JP2007106365A - Braking control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a braking control device capable of suppressing the brake noise by shortening the brake noise generation time. <P>SOLUTION: The braking control device controls the braking of a vehicle, and determines whether or not the vehicle is started from the stopped condition when the brake is operated (S10). When the vehicle is started, the vehicular braking force is reduced so that the acceleration of the vehicle is not less than the predetermined value irrespective of the brake operation amount before the vehicle speed exceeds the brake noise generation upper limit speed Vn (S16, S22). Thus, when the vehicle is started, the acceleration is increased, the time in which the vehicle travels in the speed range of generating the brake noise can be shortened, and generation of the brake noise can be suppressed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a braking control device that performs braking control of a vehicle.

Conventionally, as a braking control device that performs braking control of a vehicle, as described in Japanese Patent Application Laid-Open No. 2000-21493, the brake pressure is in a pulsating state while the brake pressure of the vehicle is between the first brake pressure and the second brake pressure. It is known that the pressure is reduced by. This device is intended to prevent brake noise generated during creep traveling of the vehicle, so-called creep glones, by pulsating the brake pressure.
Japanese Patent Laid-Open No. 2000-21493

  However, such a device has a problem that it is not possible to appropriately suppress the generation of brake noise. That is, when braking control is performed based on the brake pressure, the brake noise generation region is wide depending on the type of friction material of the brake pad, so that the time during which the brake pressure pulsates becomes long, and the brake noise cannot be appropriately suppressed.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a braking control device capable of suppressing brake noise by shortening the brake noise occurrence time.

  That is, the braking control device according to the present invention includes a travel determination unit that determines whether or not the vehicle has started from a stopped state in a brake-operated state, and a case in which the travel determination unit determines that the vehicle has started And a braking control means for controlling the braking force of the vehicle so that the vehicle speed exceeds the brake noise generation upper limit speed regardless of the amount of brake operation by the driver until the vehicle speed exceeds the brake noise generation upper limit speed. It is configured.

  In the braking control device according to the present invention, the braking control means is configured to provide a brake for the driver until the vehicle speed of the vehicle exceeds a brake noise generation upper limit speed when the traveling determination means determines that the vehicle has started. It is preferable to control the braking force of the vehicle so that the acceleration of the vehicle is equal to or greater than a predetermined acceleration regardless of the operation amount.

  According to the present invention, when the vehicle starts in the brake operation state, the vehicle is controlled so that the vehicle acceleration becomes equal to or higher than the predetermined acceleration regardless of the amount of brake operation by the driver until the vehicle speed exceeds the brake noise generation upper limit speed. Control power. Thereby, the acceleration of the vehicle can be set to a predetermined acceleration or more, and the time during which the vehicle travels in the speed region where the brake noise is generated can be shortened. Therefore, it is possible to suppress the occurrence of brake noise when the vehicle starts.

  In the braking control device according to the present invention, the braking control means may stop the braking force reduction control when the driver's braking operation amount increases after reducing the braking force of the vehicle. preferable.

  According to the present invention, when the braking operation amount of the driver increases after the braking force of the vehicle is reduced, the vehicle braking state intended by the driver is achieved by stopping the braking force reduction control. be able to. For example, when there is a vehicle start not intended by the driver, the vehicle can be brought into a braking state intended by the driver, and appropriate braking control can be performed.

  In the braking control device according to the present invention, it is preferable that the braking control means controls the braking force of the vehicle so that the acceleration of the vehicle does not exceed a predetermined acceleration.

  According to the present invention, by restricting the braking force applied to the vehicle so that the acceleration of the vehicle does not exceed a predetermined acceleration, the vehicle driver can be prevented from feeling uncomfortable with the driving operation.

  The braking control device according to the present invention includes a vehicle speed detecting means for determining whether or not the vehicle speed of the vehicle has reached a brake noise generation upper limit speed when the vehicle is running, and the vehicle speed is detected by the vehicle speed detecting means. And braking control means for controlling the braking force of the vehicle so that the deceleration of the vehicle increases regardless of the amount of brake operation by the driver when it is determined that the brake noise generation upper limit speed has been reached. ing.

  In this braking control device according to the present invention, the braking control means reduces the vehicle regardless of the amount of brake operation by the driver when the vehicle speed detecting means determines that the vehicle speed has reached the upper limit speed at which the brake noise is generated. It is preferable to control the braking force of the vehicle so that the speed is equal to or greater than a predetermined deceleration.

