraulic brake device configured as described above will be described. In the first state,
Master shutoff valves 152 and 162 are closed, and brake cylinders 20 and 28 are shut off from second hydraulic pressure source 14.
In addition, the front-wheel communication valve and the rear-wheel communication valve 154, 164 are closed, and the stroke simulator on-off valve 158 is opened. In this state, the supply current to the coil 188 of the linear valve device 30 is controlled, and the brake cylinder hydraulic pressure is controlled based on the hydraulic pressure of the pump device 12.

In the second state, the master shutoff valve 15
2 and 162 are open, the front-wheel communication valve, the rear-wheel communication valve 1
54 and 164 are opened. Brake cylinder 2
0 and 28 are communicated with the second hydraulic pressure source 14. Hydraulic pressure is generated in the second hydraulic pressure source 14 in response to operation of the brake pedal 10, whereby the brakes 18, 26 are operated. In this state, the stroke simulator on-off valve 158 is closed. The stroke simulator 156 is cut off from the second hydraulic pressure source 14, so that wasteful consumption of hydraulic fluid is suppressed. In addition, the linear valve device 30
Since no current is supplied to each of the coils 188, the pressure-increasing linear valve 172 and the pressure-decreasing linear valve 176 are both closed, and the brake cylinders 20 and 28 are cut off from the first hydraulic pressure source 31. In the present embodiment,
The linear valve device 30 included in the first hydraulic pressure source 31 is a component of the state switching device.
When the 72 is switched to the closed state, the brake cylinders 20 and 28 are disconnected from the first hydraulic pressure source (pump device). In the second hydraulic pressure source 14, the hydraulic booster 7 is operated by using the hydraulic fluid of the pump device 12.
8 is activated. Therefore, when the high-pressure hydraulic fluid is not supplied due to the abnormality of the pump device 12, the hydraulic booster 78 cannot be operated. In this case, the second hydraulic pressure source 14 operates as a simple master cylinder. The pressurizing piston 84 is advanced by the brake operating force, and the hydraulic pressure in the pressurizing chamber 86 is increased.
High-pressure hydraulic fluid is supplied to the brake cylinder 20 on the front wheel side, and the brake 18 is operated.

The switching between the first state and the second state in this embodiment is performed according to the execution of a state switching program. The second state is set during normal braking.
In the second state, when the anti-lock control start condition (for example, the braking slip state has a stronger locking tendency than the set slip state) is satisfied, the turning control start condition (for example, the turning state When the condition (the turning state on the limit side from the turning state at the start of setting) is satisfied, the state is switched to the first state. In the first state, when the anti-lock end condition (for example, the traveling speed of the vehicle has become equal to or lower than a set speed that can be considered to be in the stopped state) is satisfied, the turning control end condition (for example, the turning state is set to end. When the condition (the time has become more stable than the time turning state) is satisfied, the state is returned to the second state. In the antilock control, the supply current to the coil 188 of the linear valve device 30 is separately controlled in the first state so that the braking slip state of each of the wheels 16 and 24 is maintained in an appropriate state.
The hydraulic pressures of the brake cylinders 20, 28 of the respective wheels 16, 24 are individually controlled. In the turning state control, the turning state of the vehicle is maintained in an appropriate state.
The hydraulic pressures of the brake cylinders 20, 28 of the respective wheels 16, 24 are individually controlled. The difference between the left and right braking forces is controlled so as to generate a yaw rate such that the turning state is maintained in an appropriate state. Further, it is possible to switch to the first state when the hydraulic braking force corresponding to the braking operation force by the driver is insufficient. When a predetermined emergency braking requirement such as an emergency is satisfied, the second
The state is switched from the first state to the first state, and when the emergency braking request condition is released, when the vehicle stops, etc., the first state is switched to the second state.
It is possible to switch to the state. Insufficient hydraulic braking force corresponds to the case where it is necessary to apply the hydraulic braking force in a state where the hydraulic braking force is not applied. That is, the case where the automatic brake is operated.

Further, when an abnormality is detected in the dynamic pressure system such as the pump device 12 or the linear valve device 30, the second state is set, and when an abnormality is detected in the static pressure system such as the second hydraulic pressure source 14. Is set to the first state. An abnormality of the pump device 12 corresponds to a failure of the accumulator 134, an abnormality of the pump 136, the pump motor 138, or the like. An abnormality of the second hydraulic pressure source 14 includes an abnormality of the hydraulic pressure adjusting unit 88 (for example, a spool). 10
2 becomes immovable). For example, when the hydraulic pressure of the booster chamber 98 is lower than the abnormality determination set pressure,
It is detected that the hydraulic pressure booster 78 (static pressure system) including the hydraulic pressure adjustment unit 88 is abnormal, and if the accumulator pressure is lower than the abnormality determination set pressure, the first hydraulic pressure source (dynamic pressure system) 31 is abnormal. Is detected. Whether the pump device 12, the linear valve device 30, the second hydraulic pressure source 14, and the like are abnormal is determined as follows.
When an ignition switch (not shown) is switched from OFF to ON, or when the vehicle is in a stopped state, it is appropriately detected.

The switching between the first state and the second state can be performed by the operation of an operation panel or an operation member (not shown) by the driver. In the first state, the required braking force of the driver is obtained based on the detection values of the stroke sensors 220 and 221 and the master pressure sensors 210 and 211, and the target brake cylinder hydraulic pressure (target hydraulic pressure) corresponding to the required braking force is obtained. Thus, the braking effect control in which the current supplied to the coil 188 of the linear valve device 30 is controlled so as to obtain the braking effect is performed. Operation state detection device 22
If the operation state of the operation panel or the operation member detected by 8 is a state where the driver desires the braking effect control, the operation state is set to the first state, and if not, the operation state is set to the second state.
When the braking effect control is performed in the first state, the state is switched to the second state when the load on the linear valve device 30 is increased or when the load is predicted to be increased. Can also. For example, a case where the state in which the supply current to the linear valve device 30 is equal to or more than the set amount continues for the set time or more is applicable.

Further, when the drive source of the vehicle equipped with the present hydraulic brake device includes an electric motor, the sum of the regenerative braking force by the electric motor and the hydraulic braking force by the brake cylinder hydraulic pressure is determined by the driver's intention. The regenerative cooperative control for controlling the hydraulic braking force is performed so as to have the same magnitude as the required braking force to be performed. The regenerative cooperative control is performed when the number of revolutions of the electric motor is equal to or greater than the set number of revolutions and the remaining storage capacity (chargeable capacity) of the battery is equal to or greater than the set number of revolutions. When it is smaller than the number, or when the remaining storage capacity is smaller than the set capacity and there is a possibility of overcharging, the regenerative cooperative control is terminated. The regenerative cooperative control is performed in the first state, but is switched from the first state to the second state when the regenerative cooperative control end condition is satisfied.

The first state is switched to the second state when the first switching condition is satisfied, and the second state is switched to the first state when the second switching condition is satisfied. The above-described anti-lock control start condition, turning control start condition, detection of an abnormality in the static pressure system, and the like correspond to the second switching condition, and anti-lock control end condition, turning control end condition, and abnormality in the dynamic pressure system. The detection or the like corresponds to the first switching condition. In addition, a state in which the state detected by the operation state detection device 228 is switched from a state in which the braking effect control is not desired to a state in which the braking effect control is desired corresponds to the second switching condition, and a state in which the state is changed from the state in which the braking effect control is not desired to the state desired. This corresponds to one switching condition. Further, the regenerative cooperative control end condition corresponds to a first switching condition. Then, when the first switching condition is satisfied, the first switching flag is set. The first switching flag is reset when the switching from the first state to the second state ends. The same applies to the second switching flag. Set when the second switching condition is satisfied, and reset when the switching to the first state is completed.

