JP2006168412A - Brake liquid pressure control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a brake liquid pressure control device capable of generating the intended vehicle deceleration as set relative to the liquid pressure generated in a master cylinder by adding to the master cylinder liquid pressure the assist liquid pressure generated by controlling the discharge liquid from a pump using a liquid pressure control valve. <P>SOLUTION: The deviation of the vehicle deceleration corresponding to the sensed master cylinder liquid pressure from the intended vehicle deceleration is computed, and the assist liquid pressure is generated and added to the master cylinder liquid pressure so that the deviation nullifies by controlling the discharge liquid from the pump with the liquid pressure control valve, so that the master cylinder liquid pressure, and accordingly the intended vehicle deceleration corresponding to the braking operation force of the driver, can be obtained certainly irrespective of the gradient of the road surface while the vehicle is running, the fade generated in a pad of the brake device, and a variation in the stacked load. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an assist liquid generated by controlling a discharge liquid from a pump with a hydraulic control valve so that a vehicle decelerates at a predetermined deceleration with respect to a hydraulic pressure generated in a master cylinder by a brake operation force. The present invention relates to a brake fluid pressure control device that applies pressure to master cylinder fluid pressure.

In the vehicle deceleration feedback electronic control brake device described in Patent Document 1, the initial vehicle deceleration G0 at the start of the brake operation is detected, and the control target addition amount Gadd is set based on the operation input amount C of the driver. The control target addition amount Gadd is added to the initial vehicle deceleration G0 to set the control target amount Gt, and the difference between the vehicle deceleration G detected by the vehicle deceleration detection unit 41 and the control target amount Gt is set as a control command output unit. 45, the drive circuit 5 controls the actuators A1 to A4 connected to the hydraulic pressure source 6 based on the control command signal D from the control command output unit 45, and supplies the hydraulic pressure supplied to the brake device of each wheel. Is controlling.
JP-A-6-166365 (page 3, FIG. 1)

  However, in the vehicle deceleration feedback electronic control brake device, it is considered that the brake fluid pressure is supplied to the wheel cylinder of each wheel based on the control command signal D corresponding to the vehicle deceleration expected by the driver. However, the deceleration generated in the vehicle with respect to the brake hydraulic pressure supplied to the wheel cylinder of each wheel is the gradient of the road surface on which the vehicle is traveling, the fade generated in the pad of the brake device attached to each wheel, and the vehicle Therefore, the vehicle deceleration expected by the driver can be obtained even if the brake fluid pressure corresponding to the difference between the detected vehicle deceleration G and the control target amount Gt is supplied to the wheel cylinder. There are things that cannot be done.

   The present invention has been made to solve the conventional problems, and the master cylinder hydraulic pressure is used to increase the assist hydraulic pressure generated by controlling the discharge liquid from the pump by the hydraulic pressure control valve. It is an object of the present invention to provide a brake hydraulic pressure control device capable of obtaining an intended vehicle deceleration as set with respect to a hydraulic pressure generated in a cylinder.

  In order to solve the above problems, the structural feature of the invention described in claim 1 is that a master cylinder generates a master cylinder hydraulic pressure in response to a brake operation force, and the master cylinder hydraulic pressure is connected to the master cylinder. In the vehicular brake device applied to the wheel cylinder of each wheel, the hydraulic pressure detecting means for detecting the master cylinder hydraulic pressure, the deceleration detecting means for detecting the vehicle deceleration, and the master cylinder hydraulic pressure A storage means for storing a predetermined vehicle deceleration set, and a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to control discharge fluid from the pump to generate an assist hydraulic pressure; A hydraulic pressure generating device for applying the assist hydraulic pressure to the master cylinder hydraulic pressure, and the deceleration detecting means corresponding to the master cylinder hydraulic pressure detected by the hydraulic pressure detecting means; A deviation amount calculating means for calculating a deviation amount between the detected vehicle deceleration and the intended vehicle deceleration stored in the storage means; and a correction amount corresponding to the deviation amount so as to eliminate the deviation amount. Means for generating an assist hydraulic pressure in the hydraulic pressure generator.

  The structural feature of the invention described in claim 2 is that the master cylinder generates a master cylinder hydraulic pressure by the force of the negative pressure type assisting device assisting the brake operating force, and the master cylinder hydraulic pressure is connected to the master cylinder. In the vehicle brake device applied to the wheel cylinder of each wheel, the discharge fluid from the pump is controlled by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate assist hydraulic pressure, A hydraulic pressure generating device that applies the assist hydraulic pressure to the master cylinder hydraulic pressure, and the boost pressure limit device after the boost limit point at which the negative pressure assist device does not boost the brake operating force at a boost ratio. Master cylinder hydraulic pressure generated by each of the master cylinders by the force increased by the boost ratio and the force that the negative pressure assist device assists the brake operation force Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure equal to the difference, hydraulic pressure detecting means for detecting the master cylinder hydraulic pressure, deceleration detecting means for detecting vehicle deceleration, and the master Storage means for storing an intended vehicle deceleration set with respect to the cylinder hydraulic pressure, and vehicle deceleration detected by the deceleration detection means corresponding to the master cylinder hydraulic pressure detected by the hydraulic pressure detection means And a deviation amount calculation means for calculating a deviation amount between the vehicle deceleration and the intended vehicle deceleration stored in the storage means, and correction according to the deviation amount to the assist hydraulic pressure of the pressurization amount so that the deviation amount is eliminated. And means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure of a corrected pressurizing amount to which the amount is added.

  According to a third aspect of the present invention, the master cylinder generates a master cylinder hydraulic pressure in response to the brake operation force, and the master cylinder hydraulic pressure is applied to the wheel cylinders of the wheels connected to the master cylinder. In the vehicular brake device to be applied, an operating force detecting means for detecting the brake operating force, a deceleration detecting means for detecting a vehicle deceleration, and an intended vehicle deceleration set for the brake operating force are stored. And a storage means for controlling the discharge liquid from the pump by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate an assist hydraulic pressure, and the assist hydraulic pressure is generated by the master cylinder hydraulic pressure. A hydraulic pressure generating device applied to the vehicle, a vehicle deceleration detected by the deceleration detecting means corresponding to the brake operating force detected by the operating force detecting means, A deviation amount calculating means for calculating a deviation amount from an intended vehicle deceleration stored in the means, and a correction hydraulic pressure of a correction amount corresponding to the deviation amount to the hydraulic pressure generating device so as to eliminate the deviation amount. And means for generating.