  According to the present invention, when the vehicle speed reaches the brake noise generation upper limit speed during braking of the vehicle, the braking force of the vehicle is set so that the deceleration of the vehicle is equal to or greater than the predetermined deceleration regardless of the amount of brake operation by the driver. To control. Thereby, the deceleration of the vehicle can be made equal to or greater than the predetermined deceleration, and the time during which the vehicle travels in the speed region where the brake noise occurs can be shortened. Therefore, it is possible to suppress the occurrence of brake noise when the vehicle is stopped.

  In the braking control device according to the present invention, the braking control means stops the increase control of the braking force when the braking operation amount of the driver decreases after increasing the braking force of the vehicle. Is preferred.

  According to the present invention, after the braking force of the vehicle is increased, the increase control of the braking force is stopped when the brake operation amount of the driver becomes small. Thereby, it can be set as the vehicle running state which a driver | operator intends.

  In the braking control device according to the present invention, it is preferable that the braking control means controls the braking force of the vehicle so that the deceleration of the vehicle does not exceed a predetermined deceleration.

  According to the present invention, by restricting the braking force applied to the vehicle so that the deceleration of the vehicle does not exceed a predetermined deceleration, the vehicle driver can be prevented from feeling uncomfortable with the driving operation.

  According to the present invention, it is possible to suppress the occurrence of brake noise by shortening the time during which the vehicle travels in a speed region where brake noise occurs.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.
(First embodiment)
FIG. 1 is a schematic configuration diagram of a braking control apparatus according to a first embodiment of the present invention.

  As shown in FIG. 1, a braking control device 1 according to this embodiment is mounted on a vehicle capable of creeping, and includes an ECU (Electronic Control Unit) 2, a brake operation amount detection unit 3, a vehicle speed detection unit 4, and a braking unit 5. It is configured with. A vehicle on which the braking control device 1 is mounted includes, for example, an automatic transmission, and creeps by loosening a brake pedal from a stopped state.

  The ECU 2 is an electronic control unit that performs control processing of the entire apparatus, and includes, for example, a CPU, a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like. The ECU 2 functions as a travel determination unit that determines whether or not the vehicle has started from a stopped state when the brake is operated. In addition, when the vehicle starts, the ECU 2 increases the braking force of the vehicle regardless of the driver's brake operation amount so that the vehicle acceleration becomes a predetermined acceleration or higher until the vehicle speed exceeds the brake noise generation upper limit speed. It functions as a braking control means for controlling.

  Further, the ECU 2 functions as a vehicle speed detection unit that determines whether or not the brake operation is performed when the vehicle travels and the vehicle speed of the vehicle reaches the brake noise generation upper limit speed. Furthermore, the ECU 2 controls the braking force of the vehicle regardless of the driver's brake operation amount so that the deceleration of the vehicle becomes equal to or greater than a predetermined deceleration when the vehicle speed reaches the brake noise generation upper limit speed. It also functions as a means.

  The brake operation amount detection unit 3 is a brake operation amount detection means for detecting the brake operation amount of the driver of the vehicle, and for example, a stroke sensor of a brake pedal is used. The brake operation amount detected by the brake operation amount detection unit 3 is input to the ECU 2. The vehicle speed detection unit 4 functions as a vehicle detection unit that detects the traveling speed of the vehicle, that is, the vehicle speed. For example, a vehicle speed sensor is used. Vehicle speed information detected by the vehicle speed detector 4 is input to the ECU 2.

  The braking unit 5 is a braking unit that brakes the vehicle and operates in response to a control signal from the ECU 2 to increase or decrease the braking force of the vehicle. As the braking unit 5, for example, an electric brake system that operates an actuator according to a brake operation amount of a driver, or a hydraulic brake system using a linear valve is used. Other devices such as a hydraulic brake system using a solenoid valve may be used as long as the braking force of the vehicle can be increased or decreased by receiving a control signal from the ECU 2.

  FIG. 2 is a flowchart showing a braking control process in the braking control apparatus 1 according to the present embodiment. A series of control processes in FIG. 2 are repeatedly executed at a predetermined cycle by the ECU 2, for example.