As described above, the state can be switched between the first state and the second state. When the state is switched between these states, the operation state of the brake pedal 10 is changed or the brake cylinder is changed. The state of the hydraulic pressure is changed. Therefore, in order to suppress these changes, in the present embodiment, state change suppression control at the time of switching is performed. Hereinafter, the state change suppression control at the time of switching will be described.

First, the case where the first state is switched to the second state will be described. In the present embodiment, as described above, the pressurizing chamber 86 is connected to the brake cylinder 20 of the front wheel 16, and the booster chamber 98 is connected to the brake cylinder 28 of the rear wheel 24. Therefore, the front wheel 1
6, the hydraulic pressure of the brake cylinder 20 of the rear wheel 24 and the hydraulic pressure of the brake cylinder 28 of the rear wheel 24
Is more responsive, and immediately after the master shut-off valve 162 is switched from the closed state to the open state, the hydraulic pressure of the brake cylinder 28 of the rear wheel 24 is increased immediately, and the booster chamber 98
Approaching hydraulic pressure. The booster chamber 98 has a hydraulic pressure adjusting section 88.
Since the working fluid of the accumulator 134 adjusted by the pressure is directly supplied, the working fluid can be supplied from the booster chamber 98 at a large flow rate. On the other hand, since the hydraulic fluid in the pressurizing chamber 86 is supplied to the brake cylinder 20 of the front wheel 16 as the pressurizing piston 84 advances, the responsiveness is lower than that of the brake cylinder 28 of the rear wheel 24. The pressure increase gradient becomes smaller.

As shown in FIGS. 4A and 4D, the brake cylinder 28 of the rear wheel 24 is increased immediately after the master shutoff valve 162 is switched from the closed state to the open state. The brake cylinder 20 of the front wheel 16
Is slowly increased. As a result, a pressure difference occurs between the front wheel side brake cylinder 20 and the rear wheel side brake cylinder 28 at the time of switching, which is not desirable. Therefore, in the present embodiment, the master cutoff valve 152 (SMCF) is switched to the open state before the master cutoff valve 162 (SMCR). The master shutoff valve 162 is switched after the pressure difference between the booster chamber 98 and the hydraulic pressure of the brake cylinder 28 of the rear wheel 24 is reduced.
The hydraulic pressure difference between the second hydraulic pressure source 8 and the second hydraulic pressure source 14 is reduced.

The front and rear master shutoff valve control program is repeatedly executed while in the first state. In the flowchart of FIG. 3 representing this program, step 11 (hereinafter referred to as S
Abbreviated as 11. The same applies to other steps. In), it is determined whether the first switching flag is in a set state. While the first switching flag is in the set state, as described above, the first switching condition is satisfied, but the switching to the second state is not completed.
If the first switching flag is in the set state, S11
Is YES, and in S12, the SMC
It is determined whether the F switching flag is in the set state. The SMCF switching flag is set to the master shutoff valve 1 on the front wheel side.
52 is set when the state is switched to the open state, and the second
This flag is reset when the switching to the state is completed. If S12 is executed first, the reset state is established, so the determination is NO, and in S13,
It is determined whether or not the absolute value of the hydraulic pressure difference between the front wheel brake cylinder 20 and the pressurizing chamber 86 is equal to or greater than a set pressure Pth1 (threshold). If the pressure is smaller than the set pressure, the master shutoff valves 152 and 162 on the front and rear wheels are both switched from the closed state to the open state, and the first switching flag is reset. The switch to the second state has been completed. Further, the stroke simulator on-off valve 158 is switched to the closed state, and the front wheel communication valve and the rear wheel communication valves 154, 164 are switched to the open state. Brake cylinder fluid pressure and second
When the absolute value of the difference from the hydraulic pressure of the hydraulic pressure source 14 is small, both the master shut-off valves 152 and 162 may be switched to the open state.

On the other hand, if the absolute value of the hydraulic pressure difference is equal to or greater than the set pressure, the determination in S13 becomes YES, and in S15, only the front wheel side master shutoff valve 152 is switched to the open state. Master shut-off valve 16 on rear wheel side
2 remains closed. Further, the stroke simulator on-off valve 158 is switched to the closed state, and in S16, the aforementioned SMCF switching flag is set. Then, in S17, the counting of the timer is started,
Whether master shutoff valve 152 set time only after switching to the open state t ₀ has elapsed is detected in S18. If the setting is not the time t ₀ has elapsed, it is returned to the execution of S11. In this case, since the SMCF switching flag is set, the execution of S11, S12, S17, and S18 is repeated, and only the master shutoff valve 152 is kept open.

If the elapsed time reaches the set time t ₀ , S1
8 is YES, and the opening / closing control of the rear wheel-side master shutoff valve 162 is performed in S19 to S21. When the absolute value of the hydraulic pressure difference between the front and rear brake cylinders 20 and 28 is equal to or lower than the set pressure Pth2, the brake cylinder 20 is opened. In this manner, the opening / closing control of the master shutoff valve 162 on the rear wheel side suppresses the increasing gradient of the hydraulic pressure of the brake cylinder 28 of the rear wheel 24, and the front and rear brake cylinders 20, 28
Is suppressed.

In S22, the absolute value of the difference between the brake cylinder hydraulic pressure of the front wheel 20 and the hydraulic pressure of the pressurizing chamber 86 is equal to the set pressure P
It is determined whether it is greater than th3. If larger,
Returning to the execution of S11, S11, 12, 17 to 21 are repeatedly executed. When the pressure becomes equal to or less than the set pressure Pth3, the master shut-off valve 162 on the rear wheel side is switched to the open state in S23. , The switching to the second state is terminated. In S24, an end process is performed. The first switching flag is reset, and the SMCF switching flag is reset. Also, the timer is reset. FIG. 4C shows a change state of the hydraulic pressure of the brake cylinder 28 of the rear wheel 24 when the master shutoff valves 152 and 162 are controlled in accordance with the execution of this program.
As shown in FIG. (C), the hydraulic pressure difference between the brake cylinder 28 and the second hydraulic pressure source 14 at the time when the master shutoff valve 162 is switched to the open state becomes smaller than in the case of (d). Thus, the pressure increase amount of the brake cylinder 28 is reduced. Also, comparing the cases (a) and (d) with the cases (a) and (c), it can be seen that the hydraulic pressure difference between the front and rear brake cylinders has been reduced. Note that the figure shows a case where the operating force of the brake pedal 10 by the driver is reduced after switching to the second state.

As described above, according to the present embodiment, the first
When switching from the state to the second state, the difference between the brake cylinder hydraulic pressure of the rear wheel 24 and the hydraulic pressure of the second hydraulic pressure source 14 can be reduced. As a result, the amount of change in the hydraulic pressure of the brake cylinder 28 can be reduced. Further, a difference in hydraulic pressure between the front and rear brake cylinders 20 and 28 can be suppressed. Thereby, a decrease in the braking stability of the vehicle can be suppressed. Further, since the master shut-off valve 162 is controlled to be opened and closed, it is possible to suppress an increasing gradient of the hydraulic pressure of the brake cylinder 28 of the rear wheel 24.