  According to a fourth aspect of the present invention, the master cylinder generates a master cylinder hydraulic pressure by the force of the negative pressure type assisting device assisting the brake operating force, and the master cylinder hydraulic pressure is connected to the master cylinder. In the vehicle brake device applied to the wheel cylinder of each wheel, the discharge fluid from the pump is controlled by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate assist hydraulic pressure, A hydraulic pressure generating device that applies the assist hydraulic pressure to the master cylinder hydraulic pressure, and the boost pressure limit device after the boost limit point at which the negative pressure assist device does not boost the brake operating force at a boost ratio. Master cylinder hydraulic pressure generated by each of the master cylinders by the force increased by the boost ratio and the force that the negative pressure assist device assists the brake operation force Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure having a pressure equal to the difference; operating force detecting means for detecting the brake operating force; deceleration detecting means for detecting vehicle deceleration; and the brake operation A storage means for storing an intended vehicle deceleration set for the force, a vehicle deceleration detected by the deceleration detection means corresponding to the brake operation force detected by the operation force detection means, and the storage A deviation amount calculating means for calculating a deviation amount from the intended vehicle deceleration stored in the means, and a correction amount corresponding to the deviation amount is added to the assist hydraulic pressure of the pressurization amount so that the deviation amount is eliminated. And means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure of the corrected pressurization amount.

  A structural feature of the invention according to claim 5 is that, in any one of claims 1 to 4, means for increasing the correction amount by small increments is provided until the deviation amount disappears.

  According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the correction amount corresponding to the deviation amount is based on a vehicle speed and a brake hydraulic pressure supplied to the wheel cylinder. Means for correcting is provided.

  According to a seventh aspect of the present invention, the master cylinder generates a master cylinder hydraulic pressure in response to a brake operation force, and the master cylinder hydraulic pressure is applied to a wheel cylinder of each wheel connected to the master cylinder. In the vehicle brake device to be applied, a hydraulic pressure detecting means for detecting the master cylinder hydraulic pressure, a deceleration detecting means for detecting the vehicle deceleration, and an intended vehicle deceleration set for the master cylinder hydraulic pressure A storage means for storing the pressure, and a discharge pressure from the pump is controlled by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate an assist hydraulic pressure, and the assist hydraulic pressure is generated by the master cylinder A hydraulic pressure generating device for adding to the hydraulic pressure, and a vehicle deceleration detected by the deceleration detecting means corresponding to the master cylinder hydraulic pressure detected by the hydraulic pressure detecting means Deviation amount calculation means for calculating the deviation amount from the intended vehicle deceleration stored in the storage means, and the hydraulic pressure generator sequentially generates assist hydraulic pressure that increases in small increments until the deviation amount disappears. Means.

  The structural feature of the invention described in claim 8 is that the master cylinder generates the master cylinder hydraulic pressure by the force of the negative pressure type assisting device assisting the brake operating force, and the master cylinder hydraulic pressure is connected to the master cylinder. In the vehicle brake device applied to the wheel cylinder of each wheel, the discharge fluid from the pump is controlled by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate assist hydraulic pressure, A hydraulic pressure generating device that applies the assist hydraulic pressure to the master cylinder hydraulic pressure, and the boost pressure limit device after the boost limit point at which the negative pressure assist device does not boost the brake operating force at a boost ratio. Master cylinder hydraulic pressure generated by each of the master cylinders by the force increased by the boost ratio and the force that the negative pressure assist device assists the brake operation force Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure equal to the difference, hydraulic pressure detecting means for detecting the master cylinder hydraulic pressure, deceleration detecting means for detecting vehicle deceleration, and the master Storage means for storing an intended vehicle deceleration set with respect to the cylinder hydraulic pressure, and vehicle deceleration detected by the deceleration detection means corresponding to the master cylinder hydraulic pressure detected by the hydraulic pressure detection means Deviation amount calculating means for calculating a deviation amount between the vehicle and the intended vehicle deceleration stored in the storage means, and an assist hydraulic pressure obtained by increasing the pressurization amount by small increments until the deviation amount disappears. Means for sequentially generating the generator.

  The structural feature of the invention described in claim 9 is that the master cylinder generates a master cylinder hydraulic pressure in response to the brake operating force, and the master cylinder hydraulic pressure is applied to the wheel cylinders of the respective wheels connected to the master cylinder. In the vehicular brake device to be applied, an operating force detecting means for detecting the brake operating force, a deceleration detecting means for detecting a vehicle deceleration, and an intended vehicle deceleration set for the brake operating force are stored. And a storage means for controlling the discharge liquid from the pump by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate an assist hydraulic pressure, and the assist hydraulic pressure is generated by the master cylinder hydraulic pressure. A hydraulic pressure generating device applied to the vehicle, a vehicle deceleration detected by the deceleration detecting means corresponding to the brake operating force detected by the operating force detecting means, A deviation amount calculating means for calculating a deviation amount from the intended vehicle deceleration stored in the means; means for causing the hydraulic pressure generating device to sequentially generate an assist hydraulic pressure that increases in small increments until the deviation amount disappears; It is to have established.

  The structural feature of the invention described in claim 10 is that the master cylinder generates a master cylinder hydraulic pressure by the force of the negative pressure type assisting device assisting the brake operating force, and the master cylinder hydraulic pressure is connected to the master cylinder. In the vehicle brake device applied to the wheel cylinder of each wheel, the discharge fluid from the pump is controlled by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate assist hydraulic pressure, A hydraulic pressure generating device that applies the assist hydraulic pressure to the master cylinder hydraulic pressure, and the boost pressure limit device after the boost limit point at which the negative pressure assist device does not boost the brake operating force at a boost ratio. Master cylinder fluid generated by each of the master cylinders by the force increased by the boost ratio and the force by which the negative pressure assist device assists the brake operation force Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure having a pressure amount equal to the difference between them, an operating force detecting means for detecting the brake operating force, a deceleration detecting means for detecting vehicle deceleration, and the brake Storage means for storing an intended vehicle deceleration set for the operating force; vehicle deceleration detected by the deceleration detecting means corresponding to the brake operating force detected by the operating force detecting means; A deviation amount calculating means for calculating a deviation amount from an intended vehicle deceleration stored in the storage means; and an assist hydraulic pressure obtained by increasing the pressurization amount by small increments until the deviation amount is eliminated. And a means for sequentially generating them.

  In the invention according to claim 1 configured as described above, the master cylinder generates the master cylinder hydraulic pressure in response to the brake operation force, and the hydraulic pressure generator supplies the discharge liquid from the pump to the master cylinder and the wheel cylinder. An assist hydraulic pressure is generated by controlling with a hydraulic pressure control valve connected between them and applied to the master cylinder hydraulic pressure. Calculates the amount of deviation between the vehicle deceleration corresponding to the detected master cylinder hydraulic pressure and the intended vehicle deceleration, and generates a hydraulic pressure with a correction amount corresponding to the deviation so as to eliminate this deviation. Because it is generated by the device, the expected vehicle deceleration corresponding to the master cylinder hydraulic pressure can be achieved quickly and reliably regardless of the gradient of the road surface on which the vehicle is traveling, the fade generated on the brake device pad, or the load load Can get to.