  First, as shown in S10 of FIG. 2, it is determined whether or not the vehicle is in a stopped state, that is, whether or not the vehicle speed V is zero. As the vehicle speed V of the vehicle, a vehicle speed value detected by the vehicle speed detection unit 4 is used. If the vehicle speed V is zero and the vehicle is stopped in S10, it is determined whether or not a brake operation is being performed (S12). Whether or not the brake operation is being performed is determined based on, for example, a detection signal from the brake operation amount detection unit 3 such as a stroke sensor.

  If the brake operation is not performed in S12, the control process is terminated because there is no possibility of generating brake noise. On the other hand, if it is determined in S12 that the brake operation is being performed, it is determined whether or not the vehicle has started from a stopped state, that is, whether or not the vehicle speed V has become greater than zero (S14).

  If it is determined in S14 that the vehicle speed V is not greater than zero, the control process is terminated. On the other hand, if it is determined in S14 that the vehicle speed V is greater than zero, a braking reduction process is performed (S16).

  The braking reduction process is a process of reducing the braking force of the vehicle until the vehicle speed of the vehicle exceeds the brake noise generation upper limit speed Vn regardless of the driver's brake operation amount. For example, the acceleration of the vehicle is calculated based on the vehicle speed value output by the vehicle speed detection unit 4, and a braking control signal is output to the braking unit 5 so that the acceleration is equal to or higher than a predetermined acceleration, thereby controlling the braking force of the vehicle. Is done.

  According to the braking reduction process, when the driver's brake operation amount is large and the vehicle acceleration corresponding to the brake operation amount does not exceed a predetermined acceleration, the vehicle braking force is reduced and the vehicle acceleration is reduced. The acceleration is forcibly exceeded a predetermined acceleration. On the other hand, when the driver's brake operation amount is small and the vehicle acceleration corresponding to the brake operation amount is equal to or higher than a predetermined acceleration, the braking force of the vehicle is not reduced. In this case, the acceleration of the vehicle becomes a predetermined acceleration or more without forcibly reducing braking.

  By such braking reduction processing, the acceleration of the vehicle becomes equal to or higher than a predetermined acceleration in a speed region where brake noise occurs. For this reason, the traveling time in the brake noise generation speed region is shortened.

  The brake noise occurrence upper limit speed Vn is a speed value set in advance in the ECU 2, and an upper limit speed in a speed region where creep glean brake noise is generated is set. For example, as the brake noise generation upper limit speed Vn, any speed in the speed range of 1 to 30 cm / second is set. Preferably, any speed in a speed range of 1 to 10 cm / sec is set as the brake noise generation upper limit speed Vn. More preferably, any speed in the speed range of 3 to 8 cm / second is set. By setting the brake noise generation upper limit speed Vn to be low, it is possible to reduce a sense of incongruity during braking control of the vehicle.

  As the predetermined acceleration, an acceleration in a range that does not adversely affect riding comfort and running stability is set.

  In the control reduction process, it is preferable to control the braking force so that the acceleration of the vehicle does not exceed the upper limit acceleration. In this case, by setting the upper limit of the acceleration of the vehicle, it is possible to prevent the driver of the vehicle from feeling uncomfortable with the driving operation.

  Then, the process proceeds to S18, where it is determined whether or not the amount of brake operation by the driver has increased. If it is determined that the amount of brake operation by the driver has increased, the braking control by the braking reduction process is stopped (S20). Then, a series of control processing ends. On the other hand, if it is determined in S18 that the amount of brake operation by the driver has not increased, it is determined whether or not the vehicle speed V exceeds the brake noise occurrence upper limit speed Vn (S22).

  If it is determined in S22 that the vehicle speed V does not exceed the brake noise occurrence upper limit speed Vn, the process returns to S16. On the other hand, when it is determined in S22 that the vehicle speed V has exceeded the brake noise occurrence upper limit speed Vn, the series of control processing is terminated.

  By the way, when the vehicle speed V is not zero and the vehicle is not stopped in S10, it is determined whether or not a brake operation is being performed (S30). Whether or not the brake operation is being performed is determined based on, for example, a detection signal from the brake operation amount detection unit 3 such as a stroke sensor.

  If the brake operation is not performed in S30, there is no possibility of generating brake noise, and the control process is terminated. On the other hand, if it is determined in S30 that the brake operation is being performed, it is determined whether or not the vehicle speed V has become equal to or less than the brake noise generation upper limit speed Vn (S32). If the vehicle speed V is not less than or equal to the brake noise generation upper limit speed Vn, it is determined that the vehicle speed V is not in the brake noise generation speed region, and the series of control processes is terminated. On the other hand, if the vehicle speed V is equal to or lower than the brake noise generation upper limit speed Vn in S32, it is determined that the vehicle speed V is in the brake noise generation speed region, and a braking increase process is performed (S34).