[0037] In the present embodiment, after a set time t ₀ after the front wheel master shutoff valve 152 is switched to the open state, the opening and closing control of the master shutoff valve 162 for the rear wheels (S19~21) Is performed, but it is not essential that the opening and closing control is performed. The state may be switched to the open state without performing the opening / closing control. In that case, the brake cylinder hydraulic pressure of the rear wheel changes as shown in FIG. Also in the present embodiment, the master shutoff valve 16
The difference between the hydraulic pressure of the brake cylinder 28 of the rear wheel and the hydraulic pressure of the second hydraulic pressure source 14 when the valve 2 is switched to the open state can be reduced. Further, after switching the master shutoff valve 152 for the front wheel in the open state, it is not essential to wait a set time t _0, immediately switching control master shutoff valve 162 of the rear wheels may be performed. Also in this case, the same effect can be obtained. Further, the difference between the hydraulic pressure of the second hydraulic pressure source 14 and the hydraulic pressure of the brake cylinder is determined by the differential pressure between the hydraulic pressure of the pressurizing chamber 86 and the hydraulic pressure of the brake cylinder 20 of the front wheel (the hydraulic pressure detected by the master pressure sensor 210). And the difference between the detected hydraulic pressure of one of the brake cylinder pressure sensors 212 and 214 or the average value thereof.
In 19, the difference between the hydraulic pressure of the booster chamber 98 and the brake cylinder pressure of the rear wheel is used. In S13, the average of the detected hydraulic pressures of the two master pressure sensors 210 and 211 and the four brake cylinder hydraulic pressure sensors are used. In S22, the difference between the average of the detected hydraulic pressures of 212 to 218 and the difference between the brake cylinder hydraulic pressure of the rear wheel 28 and the hydraulic pressure of the booster chamber 98 can be determined. The difference between the hydraulic pressure of the second hydraulic pressure source 14 and the hydraulic pressure of the brake cylinder can be appropriately detected using each sensor.

Furthermore, in the above-described embodiment, the stroke simulator on-off valve (SCSS) 158 is configured to be switched to the closed state at the same time as the front-wheel master isolation valve 152 is switched to the open state. The timing of switching the 152 to the open state and the timing of switching the stroke simulator on-off valve 158 to the closed state may be different. In the present embodiment, the master shutoff valve 152 is switched to the open state first, and the stroke simulator on-off valve 158 is later switched to the closed state. Using the stroke simulator 156, the amount of hydraulic fluid to be transferred in the pressurizing chamber 86 is reduced when switching from the first state to the second state. To use the stroke simulator 156, the stroke simulator 1
When the amount of the working fluid flowing into the pressurizing chamber 86 is reduced by flowing the working fluid into the 56 (when the remaining storage capacity of the stroke simulator 156 is used), the working fluid of the stroke simulator 156 is supplied to the brake cylinder 20. This may reduce the amount of hydraulic fluid flowing out of the pressurizing chamber 86 (using hydraulic fluid stored in the stroke simulator 156).

The on-off valve control program for the stroke simulator is also repeatedly executed while in the first state. In the flowchart of FIG.
If the switching flag is in the set state, the determination in S52 is YES, and in S53, it is determined whether the SMCF switching flag is set. If the first switching condition is satisfied, the switching to the second state is not completed, and the SMCF switching flag is not set, in S54, the master shutoff valves 152, 162
Is switched to the open state. In this case, the stroke simulator on-off valve 158 remains open. In S55, the SMCF switching flag is set, and in S56, it is determined whether the absolute value of the difference between the hydraulic pressure of the second hydraulic pressure source 14 and the brake cylinder pressure is equal to or higher than the set pressure Pth4. If the set pressure is Pth4 or more and the judgment is Y
If it is an ES, the process returns to S52, and S52 to S56 are repeatedly executed. If the absolute value of the difference is smaller than the set pressure Pth4 and the determination is NO, the stroke simulator on-off valve 158 is switched to the closed state in S57, and the switching end processing to the second state is performed in S58.

The case where the master shutoff valve 152 is switched to the open state when the hydraulic pressure in the pressurizing chamber 86 is higher than the hydraulic pressure in the brake cylinder 20 of the front wheel 16 will be described. As shown in FIG. 6, the hydraulic fluid in the pressurizing chamber 86 is supplied to the brake cylinder 20, and the hydraulic fluid is supplied from the stroke simulator 156. Liquid passage 150 when master shutoff valve 152 is switched to the open state
Is lower than the hydraulic pressure of the stroke simulator 156 (the hydraulic pressure of the stroke simulator 156 is
6, the stroke simulator 1
The hydraulic pressure at 56 is higher than the hydraulic pressure at the liquid passage 150), and the hydraulic fluid is discharged from the stroke simulator 156.
It is supplied to the brake cylinder 20. As described above, since the hydraulic fluid is supplied to the brake cylinder 20 from the stroke simulator 156, the pressurizing chamber 8
6, the outflow of the hydraulic fluid can be reduced, and the influence on the brake pedal 10 can be reduced. As shown in the figure, the pump up of the master cylinder is assisted, the increase of the stroke (the amount of entry of the brake pedal 10: the invalid stroke amount) decreases, and the change amount of the reaction force decreases.
Note that the figure illustrates a case where the driver operates the brake pedal 10 so that the operating force is kept constant.

When the hydraulic pressure of the front wheel brake cylinder 20 is higher than the hydraulic pressure of the pressurizing chamber 86, the master shutoff valve 152
FIG. 7 shows a case in which is switched to the open state. The hydraulic fluid for the brake cylinder 20 is supplied to the pressurizing chamber 86 and to the stroke simulator 156.
Since the hydraulic pressure in the liquid passage 150 becomes higher than the hydraulic pressure in the stroke simulator 156, the hydraulic fluid in the liquid passage 150 flows into the stroke simulator 156. The amount of hydraulic fluid flowing into the pressurizing chamber 86 can be reduced as compared with the case where the stroke simulator on-off valve 158 is in the closed state, and the amount of decrease in the stroke of the brake pedal 10 (thrust of the brake pedal 10) can be reduced. Return amount)
The amount of change in the reaction force decreases.

As described above, according to the present embodiment, a change in the operation state of the brake pedal 10 can be suppressed, and a decrease in the driver's operation feeling can be suppressed. In the present embodiment, it is also possible to suppress a decrease in operation feeling when switching from the regenerative cooperative control to the normal braking state (when switching from the first state to the second state). In S56, it is desirable to detect a difference between the hydraulic pressure of the pressurizing chamber 86 and the hydraulic pressure of the brake cylinder of the front wheel, but the present invention is not limited to this.

In the above embodiment, the stroke simulator on-off valve 158 is kept open until the difference between the hydraulic pressure of the second hydraulic pressure source 14 and the hydraulic pressure of the brake cylinder becomes smaller than the set pressure Pth4. However, this is not essential. For example, the open state may be maintained for a predetermined set time. The control for keeping the stroke simulator on-off valve 158 in the open state is performed when the difference between the hydraulic pressure of the second hydraulic pressure source 14 and the brake cylinder hydraulic pressure is equal to or higher than a predetermined set pressure. You may. In the above embodiments,
The case where the stroke simulator on-off valve 158 and the master shutoff valve 152 are switched from the closed state to the open state has been described, but duty control may be performed. In the present embodiment, the master shutoff valve 15
2, 162 are controlled in accordance with the master shut-off valve duty control program shown in the flowchart of FIG. As in the case of the above embodiment, if the first switching condition is satisfied and the switching to the second state is not completed, the determination in S72 is YES, and in S73, the master cylinder pressure and the brake cylinder The pressure and the pressure are detected, and in S74, the duty ratio is determined according to the duty ratio determination table. A table showing the relationship between the absolute value of these differences and the duty ratio is stored in the ROM 244.
It is stored in. According to the duty ratio determination table, the duty ratio is reduced as the absolute value of the difference is increased. According to the determined duty ratio,
In S75, master shutoff valves 152 and 162 are controlled. In S76, it is determined whether or not the absolute value of the difference between the master cylinder pressure and the brake cylinder pressure is equal to or less than the set pressure Pth5. 152, 16
2 is switched to the open state, and the first switching flag is reset.