  In the invention according to claim 2 configured as described above, the master cylinder generates the master cylinder hydraulic pressure by the force that the negative pressure type assisting device assists the brake operating force, and the hydraulic pressure generating device generates the discharge liquid from the pump. Control is performed by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate assist hydraulic pressure and apply it to the master cylinder hydraulic pressure. After the boost limit point at which the negative pressure assist device does not boost the brake operation force at the boost ratio, the force that increased the brake operation force at the boost ratio and the force that the negative pressure assist device assisted the brake operation force. The hydraulic pressure generating device generates an assist hydraulic pressure equal to the difference between the master cylinder hydraulic pressures generated by the master cylinders. The amount of deviation between the vehicle deceleration corresponding to the detected master cylinder hydraulic pressure and the intended vehicle deceleration is calculated, and the assist hydraulic pressure is corrected according to the amount of deviation so as to eliminate this deviation. Add the amount. As a result, the hydraulic pressure generating device generates an assist hydraulic pressure that is applied to the master cylinder hydraulic pressure after the boost limit point of the negative pressure assist device, and a correction amount corresponding to the deviation amount is set to the pressurized amount. Since the added hydraulic pressure of the applied pressure is generated, the master cylinder hydraulic pressure can be adjusted regardless of the road gradient while the vehicle is traveling, the fade generated on the brake pad, or the fluctuation of the load. The vehicle deceleration of the period can be reliably and efficiently obtained.

  In the invention according to claim 3 configured as described above, the master cylinder generates the master cylinder hydraulic pressure in response to the brake operation force, and the hydraulic pressure generating device supplies the discharge liquid from the pump to the master cylinder and the wheel cylinder. An assist hydraulic pressure is generated by controlling with a hydraulic pressure control valve connected between them and applied to the master cylinder hydraulic pressure. A deviation amount between the vehicle deceleration corresponding to the detected brake operation force and the intended vehicle deceleration is calculated, and a correction amount of assist hydraulic pressure corresponding to the deviation amount is calculated so as to eliminate this deviation amount. Therefore, the desired vehicle deceleration corresponding to the brake operation force can be reliably obtained regardless of the gradient of the road surface on which the vehicle is traveling, the fade generated on the pad of the brake device, or the fluctuation of the loaded load. it can.

  In the invention according to claim 4 configured as described above, the master cylinder generates the master cylinder hydraulic pressure by the force of the negative pressure type assisting device assisting the brake operating force, and the hydraulic pressure generating device generates the discharge liquid from the pump. Control is performed by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate assist hydraulic pressure and apply it to the master cylinder hydraulic pressure. After the boost limit point at which the negative pressure assist device does not boost the brake operation force at the boost ratio, the force that increased the brake operation force at the boost ratio and the force that the negative pressure assist device assisted the brake operation force. The hydraulic pressure generating device generates an assist hydraulic pressure equal to the difference between the master cylinder hydraulic pressures generated by the master cylinders. A deviation amount between the vehicle deceleration corresponding to the detected brake operation force and the intended vehicle deceleration is calculated, and a correction amount corresponding to the deviation amount is added to the assist hydraulic pressure of the pressurization amount so as to eliminate this deviation amount. Add As a result, the hydraulic pressure generating device generates an assist hydraulic pressure that is applied to the master cylinder hydraulic pressure after the boost limit point of the negative pressure assist device, and a correction amount corresponding to the deviation amount is set to the pressurized amount. Because the added hydraulic pressure of the applied correction pressure is generated, it is expected to respond to the brake operation force regardless of the gradient of the road surface while the vehicle is traveling, the fade generated on the brake device pad, or the load load fluctuation. The vehicle deceleration can be reliably and efficiently obtained.

  In the invention according to claim 5 configured as described above, the correction amount is increased by small increments until there is no deviation between the detected vehicle deceleration and the intended vehicle deceleration. The desired vehicle deceleration corresponding to the brake operation force can be obtained quickly and reliably.

  In the invention according to claim 6 configured as described above, a correction amount corresponding to the amount of deviation between the detected vehicle deceleration and the desired vehicle deceleration is based on the vehicle speed and the brake hydraulic pressure supplied to the wheel cylinder. Therefore, the brake fluid pressure supplied to the wheel cylinder can be controlled so as to quickly and appropriately eliminate the amount of deviation regardless of the vehicle speed and the brake fluid pressure.

  In the invention according to claim 7 configured as described above, the master cylinder generates a master cylinder hydraulic pressure in response to the brake operation force, and the hydraulic pressure generating device supplies the discharge liquid from the pump between the master cylinder and the wheel cylinder. An assist hydraulic pressure is generated by controlling with a hydraulic pressure control valve connected between them and applied to the master cylinder hydraulic pressure. Calculates the amount of deviation between the vehicle deceleration corresponding to the detected master cylinder hydraulic pressure and the desired vehicle deceleration, and sequentially generates assist hydraulic pressure in small increments until the deviation disappears in the hydraulic pressure generator. Therefore, the intended vehicle deceleration corresponding to the master cylinder hydraulic pressure can be surely obtained regardless of the gradient of the road surface on which the vehicle is traveling, the fade generated in the pad of the brake device, or the fluctuation of the loaded load. .

  In the invention according to claim 8 configured as described above, the master cylinder generates the master cylinder hydraulic pressure by the force assisted by the negative pressure type assisting device as the brake operating force, and the hydraulic pressure generating device generates the discharged liquid from the pump. Control is performed by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate assist hydraulic pressure and apply it to the master cylinder hydraulic pressure. After the boost limit point at which the negative pressure assist device does not boost the brake operation force at the boost ratio, the force that increased the brake operation force at the boost ratio and the force that the negative pressure assist device assisted the brake operation force. Then, the hydraulic pressure generating device generates an assist hydraulic pressure having a pressurization amount equal to the difference between the master cylinder hydraulic pressures generated by the master cylinders. Calculates the amount of deviation between the vehicle deceleration corresponding to the detected master cylinder fluid pressure and the intended vehicle deceleration, and generates the assist fluid pressure by increasing the pressurization amount by small increments until this displacement disappears. Generate sequentially to the device. As a result, even after the boost limit point of the negative pressure assist device, the hydraulic pressure corresponding to the force obtained by increasing the brake operation force by the boost ratio can be supplied to the wheel cylinder, and the road surface gradient while the vehicle is traveling The intended vehicle deceleration corresponding to the master cylinder hydraulic pressure can be reliably and efficiently obtained regardless of the fade generated on the pad of the brake device or the fluctuation of the loaded load.

