JP2012071666A - 車両用ブレーキ装置 - Google Patents
車両用ブレーキ装置 Download PDFInfo
- Publication number
- JP2012071666A JP2012071666A JP2010217417A JP2010217417A JP2012071666A JP 2012071666 A JP2012071666 A JP 2012071666A JP 2010217417 A JP2010217417 A JP 2010217417A JP 2010217417 A JP2010217417 A JP 2010217417A JP 2012071666 A JP2012071666 A JP 2012071666A
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- JP
- Japan
- Prior art keywords
- braking force
- regenerative
- hydraulic
- brake
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Images
Classifications
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Fluid Mechanics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
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Abstract
【解決手段】液圧制動力を車輪に付与する液圧ブレーキ装置と、発電電動機に駆動される駆動輪に回生制動力を付与する回生ブレーキ装置と、液圧制動力および回生制動力を協調制御する制動制御装置とを備える車両用ブレーキ装置であって、制動制御装置は、発電電動機に指令した回生要求制動力FRから発電電動機が実行した回生実行制動力FGを減算して差分量DFを演算する手段(S9)と、回生要求制動力FRが発電電動機の実行可能な回生可能制動力FX(FXU、FXL)の範囲内であるか否かを判定する手段(S11)と、差分量DFが正でかつ回生要求制動力FRが回生可能制動力FXの範囲内である場合に液圧制動力FCの増加を抑制する手段(S12)と、を有する。
【選択図】図4
Description
上限回生可能制動力FXU,下限回生可能制動力FXL)
上式で、論理演算記号MEDは、3つの引数のうちの中間値を選択することを意味し、中間値は実際に発生する回生制動力の期待値になる。つまり、回生要求制動力FRが上限回生可能制動力FXUと下限回生可能制動力FXLの間にあれば、回生要求制動力FRどおりの回生制動力の発生を期待できる。また、回生要求制動力FRが上限回生可能制動力FXUを超えていれば、上限回生可能制動力FXUの発生が期待できる。回生要求制動力FRが下限回生可能制動力FXL未満となれば、下限回生可能制動力FXLの発生が期待できる。したがって、制御液圧制動力FCは、目標制御制動力FAから上記の中間値を減算して求められる。
下限回生可能制動力FXLj=回生要求制動力FRi+下限回生可能勾配SLLi
ただし、上限回生可能制動力FXUjについては、回生制動容量CAiで頭切りされる。このようにして順次得られた上下限回生可能制動力FXU、FXLが、図中に破線で示されている。また、順次受信した回生制動容量CAが細い実線で示されている。
範囲RG=上限回生可能制動力FXUl−下限回生可能制動力FXLl
=上限回生可能勾配SLUk−下限回生可能勾配SLLk
したがって、時刻tkの回生要求制動力FRkがわずかに変化するだけで、次の時刻tlの回生要求制動力FRlが回生可能制動力FXの範囲RGから逸脱するおそれがある。また、仮に時刻tmにおける回生要求制動力FRmの回生要求勾配SLRが所定の第2勾配よりも大きいと、図示されるように次の時刻tnの回生要求制動力FRnが大きく変化して上限回生可能制動力FXUnと下限回生可能制動力FXLnの範囲から逸脱するおそれがある。さらに、時刻tpで回生要求制動力FRpが回生制動容量CAに一致するが、前の時刻toにおいて、回生制動容量CAoから回生要求制動力FRoを減算した回生余力RHが所定余力よりも小さくなっている。したがって、時刻toの時点で、次の時刻tpの回生要求制動力FRpが回生制動容量CAを超過するおそれを予測できる。
21:ブレーキペダル(ブレーキ操作部材) 21a:ペダルストロークセンサ
22:負圧式ブレーキブースタ 23:マスタシリンダ 24:リザーバ
25:液圧制御ユニット 31、41:液圧制御弁
32、33、42、43:増圧制御弁 35、36、45、46:減圧制御弁
34、44:調圧リザーバ 37、47:ポンプ
50:ハイブリッドECU(制動制御装置)
60:ブレーキECU(制動制御装置)
7FR:前右輪 7FL:前左輪 7RR:後右輪 7RL:後左輪
A:回生ブレーキ装置 B:液圧ブレーキ装置
L1:第1配管経路 L11〜L15:油経路
L2:第2配管経路 L21〜L25:油経路
M:モータ P:圧力センサ
WC1、WC2、WC3、WC4:ホイールシリンダ