As described above, according to the present embodiment, the duty of the master shutoff valves 152 and 162 is controlled.
As compared with the case where the state is immediately switched to the open state, the gradient of the change in the hydraulic pressure of the brake cylinder can be reduced. Further, the differential pressure between the master cylinder and the brake cylinder when the master shut-off valve is opened can be reduced. Further, since the duty ratio is determined according to the differential pressure, the brake cylinder hydraulic pressure can be increased at a substantially constant gradient regardless of the change in the differential pressure. Note that it is not essential that the duty ratio is determined based on the differential pressure, but it may be determined based on the elapsed time after the switching condition is satisfied. When the operation force of the brake pedal 10 is kept constant, the absolute value of the differential pressure decreases with time, and the duty ratio decreases. Further, the duty ratio can be constant. Further, the master shutoff valve 15
It is not always necessary to perform duty control on both of the signals 2 and 162, and only one of them may be duty controlled.

Next, a case where the state is switched from the second state to the first state will be described. In the present embodiment, when the second switching condition is satisfied, the state is switched to the first state during the non-braking operation. When switching from the second state to the first state, the on-off valve 158 for the stroke simulator is switched from the closed state to the open state.
Is caused to flow into the stroke simulator 156, and the brake pedal 10 enters. On the other hand, if the stroke simulator on-off valve 158 is switched from the closed state to the open state during the non-braking operation, the entry of the brake pedal 10 can be avoided.

The state is switched from the second state to the first state in accordance with the execution of the non-brake operation switching program shown in the flowchart of FIG. In S92, the second
It is determined whether or not the switching flag is in the set state. If the switch flag is in the set state, it is determined in S93 whether or not the master cylinder hydraulic pressure is equal to or lower than a predetermined set pressure Pth6. If the master cylinder hydraulic pressure is equal to or less than the set pressure Pth6, it is determined that the brake operation is not being performed, and S93
Is YES, and in S94, the stroke simulator on-off valve 158 is switched to the open state. Further, master shutoff valves 152 and 162 are switched to the closed state, and the second switching flag is reset. As described above, in the present embodiment, the switching from the second state to the first state is performed after waiting for the non-braking operation state, and thus it is desirable to apply the present invention when there is a margin for the switching.

Further, in the present embodiment, since the switching to the first state is performed during the non-braking operation, the driver's uncomfortable feeling can be suppressed, and the switching can be performed smoothly. In the present embodiment, the first state is changed to the second state.
It can also be applied when switching to a state.

When the second condition for switching from the second state to the first state is satisfied, the stroke simulator on-off valve 158 is not immediately switched to the open state, and the duty control is performed for a predetermined set time. After that, it can be switched to the open state. By controlling the duty of the stroke simulator on-off valve 158, the driver's uncomfortable feeling can be reduced. The duty ratio in this case can be changed so that the ratio of the open state increases with time, even if the duty ratio is constant.
Further, when the second switching condition is satisfied, the stroke simulator on-off valve 158 is operated to change the stroke of the brake pedal 10 until the first switching condition from the first state to the second state is satisfied. It can be opened and closed according to. When the brake pedal 10 is stepped on or depressed (loosened), it is switched to the open state, otherwise, it is switched to the closed state. Thereby, a change in the operation state of the brake pedal 10 can be suppressed. Further, the above-described control of the stroke simulator on-off valve 158 may be performed for a predetermined set time after the second switching condition is satisfied, and thereafter, may be switched to the open state. Further, similarly to the execution of the stroke simulator on-off valve control program shown in the flowchart of FIG. 5, the switching timing of the master shut-off valve 152 and the stroke simulator on-off valve 158 can be made different. When the second switching condition is satisfied, both the stroke simulator on-off valve 158 and the master shutoff valve 152 are kept open.
As a result, the hydraulic fluid is supplied from the brake cylinder 20 to the stroke simulator 156, so that the amount of hydraulic fluid flowing out of the pressurizing chamber 86 can be reduced accordingly, and the operation state of the brake pedal 10 can be reduced. Changes can be suppressed. This embodiment is effective, for example, when switching from the second state to the first state when the antilock control start condition is satisfied.

Next, control performed in both the case where the first state is switched to the second state and the case where the second state is switched to the first state will be described. First
Since the control characteristics are different between the state and the second state, the control characteristics change when these are switched. Therefore, in the present embodiment, a control characteristic change suppression control program represented by a flowchart in FIG. 10 is executed to suppress a change in the control characteristic. This program is repeatedly executed during the braking operation. At the time of switching from the first state to the second state, the master shut-off valves 152 and 162 are not immediately switched to the open state, but the hydraulic pressure of the brake cylinder is controlled using the linear valve device 30. The brake cylinder fluid pressure is controlled by a characteristic including both the control characteristic in the first state and the control characteristic in the second state (an intermediate characteristic between them), and the control characteristic gradually becomes the control characteristic in the second state. Approached. Even when the first state is switched to the second state due to the abnormality of the pump device 12, the brake cylinder hydraulic pressure can be controlled while the high-pressure hydraulic fluid is stored in the accumulator 134. is there. When switching from the second state to the first state, the master cutoff valves 152 and 162 are switched to the closed state. However, instead of controlling the brake cylinder hydraulic pressure with the control characteristic in the first state, the brake cylinder hydraulic pressure is controlled with a characteristic intermediate between the control characteristic in the first state and the control characteristic in the second state. Accordingly, the control characteristics in the first state are brought closer to the first state.

In S111, it is determined whether or not the second switching flag from the second state to the first state is in the set state. In S112, the first switching flag from the first state to the second state is in the set state. Is determined. When the first switching flag is in the set state and the second switching flag is in the reset state, the determination in S111 is NO, and the determination in S112 is YES.
In S113, it is determined whether the brake pedal 10 has been switched from the non-operation state to the operation state. If the operation state is switched from the non-operation state to the operation state, the determination becomes YES, the first switching control mode is set in S114, the counter n is counted up in S115, and the target hydraulic pressure P is increased in S116.
^* _WC is determined according to the formula _{^{P * WC = P * 1 +}} (P MC -P * 1) · n / n MAX. In this formula, P ^* ₁ is the target fluid pressure in the first state, P _MC is the actual master pressure or the like. The counter n is a counter that counts the number of times of the brake operation. Then, the linear valve device 30 is controlled so that the brake cylinder hydraulic pressure becomes the target hydraulic pressure P ^* _WC . The supply current to the coil 188 of the linear valve device 30 is determined according to the target hydraulic pressure P ^* _WC , and the current is supplied.

Next, in S117, whether the number of operations reaches the set number n _MAX is determined, if not reached is returned to S111. At this time, since the stop switch 224 is in the ON state, the determination in S113 is NO, and the determination in S118 is YES.
And S116 is executed. Until one brake operation is released, the size of the counter n is the same, and the control characteristics are the same. If the brake operation has been released, the determination in S118 is NO.