  In the invention according to claim 9 configured as described above, the master cylinder generates the master cylinder hydraulic pressure in response to the brake operation force, and the hydraulic pressure generating device supplies the discharge liquid from the pump to the master cylinder and the wheel cylinder. An assist hydraulic pressure is generated by controlling with a hydraulic pressure control valve connected between them and applied to the master cylinder hydraulic pressure. The deviation amount between the vehicle deceleration corresponding to the detected brake operation force and the intended vehicle deceleration is calculated, and the hydraulic pressure generating device sequentially generates the assist hydraulic pressure that increases by small increments until the deviation amount disappears. Therefore, the intended vehicle deceleration corresponding to the brake operation force can be reliably obtained regardless of the gradient of the road surface on which the vehicle is traveling, the fade generated on the pad of the brake device, or the fluctuation of the loaded load.

  In the invention according to claim 10 configured as described above, the master cylinder generates the master cylinder hydraulic pressure by the force of the negative pressure type assisting device assisting the brake operation force, and the hydraulic pressure generating device generates the discharge liquid from the pump. Control is performed by a hydraulic pressure control valve connected between the master cylinder and the wheel cylinder to generate assist hydraulic pressure and apply it to the master cylinder hydraulic pressure. After the boost limit point at which the negative pressure assist device does not boost the brake operation force at the boost ratio, the force that increased the brake operation force at the boost ratio and the force that the negative pressure assist device assisted the brake operation force. The hydraulic pressure generating device generates an assist hydraulic pressure equal to the difference between the master cylinder hydraulic pressures generated by the master cylinders. Calculates the amount of deviation between the vehicle deceleration corresponding to the detected brake operation force and the intended vehicle deceleration, and calculates the assist hydraulic pressure by increasing the pressurization amount by small increments until the deviation disappears. Are generated sequentially. As a result, even after the boost limit point of the negative pressure assist device, the hydraulic pressure corresponding to the force obtained by increasing the brake operation force by the boost ratio can be supplied to the wheel cylinder, and the road surface gradient while the vehicle is traveling The intended vehicle deceleration corresponding to the brake operation force can be reliably and efficiently obtained regardless of the fade generated on the pad of the brake device or the fluctuation of the loaded load.

   Embodiments of a brake fluid pressure control device according to the present invention will be described below with reference to the drawings. In the vehicular brake device, when the driver steps on the brake pedal 2, the front wheel brake system 4f and the rear wheel brake system 4r having substantially the same configuration that apply braking force to the left and right front wheels 3fl and 3fr and the left and right rear wheels 3rl and 3rr, respectively. Are provided separately. In FIG. 1, the components constituting the front wheel and rear wheel brake systems 4f and 4r have the same configuration and operation, so that the corresponding components are given the same arithmetic numerals with Roman letters f and r, respectively. A reference symbol is assigned to distinguish between the front and rear. Furthermore, the same component parts in the left and right wheels are distinguished from each other by adding l and r after Roman letters f and r that distinguish the front and rear wheels. In the specification, when components are shown without distinction between front, back, left, and right, only the corresponding arithmetic numbers are given as reference numbers.

   Reference numeral 5 denotes a dual master cylinder. When the brake pedal 2 is depressed, a brake fluid having a master cylinder hydraulic pressure corresponding to the brake operation force is sent from the hydraulic chambers 5f and 5r for the front and rear wheels to the pipelines 6f and 6r. Reference numeral 7 denotes a vacuum booster which is a negative pressure type assisting device interposed between an operating rod axially moved by the brake pedal 2 and a piston rod of the master cylinder 5, and applies an intake negative pressure of the engine to the diaphragm. It assists the brake operation force acting on the brake pedal. Reference numeral 8 denotes a reservoir for storing brake fluid, which replenishes the dual master cylinder 5 with brake fluid. As shown in FIG. 2, before the boost limit point D at which the valve mechanism is fully opened, the brake booster 7 doubles the brake operating force F by a predetermined boost ratio α according to the valve opening degree of the valve mechanism of the brake booster 7. The master cylinder hydraulic pressure PMC is generated in the master cylinder 5 by the applied force, and after the boost limit point D, the brake operation force after the boost limit point D is increased to the master cylinder hydraulic pressure PMC at the boost limit point D. The master cylinder hydraulic pressure PMC obtained by adding the increase in the master cylinder hydraulic pressure PMC by the minute is generated in the master cylinder 5.

   In this way, the master cylinder 5 generates the master cylinder hydraulic pressure PMC corresponding to the force assisted by the vacuum booster 7, and the hydraulic pressure sent from the master cylinder 5 is transmitted to the left and right wheel braking devices 9fl via the pipelines 6f and 6r. , 9fr, 9rl, 9rr are respectively supplied to the wheel cylinders 10fl, 10fr, 10rl, 10rr. The left and right wheel braking devices 9fl, 9fr, 9rl, and 9rr have pistons that act as brake pads, brake shoes, and other friction members such as brake discs, brake drums, etc. by brake hydraulic pressure PWC supplied to the wheel cylinders 10fl, 10fr, 10rl, and 10rr. As a result, a braking force is generated on the left and right front and rear wheels 3fl, 3fr, 3rl, 3rr, and the vehicle is decelerated at a vehicle deceleration G corresponding to the master cylinder hydraulic pressure PMC as shown in FIG.

   12f and 12r are solenoid hydraulic pressure proportional control valves that constitute the hydraulic pressure control valve of the brake hydraulic pressure control device 1. The inlet port and the outlet port are the hydraulic chambers 5f and 5r of the master cylinder 5 and the wheel cylinders 10fl and 10fr. 10 rl and 10 rr are connected by pipe lines 6 f and 6 r, respectively. The solenoid hydraulic pressure proportional control valve 12 controls the pressure so that the hydraulic pressure at the outlet port is higher than zero by the assist hydraulic pressure PA in accordance with the control current applied to the linear solenoid 14 from the master cylinder hydraulic pressure at the inlet port. is there. A check valve that permits liquid flow from the inlet port to the outlet port is connected between the inlet port and the outlet port of the solenoid hydraulic pressure proportional control valves 12r and 12f.