  The braking increase process is a process of increasing the braking force of the vehicle so that the deceleration of the vehicle becomes equal to or greater than a predetermined deceleration regardless of the amount of brake operation by the driver. For example, the acceleration of the vehicle is calculated based on the vehicle speed value output by the vehicle speed detection unit 4, and a braking control signal is output to the braking unit 5 so that the acceleration is equal to or greater than a predetermined deceleration. Be controlled.

  According to this braking increase process, when the driver's brake operation amount is small and the vehicle deceleration corresponding to the brake operation amount does not exceed the predetermined deceleration, the vehicle braking force is increased, and the vehicle The deceleration is forcibly made a predetermined deceleration or more. On the other hand, when the driver's brake operation amount is large and the vehicle deceleration corresponding to the brake operation amount is equal to or greater than a predetermined deceleration, the braking force of the vehicle is not increased. In this case, the deceleration of the vehicle becomes equal to or greater than the predetermined deceleration without forcibly increasing braking.

  By such braking increase processing, the deceleration of the vehicle becomes equal to or greater than a predetermined deceleration in a speed region where brake noise occurs. For this reason, the traveling time in the brake noise generation speed region is shortened.

  As the predetermined deceleration, a deceleration within a range that does not adversely affect riding comfort and running stability is set.

  In the control increase process, it is preferable to control the braking force so that the deceleration of the vehicle does not exceed the upper limit deceleration. In this case, by setting the upper limit of the deceleration of the vehicle, it is possible to suppress the vehicle driver from feeling uncomfortable with the driving operation.

  Then, the process proceeds to S36, where it is determined whether or not the amount of brake operation by the driver has decreased. If it is determined that the amount of brake operation by the driver has decreased, the braking control by the braking increase process is stopped (S38). Then, a series of control processing ends. On the other hand, if it is determined in S36 that the amount of brake operation by the driver has not decreased, it is determined whether or not the vehicle speed V has become zero and the vehicle has stopped (S40).

  If it is determined in S40 that the vehicle speed V is not zero, the process returns to S34. On the other hand, when it is determined in S40 that the vehicle speed V is zero, the series of control processes is terminated.

  As described above, according to the braking control device 1 according to the present embodiment, when the vehicle starts in the brake operation state, the vehicle speed is increased regardless of the driver's brake operation amount until the vehicle speed exceeds the brake noise generation upper limit speed Vn. The braking force of the vehicle is controlled so that the acceleration is equal to or higher than a predetermined acceleration. Thereby, the acceleration of the vehicle can be set to a predetermined acceleration or more, and the time during which the vehicle travels in the speed region where the brake noise is generated can be shortened. Accordingly, it is possible to suppress the occurrence of brake noise of the creep glon when the vehicle starts.

  For example, as shown in FIG. 3, when the brake operation amount is loosened while the vehicle is stopped and the vehicle starts, the acceleration of the vehicle regardless of the brake operation amount of the driver until the vehicle speed exceeds the brake noise generation upper limit speed Vn. The braking force of the vehicle is controlled so that is greater than or equal to a predetermined acceleration. As a result, when braking control is performed (solid line in FIG. 3), the acceleration of the vehicle is larger than when braking control is not performed (broken line in FIG. 3), and the vehicle travels in a speed region where brake noise occurs. Time is reduced from Ta to T1. For this reason, it is possible to suppress the occurrence of brake noise of creep glones when the vehicle starts.

  Further, when the braking operation amount of the driver increases after the braking force of the vehicle is reduced, the vehicle braking state intended by the driver can be achieved by stopping the braking force reduction control. For example, when there is a vehicle start not intended by the driver, the vehicle can be brought into a braking state intended by the driver, and appropriate braking control can be performed.

  Further, according to the braking control device 1 according to the present embodiment, when the vehicle speed becomes the brake noise generation upper limit speed Vn during braking of the vehicle, the vehicle deceleration is reduced by a predetermined amount regardless of the amount of brake operation by the driver. The braking force of the vehicle is controlled so as to exceed the speed. Thereby, the deceleration of the vehicle can be made equal to or greater than the predetermined deceleration, and the time during which the vehicle travels in the speed region where the brake noise occurs can be shortened. Therefore, it is possible to suppress the occurrence of brake noise of creep glones when the vehicle is stopped.