First, after the first switching condition is satisfied, the
When a rake operation is performed, the counter n becomes 1.
Until the brake operation is released.
Pressure P^* _WCIs the formula P^* _WC= P^* ₁+ (P_MC−P^* ₁) / N_MAX Is determined according to The first brake operation is released
Then, when the brake operation is performed next, the counter n
Is 2, the target hydraulic pressure P^* _WCIs the formula P^* _WC= P^* ₁+2 ・ (P_MC−P^* ₁) / N_MAX Is determined according to Target fluid pressure gradually increases_MCApproached
And the control characteristic is the control characteristic in the second state.
(Efficacy). Brake operation
Number is set number n_MAXIs reached, the judgment in S117
Is set to YE, and in S119, the first switching control is performed.
Mode is released and switched to the second state control mode.
You. In this case, the master shutoff valves 152 and 162 are opened.
And the first switching flag is reset.

On the other hand, when the second condition for switching from the second state to the first state is satisfied, S120 and the subsequent steps are executed. Same as above, but here, S
At 121, the master shutoff valves 152, 16
2 is switched to the closed state, and the brake cylinder hydraulic pressure is controlled by the control of the linear valve device 30. And than the second switching time control mode is set, in S124, the target hydraulic pressure P ^* _WC is determined according to the formula _{^{P * WC = P MC + (}} P * 1 -P MC) · n / n MAX. As is clear from this equation, the target hydraulic pressure gradually approaches the target hydraulic pressure P ^* ₁ in the first state. When the number of brake operations reaches the set number of times n _MAX , the mode is switched from the second switching control mode to the first state control mode.

In this embodiment, since the control characteristic is gradually changed every time the brake is operated, the first state and the second state are not changed.
It is possible to reduce the driver's discomfort when switching to the state. Also, since the switching is performed gradually, the first
It is desirable to apply when there is a margin for switching between the state and the second state. Furthermore, it is limited to the case where switching is performed when the linear valve device 30 is normal. In the above-described embodiment, the control characteristics are gradually changed every brake operation.
It is not essential to change each time the brake is operated.
It may be changed even during the number of brake operations. Further, the control characteristics may be switched continuously or stepwise, and the change can be suppressed by providing at least a state in which the intermediate characteristics are controlled. Furthermore, in each of the above-described embodiments, when the switching condition between the first state and the second state is satisfied, the state change suppression control at the time of switching is performed, but the switching condition will be changed in the near future. This may be performed when a precursor that can be predicted to be likely to be satisfied is detected, that is, when the switching precursor condition is satisfied.

The second switch precursor condition is a precursor when it is detected that the antilock control start condition is satisfied, or when a precursor that satisfies the turning control start condition is detected, that the static pressure system is abnormal. Is detected, for example, when a precursor that satisfies the regenerative cooperative control start condition is detected. In addition, the first switching precursor condition is a precursor when the anti-lock control termination condition is satisfied, a precursor when the turning control termination condition is satisfied is detected, and a precursor when the dynamic pressure system is abnormal is detected. If it is detected, it is satisfied, for example, when a precursor that satisfies the condition for terminating the regenerative cooperative control is detected. The precursor to satisfying the antilock control start condition is:
The brake slip state is on the locking tendency side from the set slip state, which is a precursor detection on the more stable side than the set slip state, and
A precursor that is detected when the locking tendency is becoming stronger and the turning control start condition is satisfied is a sign that the turning state is more stable than the set turning state and is closer to the limit than the set turning state, and is approaching the limit state. Detected in some cases. Further, the precursor of the static pressure system abnormality is detected, for example, when the hydraulic pressure in the booster chamber 98 is lower than the precursor set pressure higher than the abnormality determination set pressure, and the booster pressure tends to decrease.

A sign that the anti-lock control end condition is satisfied and a sign that the turning control end condition is satisfied are detected in the same manner as in the above-described case. For example, a sign that the dynamic pressure system is abnormal is, for example, the accumulator pressure is higher than the abnormality detection pressure. The condition is satisfied when the detected pressure is lower than the high abnormality precursor detection pressure and the pressure tends to decrease. Further, the precursor that satisfies the condition for terminating the regenerative cooperative control is a precursor when the rotation speed of the electric motor is lower than the precursor detection rotation speed higher than the set rotation speed and is in a decreasing trend or when the remaining charge capacity of the battery is larger than the set capacity. It is satisfied when the capacity is smaller than the overcharge detection set capacity and is decreasing. Whether or not these switching precursor conditions are satisfied is detected in accordance with the execution of the state switching control program. The first and second switch precursor flags are set when the switch precursor condition is satisfied, and are set in advance when the first and second switch flags are set or after the first and second switch precursor flags are set. Reset when the set time has elapsed.

The state change suppression control at the time of predictive switching will be described below. The case where the master shutoff valves 152 and 162 are duty-controlled when the first switching precursor condition is satisfied will be described. Master shutoff valves 152 and 162 are shown in FIG.
The control is performed in accordance with the execution of a predictive state change suppression control program (which can be referred to as a pre-switch sign control program) represented by the flowchart of FIG. In S151, it is determined whether or not the first switch precursor flag is set.
At 152, it is determined whether the first switching flag is set. If the first switch precursor flag is set, it is determined in S153 whether a set time has elapsed since the first switch precursor condition was satisfied, and if not, in S154, Duty control of master shutoff valves 152 and 162 is performed. The duty control is performed during the set time, but if the first switching condition is satisfied before the set time elapses,
Since the first switching sign flag is reset and the first switching flag is set, the master shutoff valves 152 and 162 are switched to the closed state in S155. Also, the first
The timer for measuring the time since the setting of the switch sign flag is also reset. On the other hand, if the first switching condition is not satisfied within the set time after the first switching precursor condition is satisfied, the master shutoff valves 152 and 162 are returned to the closed state in S156, and the first switching precursor flag is set. Is reset, and the timer is reset. Even if the pre-switching condition is satisfied, the switching condition is not satisfied within the set time, so the state is returned to the state before the switching (first state).

As described above, in the present embodiment, when the pre-switching condition is satisfied, the master shutoff valves 152, 1
Since the duty of the cylinder 62 is controlled and then the state is switched to the open state, the change state of the brake cylinder fluid pressure at the time of switching can be suppressed, and the switching can be performed smoothly.

The control in the case where the first switching precursor condition is satisfied may be performed in accordance with the program shown in the flowchart of FIG. In this embodiment, when the first switching precursor condition is satisfied, the brake cylinder fluid pressure is controlled by the control of the linear valve device 30 while the master shut-off valves 152 and 162 are kept closed. However, the target hydraulic pressure in this case is set as the master pressure. If the first switching sign flag is in the set state, it is determined in S163 whether or not the elapsed time has reached the set time.
At 164, the target hydraulic pressure P ^* ₁ is determined to be the master pressure. The brake cylinder fluid pressure is controlled by the control of the linear valve device 30 while the master shutoff valves 152 and 162 remain closed. If the first switching condition is satisfied before the elapse of the set time, the master shutoff valves 152 and 162 are switched to the open state in S165. On the other hand, if the first switching condition is not satisfied before the elapse of the set time, the process returns to the first state in S166. The target hydraulic pressure is set to P ^* ₁ .

As described above, according to the present embodiment, before the master shutoff valves 152 and 162 are switched to the open state,
The target hydraulic pressure is set as the master cylinder pressure, and the brake cylinder hydraulic pressure is controlled by controlling the linear valve device 30. As a result, a change in the control characteristics at the time of switching from the first state to the second state can be suppressed, and the switching can be performed smoothly. Further, it is desirable that the present embodiment be applied to a case where the linear valve device 30 is normal and the first state is switched to the second state.