   The pipelines 6r and 6f connected to the outlets of the solenoid hydraulic pressure proportional control valves 12r and 12f are branched to the left and right front wheel cylinders 10fl and 10fr and the left and right rear wheel cylinders 10rl and 10rr, respectively. , 17fr and 17rl, 17rr, respectively. A check valve that allows liquid flow from the out-port side to the import side is connected between the import and out-ports of the solenoid on-off valves 17fl, 17fr, 17rl, and 17rr. Solenoid on-off valves 19fl, 19fr and 19rl, 19rr are connected between the respective outports of the solenoid on-off valves 17fl, 17fr and 17rl, 17rr and the reservoirs 18f and 18r, respectively. The reservoirs 18f and 18r are configured by sealing a bottomed casing with a piston urged by a weak compression spring. The solenoid valve 17 and 19 constitutes an ABS valve device 20 that increases, holds, and controls the pressure in the wheel cylinder 10, and the import / outport of the solenoid valve 17 serves as the import / outport of the ABS valve device 20. None, the out port of the solenoid opening / closing valve 19 is the discharge port of the ABS valve device 20.

   21f and 21r are hydraulic pressure pumps that are driven to rotate by the motor 22, and the outlets of the solenoid hydraulic pressure proportional control valves 12f and 12r have their discharge ports blocked by check valves 13f and 13r that block the liquid flow to the discharge ports. The intake port is connected to the inlet port of the solenoid hydraulic pressure proportional control valves 12f and 12r via the electromagnetic open / close valves 23f and 23r. The suction ports of the hydraulic pumps 21f and 21r are also connected between the discharge ports of the ABS valve devices 20f and 20r and the reservoirs 18f and 18r via check valves 15f and 15r that allow liquid flow to the suction ports. ing. 24f and 24r are dampers for absorbing the pulsation of the hydraulic pressure discharged from the hydraulic pumps 21f and 21r.

   Thus, the discharge liquid discharged from the pump 21 that is rotationally driven by the motor 22 with the electromagnetic on-off valve 23 switched to the open state is circulated through the solenoid hydraulic pressure proportional control valve 12 and the electromagnetic on-off valve 23. As a result, an assist hydraulic pressure PA corresponding to the control current applied to the near solenoid 14 is generated, and this assist hydraulic pressure PA is added to the master cylinder hydraulic pressure PMC to become the brake hydraulic pressure PWC, via the ABS valve device 20. It is supplied to the wheel cylinder 10.

   Solenoid hydraulic pressure proportional control valve 12 (the motor 22, pump 21, solenoid hydraulic pressure proportional control valve 12, electromagnetic on-off valve 23, etc., connect the discharge fluid from the pump 21 between the master cylinder 5 and the wheel cylinder 10. A hydraulic pressure generating device 32 is configured to generate an assist hydraulic pressure PA under the control of a hydraulic control valve) and to apply the assist hydraulic pressure PA to the master cylinder hydraulic pressure PMC. Hydraulic pressure generating devices 32f and 32r are provided for each of the front wheel brake system 4f and the rear wheel brake system 4r.

   The electronic control unit 25 incorporating the CPU of the brake fluid pressure control device 1 includes a wheel speed sensor 26 that detects the wheel speed of each wheel 3, a foot brake sensor 27 that detects the depression of the brake pedal 2, and a master cylinder fluid pressure PMC. Detection signals are input from the hydraulic pressure sensor 16 that detects the braking force and the operating force sensor 28 that detects the brake operating force F. The vehicle speed detecting means 29 provided in the electronic control unit 25 counts a pulse with a frequency proportional to the wheel rotational speed sent from the wheel speed sensor 26 mounted on the left and right non-driven wheels for a certain period and arithmetically averages. The vehicle speed V is obtained based on the value, and the deceleration detecting means 31 obtains the vehicle deceleration G by dividing the change amount of the vehicle speed V detected by the vehicle speed detecting means 29 in the minute time by the minute time. An acceleration sensor may be separately provided to detect the vehicle deceleration G.

   The electronic control unit 25 includes a wheel speed sensor 26, a foot brake sensor 27, a hydraulic pressure sensor 16, a detection signal input from the operation force sensor 28, a vehicle speed V determined by the vehicle speed detection means 29 and the deceleration detection means 31 Each program is executed based on the vehicle deceleration G, and a control signal is output to the solenoid hydraulic pressure proportional control valves 12r and 12f, the ABS valve devices 20f and 20r, the motor 22, the electromagnetic on-off valves 23f and 23r, etc., and a braking force is generated. The hydraulic pressure in the wheel cylinder 10 of the device 11 is controlled to control the braking force applied to the wheel 3, and the vehicle is decelerated at the intended vehicle deceleration G.

   As shown in FIG. 2, even after the boost limit point D of the brake booster 7, the brake hydraulic pressure PWC supplied to the wheel cylinder 10 with respect to the brake operating force F is the same predetermined ratio as before the boost limit point D. As shown in FIG. 4, each pressure amount of assist hydraulic pressure PA corresponding to each brake operation force F that is separated by small increments after exceeding the boost limit point D is preset, and each brake that is separated by small increments. Applied to each master cylinder hydraulic pressure PMC corresponding to the operating force F. That is, each hydraulic pressure generated by the master cylinder 5 by the force obtained by boosting each brake operating force F after the boost limit point D with the boost ratio α, and each brake operating force after the boost limit point D. The assist hydraulic pressure PA of each pressurizing amount equal to the difference from each master cylinder hydraulic pressure PMC generated by the master cylinder 5 by the force assisted by the vacuum booster 7 is separated by small increments after the boost limit point D. Corresponding to each master cylinder hydraulic pressure PMC to be stored in the storage device 30 of the control device 25.

   Each time the master cylinder hydraulic pressure PMC detected by the hydraulic pressure sensor 16 becomes a master cylinder hydraulic pressure PMC that exceeds the boost limit point D and is separated by small increments, it corresponds to each master cylinder hydraulic pressure PMC. The assist hydraulic pressure PA of each pressurization amount stored in the above is read out, a control current corresponding to each pressurization amount is applied to the linear solenoid 14, and the discharge liquid from the pump 21 is sent by the solenoid hydraulic pressure proportional control valve 12. Under control, each pressurizing amount of assist hydraulic pressure PA is applied to the master cylinder hydraulic pressure PMC. The assist hydraulic pressure PA of each pressurizing amount set in advance corresponding to each master cylinder hydraulic pressure PMC that is separated by small increments below the boost limit point D is zero.

   As shown in FIG. 3, the storage device 30 stores an intended vehicle deceleration GT set by design with respect to the master cylinder hydraulic pressure PMC. Since the vehicle deceleration is proportional to the brake fluid pressure PWC supplied to the wheel cylinder, if the assist fluid pressure PA is zero and the master cylinder fluid pressure PMC is equal to or less than the boost limit point D equal to the brake fluid pressure PWC, the desired vehicle decrease The speed GT is proportional to the master cylinder hydraulic pressure PMC. When the boost limit point D is exceeded, each pressure amount of assist hydraulic pressure PA is applied to each master cylinder hydraulic pressure PMC corresponding to each master cylinder hydraulic pressure PMC, and the brake hydraulic pressure PWC increases. The increase rate of the desired vehicle deceleration GT with respect to the increase in the pressure PMC increases.