  For example, as shown in FIG. 4, when the vehicle is stopped and the vehicle is stopped as shown in FIG. 4, when the vehicle speed reaches the brake noise generation upper limit speed Vn, the vehicle deceleration is performed regardless of the driver's brake operation amount. The braking force of the vehicle is reduced so that becomes greater than or equal to a predetermined deceleration. As a result, when braking control is performed (solid line in FIG. 4), the vehicle deceleration is larger than when braking control is not performed (broken line in FIG. 4), and the vehicle travels in a speed region where brake noise occurs. Time to be shortened from Tb to T2. For this reason, it is possible to suppress the occurrence of brake noise of creep glones when the vehicle is stopped.

  Further, when the brake operation amount of the driver becomes small after increasing the braking force of the vehicle, the braking force increase control is stopped. Thereby, it can be set as the vehicle running state which a driver | operator intends.

  In the braking control device 1 according to the present embodiment, when the vehicle can perform braking control independently on the front side and the rear side, or when the vehicle can perform braking control independently on four wheels, In the generation speed region (0 <V ≦ Vn), it is preferable to perform braking control without using a brake that easily generates brake noise. In this case, the brake noise can be further reduced by performing braking without using a brake that easily generates brake noise. If the vehicle cannot be controlled at that time, braking may be performed using a brake that generates noise as much as necessary.

Further, in the braking control device 1 according to the present embodiment, when the road surface on which the vehicle travels is a low μ road such as a snowy road, it is preferable that the vehicle stability is given priority and the braking control is turned off.
(Second embodiment)
Next, a braking control device according to a second embodiment of the present invention will be described.

  The braking control device according to the present embodiment has the same hardware configuration as the braking control device 1 according to the first embodiment described above, and performs braking control substantially similar to the braking control device 1 according to the first embodiment. Although executed, the braking control when the vehicle starts is different from the braking control device 1 according to the first embodiment.

  FIG. 5 is a flowchart of a braking control process at the time of vehicle start of the braking control device according to the present embodiment. A series of control processes in FIG. 5 are repeatedly executed at a predetermined cycle by the ECU 2, for example.

  First, as shown in S50 of FIG. 5, it is determined whether or not a brake operation is being performed. Whether or not the brake operation is being performed is determined based on, for example, a detection signal from the brake operation amount detection unit 3 such as a stroke sensor.

  If the brake operation is not performed in S50, there is no possibility of generating brake noise, and the control process is terminated. On the other hand, when it is determined in S50 that the brake operation is being performed, it is determined whether or not the amount of brake operation by the driver has decreased (S52). Whether or not the brake operation amount by the driver is reduced is determined based on a detection signal of the brake operation amount detection unit 3 such as a stroke sensor. If it is determined in S52 that the amount of brake operation by the driver has not decreased, it is determined whether or not the vehicle has started from a stopped state, that is, whether or not the vehicle speed V has become greater than zero (S54). ). If the vehicle speed V is not greater than zero, the control process is terminated.

  On the other hand, when the vehicle speed V is greater than zero in S54, it is determined that the vehicle starts due to an increase in engine output due to an air conditioner operation or the like, and is not a vehicle start due to the driver's intention, and the braking increase process is performed. Performed (S56). The braking increase process is a process in which a braking force larger than the braking force corresponding to the driver's braking operation amount is applied to the brake. Thereby, the vehicle start which a driver | operator does not intend can be suppressed.

  When it is determined in S52 that the amount of brake operation by the driver is decreasing, it is determined whether or not the vehicle has started from a stopped state, that is, whether or not the vehicle speed V has become greater than zero. (S58).

  If it is determined in S58 that the vehicle speed V is not greater than zero, the control process is terminated. On the other hand, if it is determined in S58 that the vehicle speed V is greater than zero, a braking reduction process is performed (S60).

  The braking reduction process is a process for reducing the braking force of the vehicle so that the vehicle acceleration becomes a predetermined acceleration or higher until the vehicle speed of the vehicle exceeds the brake noise generation upper limit speed Vn regardless of the brake operation amount of the driver. This braking reduction process is performed in the same manner as the braking reduction process of S16 described above.