The linear valve devices 30 corresponding to all four wheels are not normal, and the linear valve devices 30 for one wheel are not normal.
Is detected to be abnormal, the same control as in the above embodiment is performed on the hydraulic pressures of the brake cylinders of the wheels other than the wheels, and then the master shutoff valves 152 and 162 are opened. The state can be switched. The present embodiment is not limited to the abnormality of the one-wheel linear valve device 30, and can be applied to a case where a failure occurs in the one-wheel brake cylinder. Note that the present embodiment can also be applied to control performed when the first switching flag is set (non-predictive control).

Further, when the one-wheel linear valve device 30 is abnormal, or when the one-wheel linear valve device 30
However, if there is one for each of the front wheel side and the rear wheel side, after switching the front wheel side communication valve and the rear wheel side communication valve valve 154 and 164 to the open state, the same control as in the above case is performed. It can also be done. Front-wheel and rear-wheel communication valves 154, 1
64, the hydraulic pressure of the brake cylinder 20 of the two wheels 16 and the brake cylinder 2 of the two wheels 20
8 can be controlled to the same magnitude by controlling one of the linear valve devices 30. In addition,
This embodiment can be applied to control performed when the first switching flag is set.

Further, in each of the above embodiments, the case where the brake fluid pressure control device is applied to the brake device represented by the brake circuit of FIG. 1 has been described. Is not limited to the above-described structure, and may be another structure.
For example, orifices may be provided inside master shutoff valves 152 and 162 to restrict liquid passages 150 and 160.
In this case, the change gradient of the brake cylinder hydraulic pressure can be suppressed.

Further, for example, the structure shown in FIG. 13 can be adopted. In this brake device, a portion of the fluid passage 160 connecting the booster chamber 98 and the brake cylinder 28 on the brake cylinder side of the master shutoff valve 162 and a master of a fluid passage 150 connecting the pressurizing chamber 86 and the brake cylinder 20 are connected. A connection passage 300 that connects the shut-off valve 152 to a portion on the brake cylinder side is provided, and a communication valve (SC) 302 is provided in the middle of the connection passage 300. By switching the communication valve 302 to the open state, the difference between the hydraulic pressure of the hydraulic passage 150 and the hydraulic pressure of the hydraulic passage 160 can be reduced, and the hydraulic pressure difference between the brake cylinders 20 and 28 can be reduced.

FIG. 14 shows an example of the state suppression control program at the time of predictive switching in that case. In the flowchart of FIG. 14, the first switch precursor flag is set,
If the elapsed time after the setting has not reached the set time, in S184, the master shutoff valve 16
2 is switched to the open state, and the communication valve 302 is switched to the open state. Master shutoff valve 152 remains closed. Then, when the first switching condition is satisfied, the master shutoff valve 152 is switched to the open state, and the communication valve 302 is switched to the closed state.

As described above, according to the present embodiment, the master cutoff valve 162 is opened and the communication valve 302 is opened.
Is opened, the hydraulic fluid in the booster chamber 98 is supplied to the four brake cylinders 20, 28. Therefore, the four brake cylinders 20 and 28 have substantially the same size, and the hydraulic pressure difference can be reduced as compared with the case where the two brake cylinders 28 are supplied. Further, when four brake cylinders are connected to each other, the pressure increase gradient of the brake cylinder fluid pressure can be suppressed more than when two brake cylinders are connected to the booster chamber 98. In this case, switching the communication valve 302 to the open state and switching the master shutoff valve 162 to the open state are more effective than switching the master shutoff valve 152. Further, when the master shut-off valve 152 is switched to the open state, since the hydraulic pressure difference between the second hydraulic pressure source 14 and the front wheel brake cylinder 20 is small, the increase gradient of the hydraulic pressure of the brake cylinder 20 is suppressed. Can be. Even when the communication valve 302 is opened and the master shut-off valve 152 is switched to the open state, compared with the case where the communication valve 302 is not provided,
A state change at the time of switching can be suppressed. In S185, it is not essential to switch the communication valve 302 to the closed state.

Further, in each of the above embodiments, the master shutoff valves 152 and 162 are open / close valves, but may be electromagnetic flow control valves. In this case, it is possible to control the brake cylinder hydraulic pressure and the hydraulic pressure change gradient by controlling the opening of the electromagnetic flow control valve. Similarly, the stroke simulator on-off valve 158 can be a flow control valve. In this case, the amount of hydraulic fluid transferred between the stroke simulator 156 and the fluid passage 150 can be controlled by controlling the opening degree. It becomes possible.

As described above, in the present embodiment, the state switching device is constituted by the master shut-off valves 152 and 162, the linear valve device 30, and the like. A state change suppression device is configured. Specifically, a part of the brake ECU 32 for storing and executing the front and rear master shut-off valve control program shown in the flowchart of FIG. Brake EC
The part of the brake ECU 32 that stores the non-braking operation switching program shown in the flowchart of FIG. 9, such as the part that stores and executes the master shut-off valve duty control program represented by the flowchart of FIG. The brake ECU 3 such as a part that stores and executes a control characteristic change suppression program represented by the flowchart of FIG.
2 is constituted by a portion for storing and a portion for executing the pre-switchover time control program represented by the flowcharts of FIGS. 11, 12, and 14, respectively.

A portion of the switching state change suppressing device that stores S15, S20, S21 of the flowchart of the front and rear master shutoff valve control program of the brake ECU 32;
FIG. 11 shows a portion that stores S54 of the flowchart of the master shut-off valve duty control program, a portion that executes S54, a portion that stores S54 of the flowchart of the stroke simulator on-off valve control program, and a portion that executes it. The part that stores and executes S154 of the flowchart of the switching sign control program constitutes an electromagnetic shut-off valve control unit. Further, S19 to S21 of the flowchart of the front and rear master shutoff valve control program in the switching state change suppression device.
Is stored, executed, etc., the part storing S74 of the flowchart of the master shut-off valve duty control program, the part executed, etc. A control unit is configured. The duty control unit is also a change gradient suppression device.

S184 to S18 of the flowchart of the switching sign control program shown in the flowchart of FIG.
6 constitutes a control section such as a communication valve, and a control state change suppression section is constituted by a section storing and executing a control characteristic change suppression program shown in the flowchart of FIG. The portion storing and executing steps S54 and S56 of the flowchart of the stroke simulator on-off valve control program shown in the flowchart of FIG. The hydraulic fluid inflow / outflow state control unit is also a hydraulic fluid transfer amount reducing device and a control timing control unit. Further, a portion for storing and executing S54 and S56 in the flowchart of the non-brake operation switching program shown in the flowchart of FIG. 9 constitutes a non-brake operation switching section, and is shown in the flowchart of FIG. A part for storing and executing the front and rear master shut-off valve control program and a part for executing the same constitute a differential pressure reducing device.

Further, a feeling reduction suppressing device is constituted by a hydraulic fluid outflow state control unit, a hydraulic fluid transfer amount reducing device, a duty control unit, a switching unit during non-braking operation, and the like.
The switching specific hydraulic pressure control device is constituted by the control state change suppressing unit, the part storing and executing the switching sign control program shown in the flowchart of FIG. Further, a portion for storing and executing the switchover control program shown in the flowcharts of FIGS. 11, 12, and 14 constitutes a predictive switchover state suppression device.