   Next, the operation of the brake fluid pressure control apparatus according to the above embodiment will be described. The master cylinder hydraulic pressure sent from the pressure chambers 5f and 5r of the master cylinder 5 when the brake pedal 2 is depressed passes through the solenoid hydraulic pressure proportional control valves 12f and 12r and the solenoid on-off valve 17 shifted to the open position. It is supplied to each wheel cylinder 10 and a braking force is applied to each wheel 3. At this time, when the condition for requesting the anti-skid brake control is established, the electronic control unit 25 performs the anti-skid brake control to open and close the solenoid on-off valves 17 and 19 to control the hydraulic pressure in each wheel cylinder 10. The braking force applied to each wheel is increased, held and decreased so that the wheel 3 does not slip with respect to the road surface.

   When depression of the brake pedal 2 is detected by the foot brake sensor 27, the hydraulic pump 21 is rotationally driven by the motor 22, and the electronic control unit 25 executes the brake hydraulic pressure control program shown in FIG. The electronic control unit 25 acquires the master cylinder hydraulic pressure PMC detected by the hydraulic pressure sensor 16 in step S1, and when the master cylinder hydraulic pressure PMC reaches the test value K (step S2), it is detected by the wheel speed sensor 26. Further, the vehicle speed G of each wheel 3 is obtained, and the vehicle deceleration G is calculated from the wheel speed WV of each wheel 3 (step S3).

   A deviation E between the vehicle deceleration G corresponding to the detected master cylinder hydraulic pressure PMC and the desired vehicle deceleration GT corresponding to the master cylinder hydraulic pressure PMC stored in the storage device 30 is calculated (step) S4). If the deviation amount E is within the design standard (step S5), the assist hydraulic pressure PA of each pressurization amount set in advance corresponding to each master cylinder hydraulic pressure PMC that is separated by small increments is read out from the storage device 30 ( Step S6). If the master cylinder hydraulic pressure PMC is equal to or lower than the boost limit point D, the pressurization amount is zero. If the master cylinder hydraulic pressure PMC exceeds the boost limit point D, it is set in advance corresponding to each master cylinder hydraulic pressure PMC that is separated by small increments. Then, the pressure becomes the assist hydraulic pressure PA of each pressurization amount stored in the storage device 30.

   When the master cylinder hydraulic pressure PMC detected by the hydraulic pressure sensor 16 becomes each master cylinder hydraulic pressure PMC and the timing of starting pressurization control is reached (step S7), an assist of the pressurization amount corresponding to each master cylinder hydraulic pressure PMC is performed. The hydraulic pressure PA is output (step 8), and the control current for the solenoid hydraulic pressure proportional control valve 12 to generate the pressurizing amount of assist hydraulic pressure PA is applied to the linear solenoid 14 to assist the pressurizing amount. The hydraulic pressure PA is added to the master cylinder hydraulic pressure PMC. As a result, the vehicle deceleration G detected by the deceleration detection means 31 reaches the intended vehicle deceleration GT corresponding to each master cylinder hydraulic pressure PMC, and the brake pedal 2 is continuously depressed. If detected by the brake sensor 27, the process returns to step 7 and the pressurization control is repeated (step S9). If not reached, the pressurized hydraulic pressure PA is gradually increased by a predetermined amount (step 10), and steps 8 and 9 are repeated. Even if the vehicle deceleration GT is reached, if the brake pedal 2 is continuously depressed, the process returns to step 7 and the pressurization control is repeated (step S9).

   When the deviation amount E exceeds the design standard (step S5), the assist hydraulic pressure PA of each pressurization amount set in advance corresponding to each master cylinder hydraulic pressure PMC that is separated by small increments is read from the storage device 30. Each correction pressurization amount is obtained by adding each correction amount based on the shift amount E to the assist hydraulic pressure PA of each pressurization amount. For each correction amount, the amount of the master cylinder hydraulic pressure PMC that generates a vehicle deceleration equal to the deviation amount E is obtained from FIG. 3 as the verification correction amount CK, and each master cylinder hydraulic pressure PMC and the verification value K are obtained as the verification correction amount CK. It is obtained by multiplying the ratio.

   As shown in FIGS. 5 and 6, since the friction coefficient μ of the friction engagement member of the wheel braking device 9 varies depending on the vehicle speed and the brake hydraulic pressure PWC, the intended vehicle set by design with respect to the master cylinder hydraulic pressure PMC. The deceleration GT also varies depending on the vehicle speed and the brake hydraulic pressure PWC. The intended vehicle deceleration GT set by design with respect to the master cylinder hydraulic pressure PMC of FIG. 3 stored in the storage device 30 is, for example, when the vehicle speed is 50 km / h and the brake hydraulic pressure PWC is 40 kg / cm 2. Is obtained based on the friction coefficient μ of the friction engagement member. Therefore, based on the brake hydraulic pressure PWC and the friction coefficient μ of the friction engagement member of the wheel braking device 9 with respect to the vehicle speed shown in FIGS. 5 and 6, the current vehicle speed V and the brake hydraulic pressure PWC (each master cylinder hydraulic pressure PMC The current friction coefficient μc of the frictional engagement member is obtained from the hydraulic pressure obtained by adding the assist hydraulic pressure PA of the pressurization amount), and each correction amount corresponding to each master cylinder hydraulic pressure PMC is multiplied by the friction coefficient ratio μc / μ. Thus, it is preferable to correct the change in the friction coefficient μ due to the vehicle speed and the brake fluid pressure PWC. However, the correction amount may not be corrected based on the vehicle speed and the brake fluid pressure PWC supplied to the wheel cylinder.

   Then, Steps S7 to S10 are executed in the same manner as described above, and when the master cylinder hydraulic pressure PMC detected by the hydraulic pressure sensor 16 becomes the master cylinder hydraulic pressure PMC separated by small increments, it corresponds to each master cylinder hydraulic pressure PMC. The corrected hydraulic pressure assist hydraulic pressure PA is output, and the corrected hydraulic pressure assist hydraulic pressure PA is added to the master cylinder hydraulic pressure PMC. When the depression of the brake pedal 2 is no longer detected by the foot brake sensor 27, the hydraulic pump 22 is stopped and the execution of the brake hydraulic pressure control program is stopped.

   In the above embodiment, the master cylinder 5 generates the master cylinder hydraulic pressure PMC by the force that assists the brake operating force F by the vacuum booster 7, but the brake operating force F is aided by the hydraulic pressure generator and the master cylinder fluid. The pressure may be generated, or the master cylinder 5 may be directly operated by the brake pedal 2 without providing the vacuum booster 7.