FT:全目標制動力 FB:基礎液圧制動力 FA:目標制御制動力
FC:制御液圧制動力 FR:回生要求制動力 FG:回生実行制動力
FX:回生可能制動力 CA:回生制動容量 SL:回生可能勾倍
DF:差分量 DT:時間差
RG:回生可能制動力の範囲 RH:所定余力
Claims (10)
- 液圧制動力(FB、FC)を車輪(7FR、7FL、7RR、7RL)に付与する液圧ブレーキ装置(B)と、前記車輪の中で発電電動機に駆動される駆動輪(7FR、7FL)に回生制動力を付与する回生ブレーキ装置(A)と、ブレーキ操作部材(21)の操作量に応じて、前記液圧ブレーキ装置が付与する液圧制動力および前記回生ブレーキ装置が付与する回生制動力を協調制御する制動制御装置(50,60)と、を備える車両用ブレーキ装置(1)であって、
前記制動制御装置は、
前記発電電動機に指令した回生要求制動力(FR)から前記発電電動機が実行した回生実行制動力(FG)を減算して差分量(DF)を演算する差分量演算手段(S9)と、
前記回生要求制動力が前記発電電動機の実行可能な回生可能制動力(FX)の範囲内であるか否かを判定する回生範囲判定手段(S11)と、
前記差分量が正でかつ前記回生要求制動力が前記回生可能制動力の範囲内である場合に、前記液圧制動力の増加を抑制する液圧抑制手段(S12)と、
を有することを特徴とする車両用ブレーキ装置。 - 液圧制動力を車輪に付与する液圧ブレーキ装置と、前記車輪の中で発電電動機に駆動される駆動輪に回生制動力を付与する回生ブレーキ装置と、ブレーキ操作部材の操作量に応じて、前記液圧ブレーキ装置が付与する液圧制動力および前記回生ブレーキ装置が付与する回生制動力を協調制御する制動制御装置と、を備える車両用ブレーキ装置であって、
前記制動制御装置は、前記ブレーキ操作部材の操作量により定まる全要求制動量(FT)に対する前記回生制動力の比率を減少させるときに、
前記発電電動機に指令した回生要求制動力から前記発電電動機が実行した回生実行制動力を減算して差分量を演算する差分量演算手段と、
前記回生要求制動力が前記発電電動機の実行可能な回生可能制動力の範囲内であるか否かを判定する回生範囲判定手段と、
前記差分量が負でかつ前記回生要求制動力が前記回生可能制動力の範囲内である場合に、前記液圧制動力を増加させる液圧増加手段(S12A)と、
を有することを特徴とする車両用ブレーキ装置。 - 請求項1または2において、
前記制動制御装置は、前記液圧ブレーキ装置を制御する液圧ブレーキ制御部(60)と前記回生ブレーキ装置を制御する回生ブレーキ制御部(50)とが通信手段により機能的に結合されて構成され、前記回生要求制動力と前記回生実行制動力との間に通信遅れに起因する時間差(DT)を有することを特徴とする車両用ブレーキ装置。 - 請求項1〜3のいずれか一項において、
前記液圧ブレーキ装置は、前記ブレーキ操作部材の操作量に応じた基礎液圧を発生するマスタシリンダ(23)と、制御液圧を発生するポンプ(37、47)と、前記基礎液圧に応じた基礎液圧制動力(FB)および前記制御液圧に応じた制御液圧制動力(FC)を加算して前記車輪に付与する液圧制御ユニット(25)とを有し、
前記制動制御装置は、前記基礎液圧制動力と前記回生可能制動力との和が前記ブレーキ操作部材の操作量により定まる全要求制動力を上回る場合に、前記ポンプの駆動を抑制するポンプ抑制手段を有することを特徴とする車両用ブレーキ装置。 - 請求項4において、前記制動制御装置は、
或る時点において前記発電電動機が回生可能な制動力の全量を示す回生制動容量(CA)を特定する回生制動容量特定手段と、
或る時点において前記発電電動機の前記回生可能制動力が変化し得る時間変化率を示す回生可能勾配(SL,SLU,SLL)を特定する回生可能勾配特定手段と、
或る時点における回生要求制動力または回生実行制動力と、回生制動容量と、回生可能勾配とを基にして、次の時点における回生可能制動力(FX、FXU、FXL)の範囲を推定する回生可能範囲推定手段(S7)と、
を有することを特徴とする車両用ブレーキ装置。 - 請求項5において、前記制動制御装置は、所定条件が成立する場合に前記ポンプを駆動するポンプ駆動手段を有することを特徴とする車両用ブレーキ装置。
- 請求項6において、前記所定条件は、前記回生可能勾配が所定の第1勾配よりも小さいときであることを特徴とする車両用ブレーキ装置。
- 請求項6または7において、前記所定条件は、前記回生制動容量から前記回生要求制動力を減算した回生余力(RH)が所定余力よりも小さいときであることを特徴とする車両用ブレーキ装置。
- 請求項6〜8のいずれか一項において、前記所定条件は、前記回生要求制動力の時間変化率を示す回生要求勾配が所定の第2勾配よりも大きいときであることを特徴とする車両用ブレーキ装置。
- 請求項1〜9のいずれか一項において、前記制動制御装置は、前記発電電動機に前記回生要求制動力を要求したのち所定の遅延時間(DT)を経過しても前記回生実行制動力が発生していないときに、前記液圧制動力を増加させるバックアップ手段を有することを特徴とする車両用ブレーキ装置。
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