In the above embodiment, the stroke simulator 2
00 was provided, but the stroke simulator 20
It is not essential to provide 0. What is necessary is that the stroke simulator 156 is provided. Further, the linear valve devices 30 are provided one by one corresponding to the brake cylinders, but it is not essential to provide one by one.
Only one may be provided. Furthermore, the linear valve 1 for pressure increase
72, Instead of the pressure reducing linear valve 176, a simple electromagnetic opening / closing valve may be used. In addition, the linear valve device 3
0 is not indispensable, and the hydraulic pressure and flow rate of the working fluid output from the first hydraulic pressure source 12 can be controlled by controlling the pump 136 and the pump motor 138. further,
The master shut-off valves 152 and 162 may be flow rate control valves that allow the flow of the hydraulic fluid at an opening corresponding to the supply current. Furthermore, it is not essential to include a hydraulic booster, but it may include a vacuum booster. In addition, in addition to the modes described in [Problems to be Solved by the Invention, Problem Solving Means and Effects], it is possible to implement the present invention in various modified and improved modes based on the knowledge of those skilled in the art. it can.

[Brief description of the drawings]

FIG. 1 is a circuit diagram of a brake device including a brake fluid pressure control device according to one embodiment of the present invention.

FIG. 2 is a partial sectional view of a linear valve device included in the brake fluid pressure control device.

FIG. 3 is a flowchart showing a front and rear master shut-off valve control program stored in a ROM of the brake fluid pressure control device.

FIG. 4 is a diagram showing a change state of a rear wheel brake cylinder hydraulic pressure when control is performed in the brake hydraulic pressure control device.

FIG. 5 is a flowchart showing a stroke simulator on / off valve control program stored in a ROM of a brake fluid pressure control device according to another embodiment of the present invention.

FIG. 6 is a diagram showing a state of transfer of hydraulic fluid in a stroke simulator when control is performed in the brake fluid pressure control device.

FIG. 7 is a diagram showing another state of transfer of hydraulic fluid in the stroke simulator when control is performed in the brake fluid pressure control device.

FIG. 8 is a flowchart showing a master shut-off valve duty control program stored in a ROM of a brake fluid pressure control device according to still another embodiment of the present invention.

FIG. 9 is a flowchart illustrating a non-brake operation switching program stored in a ROM of a brake fluid pressure control device according to yet another embodiment of the present invention.

FIG. 10 is a flowchart showing a control characteristic change suppression program stored in a ROM of a brake fluid pressure control device according to still another embodiment of the present invention.

FIG. 11 is a flowchart showing a pre-switchover time control program stored in a ROM of a brake fluid pressure control device according to still another embodiment of the present invention.

FIG. 12 is a flowchart showing a pre-switchover time control program stored in a ROM of a brake fluid pressure control device according to still another embodiment of the present invention.

FIG. 13 is a circuit diagram of a brake device including a brake fluid pressure control device according to another embodiment of the present invention.

FIG. 14 is a flowchart showing a pre-switchover sign control program stored in a ROM of the brake fluid pressure control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 12 Pump device 14 2nd hydraulic pressure source 30 Linear valve device 31 1st hydraulic pressure source 32 Brake ECU 152,162 Master shutoff valve 154,164 Front wheel side, rear wheel side communication valve 156 Stroke simulator 158 Stroke simulator on-off valve 302 Communication valve

Continued on the front page (72) Inventor Tetsuya Miyazaki 1 Toyota Town, Toyota City, Aichi Prefecture F-term in Toyota Motor Corporation (Reference) 3D048 BB25 CC10 CC19 CC54 GG13 GG16 GG22 GG27 HH00 HH15 HH16 HH18 HH26 HH66 HH67 HH75 RR01 RR06 RR11 RR25 RR35

Claims (21)