   Further, in the above embodiment, the intended vehicle deceleration GT set for the master cylinder hydraulic pressure PMC is stored in the storage means 30 and detected by the deceleration detection means 31 corresponding to the master cylinder hydraulic pressure PMC. The amount of deviation E between the vehicle deceleration G and the intended vehicle deceleration GT stored in the storage means 30 is calculated. The desired vehicle deceleration set for the brake operating force F in the storage means 30 is calculated. GT is stored, and a deviation amount E between the vehicle deceleration G detected by the deceleration detection means 31 corresponding to the brake operation force F and the intended vehicle deceleration GT stored in the storage means 30 is calculated. Good. In this case, in order to detect the brake operation force F, an operation force sensor 28 for detecting the depression force (brake operation force) of the brake pedal 2 may be connected to the brake pedal 2.

   In the above embodiment, the deviation amount E between the detected vehicle deceleration G and the intended vehicle deceleration GT stored in the storage means 30 is calculated, and the deviation amount E is determined so that the deviation amount E is eliminated. The hydraulic pressure generating device 32 generates the correction hydraulic pressure PA with the corrected amount, but the hydraulic pressure generating device 32 sequentially generates the assist hydraulic pressure that increases in small increments instead of the correction amount until the deviation E disappears. You may do it.

1 is a hydraulic circuit diagram of a brake fluid pressure control device of the present embodiment. The figure which shows the master cylinder hydraulic pressure with respect to brake operation force, and brake hydraulic pressure. The figure which shows the vehicle deceleration with respect to a master cylinder hydraulic pressure. The figure which shows a brake fluid pressure control program. The figure which shows the friction coefficient of the friction engagement member with respect to the brake fluid pressure at one vehicle speed. The figure which shows the friction coefficient of the friction engagement member with respect to the brake fluid pressure in other vehicle speed.

Explanation of symbols

   DESCRIPTION OF SYMBOLS 1 ... Brake fluid pressure control device, 2 ... Brake pedal, 3 ... Wheel, 4 ... Brake system, 5 ... Master cylinder, 6 ... Pipe line, 7 ... Vacuum booster (negative pressure type assistance device), 10 ... Wheel cylinder, 11 ... Braking force generator, 12 ... solenoid hydraulic pressure proportional control valve (hydraulic pressure control valve), 14 ... linear solenoid, 16 ... hydraulic pressure sensor, 17, 19, 23 ... solenoid on / off valve, 20 ... ABS valve device, 21 ... liquid Pressure pump, 22 ... motor, 25 ... electronic control unit, 26 ... wheel speed sensor, 27 ... foot brake sensor, 28 ... operating force sensor, 29 ... vehicle speed detection means, 30 ... storage device, 31 ... deceleration detection means, 32 ... hydraulic pressure generator, E ... deviation amount, PMC ... master cylinder hydraulic pressure, PA ... assist hydraulic pressure, F ... brake operating force, PWC ... brake hydraulic pressure, K ... master cylinder of test value Pressure, CK ... test correction amount.

Claims (10)