  Then, the process proceeds to S62, where it is determined whether or not the amount of brake operation by the driver has increased. When it is determined that the amount of brake operation by the driver has increased, a braking increase process is performed (S64). The braking increase process is a process of increasing the braking force of the vehicle by outputting a braking increase signal from the ECU 2 to the braking unit 5. In this case, for example, a braking force greater than the braking force corresponding to the driver's brake operation amount is applied to the brake. In some cases, a constant braking force set in advance is applied to the brake.

  On the other hand, if it is determined in S62 that the amount of brake operation by the driver has not increased, it is determined whether or not the vehicle speed V exceeds the brake noise occurrence upper limit speed Vn (S66). If it is determined in S66 that the vehicle speed V does not exceed the brake noise occurrence upper limit speed Vn, the process returns to S60. On the other hand, if it is determined in S66 that the vehicle speed V has exceeded the brake noise occurrence upper limit speed Vn, it is determined whether or not the brake operation amount has decreased (S68). That is, it is determined whether or not the brake operation amount Fb is smaller than the brake operation amount Fa. The brake operation amount Fb is the current brake operation amount, and the brake operation amount Fa is the brake operation amount at the time of S58.

  If it is determined in S68 that the brake operation amount has not decreased, a braking increase process is performed (S70). The braking increase process is a process of increasing the braking force of the vehicle by outputting a braking increase signal from the ECU 2 to the braking unit 5. In this case, for example, a braking force greater than the braking force corresponding to the driver's brake operation amount is applied to the brake. In some cases, a constant braking force set in advance is applied to the brake. This braking increase process can suppress the vehicle from accelerating when the driver does not intend to accelerate the vehicle. On the other hand, if it is determined in S68 that the amount of brake operation is decreasing, the series of control processing ends.

  As described above, according to the braking control device according to the present embodiment, in addition to the same effects as the braking control device according to the first embodiment, the vehicle starts when the driver does not intend to start the vehicle. Can be suppressed. Further, it is possible to prevent the vehicle from accelerating when the driver does not intend to accelerate the vehicle.

  Each embodiment mentioned above shows an example of a braking control device concerning the present invention. The braking control device according to the present invention is not limited to the above-described one, and the braking control device according to the embodiment is modified or applied to another so as not to change the gist described in each claim. It may be.

1 is a schematic configuration diagram of a braking control device according to a first embodiment of the present invention. It is a flowchart which shows the brake control process in the brake control apparatus of FIG. 3 is a graph showing a relationship between a brake operation amount and a vehicle speed in the braking control process of FIG. 2. 3 is a graph showing a relationship between a brake operation amount and a vehicle speed in the braking control process of FIG. 2. It is a flowchart which shows the braking control process of the braking control apparatus which concerns on 2nd embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Brake control apparatus, 2 ... ECU, 3 ... Brake operation amount detection part, 4 ... Vehicle speed detection part, 5 ... Brake part.

Claims (6)

Traveling determination means for determining whether or not the vehicle has started from a stopped state in a state where the brake is operated;
When it is determined by the travel determination means that the vehicle has started, until the vehicle speed of the vehicle exceeds the brake noise generation upper limit speed, the brake noise generation upper limit speed is not less than the brake noise generation upper limit speed. Braking control means for controlling the braking force of the vehicle;
A braking control device comprising:   2. The braking according to claim 1, wherein after the braking force of the vehicle is reduced, the braking control unit stops the braking force reduction control when the amount of brake operation by the driver increases. Control device.   The braking control device according to claim 1, wherein the braking control unit controls the braking force of the vehicle so that the acceleration of the vehicle does not exceed a predetermined acceleration. Vehicle speed detection means for determining whether or not a brake operation has been performed when the vehicle is running and the vehicle speed of the vehicle has reached a brake noise generation upper limit speed;
Braking control for controlling the braking force of the vehicle so that the deceleration of the vehicle increases regardless of the amount of brake operation by the driver when it is determined by the vehicle speed detection means that the vehicle speed has reached the brake noise generation upper limit speed. Means,
A braking control device comprising:   5. The braking control unit according to claim 4, wherein after the braking force of the vehicle is increased, the braking control unit stops the increase control of the braking force when a brake operation amount of the driver becomes small. Braking control device.   6. The braking control device according to claim 4, wherein the braking control means controls the braking force of the vehicle so that the deceleration of the vehicle does not exceed a predetermined deceleration.

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