[Claims] 1. A brake cylinder, a first hydraulic pressure source including a pressurizing device for pressurizing hydraulic fluid by power, and a hydraulic pressure source for generating hydraulic pressure by operating a brake operating member, wherein the brake operating member A second hydraulic pressure source for generating a hydraulic pressure higher than the hydraulic pressure due to the operating force of the brake fluid; and a brake cylinder hydraulic pressure controlled by the first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source. A state switching device capable of switching between a controlled first state and a second state in which the brake cylinder is shut off from the first hydraulic pressure source and the hydraulic fluid of the second hydraulic pressure source is supplied; Switching state change suppression device that suppresses at least one of a change in the operation state of the brake operation member and a change in the state of the brake cylinder hydraulic pressure accompanying the switching between the first state and the second state by the state switching device. And a brake fluid pressure control device. 2. The system according to claim 1, wherein the second hydraulic pressure source is operated by a hydraulic fluid having a hydraulic pressure higher than a maximum value of a hydraulic pressure to be generated by the second hydraulic pressure source, and boosts the operating force of the brake operating member. 2. The brake hydraulic pressure control device according to claim 1, further comprising a hydraulic booster that performs the operation. 3. The state switching device includes an electromagnetic shut-off valve provided in a fluid passage connecting the second hydraulic pressure source and a brake cylinder, and the switching-time state change suppressing device includes an electromagnetic shut-off valve. The brake fluid pressure control device according to claim 1, further comprising an electromagnetic shutoff valve control unit for controlling. 4. The hydraulic pressure source according to claim 1, wherein the second hydraulic pressure source is formed behind a power piston associated with the brake operating member, and the hydraulic pressure of the hydraulic fluid supplied from the hydraulic fluid supply source is adjusted to a height corresponding to a brake operating force. A first hydraulic chamber to which the working fluid adjusted by the adjusting device is supplied, and a second hydraulic chamber provided in front of a pressurizing piston connected to the power piston, wherein the state switching is performed. A first electromagnetic shut-off valve provided in a first fluid passage connecting the first fluid pressure chamber and a first brake cylinder that is at least one of the brake cylinders;
A second electromagnetic shut-off valve provided in a second liquid passage connecting the second hydraulic pressure chamber and a second brake cylinder, which is at least one of the brake cylinders, wherein the electromagnetic shut-off valve control unit is Controlling at least one of the first electromagnetic shut-off valve and the second electromagnetic shut-off valve so that the hydraulic pressure difference between the first brake cylinder and the first hydraulic chamber and the second brake cylinder 4. The brake fluid according to claim 3, wherein at least one of a hydraulic pressure difference between the second brake chamber and the hydraulic pressure difference between the first brake cylinder and the second brake cylinder is suppressed. 5. Pressure control device. 5. The system according to claim 1, wherein the electromagnetic shut-off valve control section switches the flow of the hydraulic fluid from the closed state prior to the first electromagnetic shut-off valve before switching the first state to the second state. The brake fluid pressure control device according to claim 4, wherein the brake fluid pressure control device is set in an allowable state. 6. The electromagnetic shutoff valve is an electromagnetic flow control valve that allows the flow of hydraulic fluid with an opening area corresponding to a supply current, and the electromagnetic shutoff valve control unit sets the opening area of the electromagnetic flow control valve to: The control according to any one of claims 3 to 5, wherein control is performed based on a hydraulic pressure difference between the brake cylinder and a second hydraulic pressure source.
4. The brake fluid pressure control device according to any one of claims 1 to 3. 7. The electromagnetic shut-off valve, wherein the electromagnetic shut-off valve is switched between an open state and a closed state by turning on and off a current, and the electromagnetic shut-off valve control unit performs duty control for duty-controlling the electromagnetic on-off valve. The brake fluid pressure control device according to any one of claims 3 to 6, including a part. 8. The brake hydraulic pressure control according to claim 1, wherein the switching state change suppressing device includes an orifice provided between the second hydraulic pressure source and a brake cylinder. apparatus. 9. The switching state change suppressing device, comprising: a first hydraulic passage connecting the first hydraulic chamber and the first brake cylinder; a second hydraulic chamber and the second brake cylinder; A second fluid passage to be connected connects a portion of the first fluid passage closer to the brake cylinder with respect to the first solenoid shut-off valve and a portion of the second fluid passage closer to the brake cylinder with respect to the second solenoid shut-off valve. A communication valve that is provided in the middle of the connection passage and is switchable between a state in which the connection passage is shut off and a state in which the communication passage is communicated; The brake fluid pressure control device according to any one of claims 4 to 8, further comprising a communication valve or the like control unit that controls one of the second electromagnetic shut-off valves to allow the flow of the hydraulic fluid. 10. An electromagnetic hydraulic pressure control valve device provided between said pressurizing device and said brake cylinder, said first hydraulic pressure source being capable of controlling brake cylinder hydraulic pressure in said first state. The switching state change suppression device includes a control state change suppression unit that controls a change in the control state of the hydraulic pressure of the brake cylinder before and after the state switching by controlling the electromagnetic hydraulic pressure control valve device. Item 10. The brake fluid pressure control device according to any one of Items 1 to 9. 11. The brake fluid pressure control device according to claim 2,
A stroke simulator connected to a fluid passage connecting the fluid pressure source and the brake cylinder, and a stroke simulator device including a stroke simulator control valve for shutting off or communicating the stroke simulator with the fluid passage, The switching state change suppressing device controls at least one of an inflow state and an outflow state of the hydraulic fluid between the stroke simulator and the liquid passage by controlling the stroke simulator control valve. The brake fluid pressure control device according to any one of claims 1 to 10, further comprising a state control unit. 12. The brake fluid pressure control according to claim 11, wherein the switching state change suppressing device includes a control timing control unit for controlling respective control timings of the stroke simulator control valve and the electromagnetic cutoff valve. apparatus. 13. The switching state change suppressing device switches at least one of a switching state of the electromagnetic shut-off valve between a closed state and a communicating state and a switching of the stroke simulator control valve between a communicating state and a disconnected state. 12. A non-braking operation switching unit for performing non-braking operation.
3. The brake fluid pressure control device according to any one of 2. 14. A brake cylinder, a first hydraulic pressure source including a pressurizing device for pressurizing hydraulic fluid with power, and a hydraulic pressure corresponding to an operating force of the brake operating member is generated by operating a brake operating member. A second state in which the brake cylinder hydraulic pressure is controlled based on the hydraulic pressure of the first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source; A state switching device capable of switching to a second state in which a cylinder is shut off from the first hydraulic pressure source and the hydraulic fluid of the second hydraulic pressure source is supplied; and A brake fluid pressure control device including a pressure difference reducing device that reduces a fluid pressure difference between the brake cylinder and the second fluid pressure source when switching to a second state. 15. A brake cylinder, a first hydraulic pressure source including a pressurizing device for pressurizing hydraulic fluid by power, and a hydraulic pressure corresponding to an operating force of the brake operating member is generated by operating a brake operating member. A second state in which the brake cylinder hydraulic pressure is controlled based on the hydraulic pressure of the first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source; A state switching device capable of switching to a second state in which a cylinder is shut off from the first hydraulic pressure source and the hydraulic fluid of the second hydraulic pressure source is supplied; and A brake fluid pressure control device including a hydraulic fluid transfer amount reducing device that reduces a hydraulic fluid transfer amount between the second hydraulic pressure source and the brake cylinder when switching to the second state. 16. A brake cylinder, a first hydraulic pressure source including a pressurizing device for pressurizing hydraulic fluid with power, and a hydraulic pressure corresponding to an operating force of the brake operating member is generated by operating a brake operating member. A second state in which the brake cylinder hydraulic pressure is controlled based on the hydraulic pressure of the first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source; A state switching device capable of switching to a second state in which a cylinder is shut off from the first hydraulic pressure source and the hydraulic fluid of the second hydraulic pressure source is supplied; and A brake fluid pressure control device including: a change gradient suppressing device that suppresses a fluid pressure change gradient of the brake cylinder when switching to the second state. 17. A brake cylinder, a first hydraulic pressure source including a pressurizing device that pressurizes hydraulic fluid by power, and a hydraulic pressure corresponding to an operating force of the brake operating member is generated by operating a brake operating member. A second state in which a brake cylinder hydraulic pressure is controlled based on a hydraulic pressure of a first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source; A state switching device capable of switching to a second state in which a cylinder is shut off from the first hydraulic pressure source and the hydraulic fluid of the second hydraulic pressure source is supplied, the brake hydraulic pressure control device comprising: A brake fluid pressure control device, wherein the state switching device switches at least the first state to the second state during a non-braking operation. 18. A brake cylinder, a first hydraulic pressure source including a pressurizing device for pressurizing hydraulic fluid by power, and a hydraulic pressure corresponding to an operating force of the brake operating member is generated by operating a brake operating member. A second state in which the brake cylinder hydraulic pressure is controlled based on the hydraulic pressure of the first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source; A state switching device capable of switching to a second state in which a cylinder is shut off from the first hydraulic pressure source and the hydraulic fluid of the second hydraulic pressure source is supplied; A control characteristic change suppressing device that suppresses a change in control characteristics when switching to the second state. 19. A brake cylinder, a first hydraulic pressure source including a pressurizing device that pressurizes hydraulic fluid by power, and a hydraulic pressure corresponding to an operating force of the brake operating member is generated by operating a brake operating member. A second state in which a brake cylinder hydraulic pressure is controlled based on a hydraulic pressure of a first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source; A state switching device in which a cylinder is shut off from the first hydraulic pressure source and can be switched to a second state in which the hydraulic fluid of the second hydraulic pressure source is supplied; A brake fluid pressure control device including a feeling reduction suppressing device that suppresses a decrease in brake operation feeling when switching between the second state and the second state. 20. A brake cylinder, a first hydraulic pressure source including a pressurizing device for pressurizing hydraulic fluid by power, and a hydraulic pressure corresponding to an operating force of the brake operating member is generated by operating a brake operating member. A second state in which a brake cylinder hydraulic pressure is controlled based on a hydraulic pressure of a first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source; A state switching device capable of switching to a second state in which a cylinder is shut off from the first hydraulic pressure source and the hydraulic fluid of the second hydraulic pressure source is supplied; A switching specific hydraulic pressure control device that controls the brake cylinder hydraulic pressure to a state different from the normal state when the switching to the second state is performed. 21. A brake cylinder, a first hydraulic pressure source including a pressurizing device for pressurizing hydraulic fluid by power, and a hydraulic pressure corresponding to an operating force of the brake operating member is generated by operating a brake operating member. A second state in which a brake cylinder hydraulic pressure is controlled based on a hydraulic pressure of a first hydraulic pressure source while the brake cylinder is disconnected from the second hydraulic pressure source; A state switching device in which a cylinder is shut off from the first hydraulic pressure source and can be switched to a second state in which the hydraulic fluid of the second hydraulic pressure source is supplied; When predictive switching to start control for suppressing at least one of the operating state of the brake operating member and a change in the state of the brake cylinder hydraulic pressure when a precursor of switching to the second state is detected. A brake fluid pressure control device including a state change suppression device.