In the vehicular brake device, the master cylinder generates a master cylinder hydraulic pressure according to the brake operation force, and applies the master cylinder hydraulic pressure to the wheel cylinders of each wheel connected to the master cylinder.
Hydraulic pressure detecting means for detecting the master cylinder hydraulic pressure;
Deceleration detection means for detecting vehicle deceleration;
Storage means for storing an intended vehicle deceleration set for the master cylinder hydraulic pressure;
Fluid pressure is generated by controlling the discharge fluid from the pump with a fluid pressure control valve connected between the master cylinder and the wheel cylinder, and generating the assist fluid pressure to the master cylinder fluid pressure. Equipment,
A deviation for calculating a deviation amount between the vehicle deceleration detected by the deceleration detection means and the intended vehicle deceleration stored in the storage means corresponding to the master cylinder hydraulic pressure detected by the hydraulic pressure detection means. A quantity calculation means;
Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure having a correction amount corresponding to the deviation amount so that the deviation amount is eliminated;
A brake fluid pressure control device comprising: In a vehicular brake device in which a master cylinder generates a master cylinder hydraulic pressure by a force assisted by a negative pressure type assisting device, and applies the master cylinder hydraulic pressure to a wheel cylinder of each wheel connected to the master cylinder. ,
Fluid pressure is generated by controlling the discharge fluid from the pump with a fluid pressure control valve connected between the master cylinder and the wheel cylinder, and generating the assist fluid pressure to the master cylinder fluid pressure. Equipment,
After the boost limit point at which the negative pressure assisting device does not boost the brake operating force at the boost ratio, the negative pressure assisting device uses the force obtained by increasing the brake operating force at the boost ratio and the brake operating force. Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure of a pressurizing amount equal to a difference in master cylinder hydraulic pressure generated by each of the master cylinders by the force assisted by
Hydraulic pressure detecting means for detecting the master cylinder hydraulic pressure;
Deceleration detection means for detecting vehicle deceleration;
Storage means for storing an intended vehicle deceleration set for the master cylinder hydraulic pressure;
A deviation for calculating a deviation amount between the vehicle deceleration detected by the deceleration detection means and the intended vehicle deceleration stored in the storage means corresponding to the master cylinder hydraulic pressure detected by the hydraulic pressure detection means. A quantity calculation means;
Means for causing the hydraulic pressure generating device to generate a corrected hydraulic pressure assist fluid pressure obtained by adding a correction amount corresponding to the shift amount to the pressurized hydraulic pressure assist fluid pressure so that the deviation amount is eliminated;
A brake fluid pressure control device comprising: In the vehicular brake device, the master cylinder generates a master cylinder hydraulic pressure according to the brake operation force, and applies the master cylinder hydraulic pressure to the wheel cylinders of each wheel connected to the master cylinder.
Operating force detecting means for detecting the brake operating force;
Deceleration detection means for detecting vehicle deceleration;
Storage means for storing an intended vehicle deceleration set for the brake operation force;
Fluid pressure is generated by controlling the discharge fluid from the pump with a fluid pressure control valve connected between the master cylinder and the wheel cylinder, and generating the assist fluid pressure to the master cylinder fluid pressure. Equipment,
A deviation amount for calculating a deviation amount between the vehicle deceleration detected by the deceleration detection means and the intended vehicle deceleration stored in the storage means corresponding to the brake operation force detected by the operation force detection means. Computing means;
Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure having a correction amount corresponding to the deviation amount so that the deviation amount is eliminated;
A brake fluid pressure control device comprising: In a vehicular brake device in which a master cylinder generates a master cylinder hydraulic pressure by a force assisted by a negative pressure type assisting device, and applies the master cylinder hydraulic pressure to a wheel cylinder of each wheel connected to the master cylinder. ,
Fluid pressure is generated by controlling the discharge fluid from the pump with a fluid pressure control valve connected between the master cylinder and the wheel cylinder, and generating the assist fluid pressure to the master cylinder fluid pressure. Equipment,
After the boost limit point at which the negative pressure assisting device does not boost the brake operating force at the boost ratio, the negative pressure assisting device uses the force obtained by increasing the brake operating force at the boost ratio and the brake operating force. Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure of a pressurizing amount equal to a difference in master cylinder hydraulic pressure generated by each of the master cylinders by the force assisted by
Operating force detecting means for detecting the brake operating force;
Deceleration detection means for detecting vehicle deceleration;
Storage means for storing an intended vehicle deceleration set for the brake operation force;
A deviation amount for calculating a deviation amount between the vehicle deceleration detected by the deceleration detection means and the intended vehicle deceleration stored in the storage means corresponding to the brake operation force detected by the operation force detection means. Computing means;
Means for causing the hydraulic pressure generating device to generate a corrected hydraulic pressure assist fluid pressure obtained by adding a correction amount corresponding to the shift amount to the pressurized hydraulic pressure assist fluid pressure so that the deviation amount is eliminated;
A brake fluid pressure control device comprising: 5. The brake hydraulic pressure control device according to claim 1, further comprising means for increasing the correction amount by small increments until the deviation amount is eliminated. 6. The brake fluid pressure according to claim 1, further comprising means for correcting a correction amount corresponding to the deviation amount based on a vehicle speed and a brake fluid pressure supplied to the wheel cylinder. Control device. In the vehicular brake device, the master cylinder generates a master cylinder hydraulic pressure according to the brake operation force, and applies the master cylinder hydraulic pressure to the wheel cylinders of each wheel connected to the master cylinder.
Hydraulic pressure detecting means for detecting the master cylinder hydraulic pressure;
Deceleration detection means for detecting vehicle deceleration;
Storage means for storing an intended vehicle deceleration set for the master cylinder hydraulic pressure;
Fluid pressure is generated by controlling the discharge fluid from the pump with a fluid pressure control valve connected between the master cylinder and the wheel cylinder, and generating the assist fluid pressure to the master cylinder fluid pressure. Equipment,
A deviation for calculating a deviation amount between the vehicle deceleration detected by the deceleration detection means and the intended vehicle deceleration stored in the storage means corresponding to the master cylinder hydraulic pressure detected by the hydraulic pressure detection means. A quantity calculation means;
Means for causing the hydraulic pressure generator to sequentially generate an assist hydraulic pressure that increases in small increments until the deviation amount is eliminated;
A brake fluid pressure control device comprising: In a vehicular brake device in which a master cylinder generates a master cylinder hydraulic pressure by a force assisted by a negative pressure type assisting device, and applies the master cylinder hydraulic pressure to a wheel cylinder of each wheel connected to the master cylinder. ,
Fluid pressure is generated by controlling the discharge fluid from the pump with a fluid pressure control valve connected between the master cylinder and the wheel cylinder, and generating the assist fluid pressure to the master cylinder fluid pressure. Equipment,
After the boost limit point at which the negative pressure assisting device does not boost the brake operating force at the boost ratio, the negative pressure assisting device uses the force obtained by increasing the brake operating force at the boost ratio and the brake operating force. Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure of a pressurizing amount equal to a difference in master cylinder hydraulic pressure generated by each of the master cylinders by the force assisted by
Hydraulic pressure detecting means for detecting the master cylinder hydraulic pressure;
Deceleration detection means for detecting vehicle deceleration;
Storage means for storing an intended vehicle deceleration set for the master cylinder hydraulic pressure;
A deviation for calculating a deviation amount between the vehicle deceleration detected by the deceleration detection means and the intended vehicle deceleration stored in the storage means corresponding to the master cylinder hydraulic pressure detected by the hydraulic pressure detection means. A quantity calculation means;
Means for causing the hydraulic pressure generator to sequentially generate an assist hydraulic pressure in which the pressurization amount is increased by small increments until the deviation amount disappears;
A brake fluid pressure control device comprising: In the vehicular brake device, the master cylinder generates a master cylinder hydraulic pressure according to the brake operation force, and applies the master cylinder hydraulic pressure to the wheel cylinders of each wheel connected to the master cylinder.
Operating force detecting means for detecting the brake operating force;
Deceleration detection means for detecting vehicle deceleration;
Storage means for storing an intended vehicle deceleration set for the brake operation force;
Fluid pressure is generated by controlling the discharge fluid from the pump with a fluid pressure control valve connected between the master cylinder and the wheel cylinder, and generating the assist fluid pressure to the master cylinder fluid pressure. Equipment,
A deviation amount for calculating a deviation amount between the vehicle deceleration detected by the deceleration detection means and the intended vehicle deceleration stored in the storage means corresponding to the brake operation force detected by the operation force detection means. Computing means;
Means for causing the hydraulic pressure generator to sequentially generate an assist hydraulic pressure that increases in small increments until the deviation amount is eliminated;
A brake fluid pressure control device comprising: In a vehicular brake device in which a master cylinder generates a master cylinder hydraulic pressure by a force assisted by a negative pressure type assisting device, and applies the master cylinder hydraulic pressure to a wheel cylinder of each wheel connected to the master cylinder. ,
Fluid pressure is generated by controlling the discharge fluid from the pump with a fluid pressure control valve connected between the master cylinder and the wheel cylinder, and generating the assist fluid pressure to the master cylinder fluid pressure. Equipment,
After the boost limit point at which the negative pressure assisting device does not boost the brake operating force at the boost ratio, the negative pressure assisting device uses the force obtained by increasing the brake operating force at the boost ratio and the brake operating force. Means for causing the hydraulic pressure generating device to generate an assist hydraulic pressure of a pressurizing amount equal to a difference in master cylinder hydraulic pressure generated by each of the master cylinders by the force assisted by
Operating force detecting means for detecting the brake operating force;
Deceleration detection means for detecting vehicle deceleration;
Storage means for storing an intended vehicle deceleration set for the brake operation force;
A deviation amount for calculating a deviation amount between the vehicle deceleration detected by the deceleration detection means and the intended vehicle deceleration stored in the storage means corresponding to the brake operation force detected by the operation force detection means. Computing means;
Means for causing the hydraulic pressure generator to sequentially generate an assist hydraulic pressure in which the pressurization amount is increased by small increments until the deviation amount disappears;
A brake fluid pressure control device comprising:

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