JP2013129363A - Brake control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a brake control device capable of securing stroke at the initial stage of pressing a brake pedal.SOLUTION: A brake control device includes: a brake operation amount detecting part (a pressing force sensor 16) for detecting an operation amount of a brake pedal 1 by a driver; a hydraulic pressure control unit 19 for driving a gear pump 10 for boosting wheel cylinder hydraulic pressure by sucking a brake liquid in a master cylinder 3 that operates along with the brake pedal 1 on the basis of an increase in the detected operation amount of the brake pedal 1; a stroke generating device 2 for generating an operation stroke of a predetermined amount of the brake pedal 1 at the initial stage of operating the brake pedal 1; and a control unit 20 for starting drive of the gear pump 10 during the operation stroke of the predetermined amount.

Description

  The present invention relates to a brake control device.

  In a conventional brake control device, when a pedaling force sensor that detects a driver's brake operating force (stepping force) detects a predetermined pedaling force, the hydraulic pump is operated to supply hydraulic pressure equivalent to an idle stroke of the brake pedal. That is, by narrowing the gap between the brake pad and the disc rotor, the idle stroke is reduced and the braking operation feeling is improved. An example related to the technique described above is described in Patent Document 1.

JP 2010-247793 A

In a system that does not have a booster and boosts the brake fluid supplied from the master cylinder and supplies it to the wheel cylinder, there is a need for ensuring the initial stroke of the brake pedal.
An object of the present invention is to provide a brake control device that can secure an initial stroke when the brake pedal is depressed.

  In the brake control device of the present invention, the operation stroke generation unit generates a predetermined amount of operation stroke in the initial operation of the brake operation member, and the actuator drive control unit starts driving the pump between the predetermined amount of operation strokes.

  Therefore, in the brake control device of the present invention, it is possible to ensure an initial stroke when the brake pedal is depressed.

It is a block diagram of the brake control apparatus of Example 1. 1 is a schematic diagram of a stroke generation device 2 of Embodiment 1. FIG. 3 is a flowchart illustrating a flow of a brake fluid pressure control process during normal braking executed by the control unit 20 according to the first embodiment. It is a target wheel cylinder pressure setting map according to brake pedal operating force. 3 is a diagram illustrating a control method of each valve and a motor 11. FIG. 3 is a control characteristic diagram of the gate-in valve 8. FIG. 4 is a control characteristic diagram of the gate-out valve 9. FIG. 3 is a time chart illustrating an initial stroke ensuring action when the brake pedal is depressed in the first embodiment. It is a block diagram of the brake control apparatus of Example 2. 6 is a flowchart showing a flow of a brake fluid pressure control process during normal braking executed by the control unit 20 of the second embodiment. It is a time chart which shows the initial stroke ensuring effect | action at the time of brake pedal depression of Example 2. FIG.

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing the brake control apparatus of this invention is demonstrated based on the Example shown on drawing.
In addition, the Example described below is examined so that it can adapt to many needs, and it is one of the needs examined that the stroke of the pedal depression initial stage can be ensured. In the following embodiments, the need for realizing a good braking operation feeling is also met.

[Example 1]
First, the configuration will be described.
[System configuration]
FIG. 1 is a configuration diagram of the brake control device according to the first embodiment. The brake control device according to the first embodiment includes a brake pedal (brake operation member) 1, a stroke generation device (operation stroke generation unit) 2, a master cylinder 3, a reservoir tank 4, a wheel cylinder 5, a pressure increase control valve 6, and a pressure reduction control valve. 7, gate-in valve 8, gate-out valve 9, gear pump (pump) 10, motor 11, internal reservoir 12, master cylinder pressure sensor 13, check valve 14, internal pressure sensor 15, pedal force sensor (brake operation amount detector) 16 And a control unit (actuator drive controller) 20. Here, the pressure increase control valve 6, the pressure reduction control valve 7, the gate-in valve 8, the gate-out valve 9, the gear pump 10, the motor 11, the internal reservoir 12, the master cylinder pressure sensor 13, the check valve 14 and the internal pressure sensor 15 are A hydraulic pressure control unit (hydraulic actuator) 19 is provided.
In the figure, “a” attached to the end of the reference numeral represents a left front wheel, “b” represents a right front wheel, “c” represents a left rear wheel, and “d” represents a right rear wheel. P represents the P system and S represents the S system. In the following description, when it is not necessary to indicate each individually, the a, b, c, d, P, and S at the end of the code are omitted.

The brake pedal 1 transmits an operation force (depression force) for the driver's brake pedal 1 to the stroke generation device 2.
The stroke generator 2 transmits the force transmitted from the brake pedal 1 to the master cylinder 3, and the stroke when the brake pedal is initially depressed (10-20mm, pedal stroke equivalent to so-called jump-in in a system using a negative pressure booster) Is generated. Details of the stroke generation device 2 will be described later.
The master cylinder 3 generates a hydraulic pressure (= master cylinder pressure) proportional to the force applied from the stroke generating device 2.
The reservoir tank 4 stores brake fluid necessary for the system.
The wheel cylinder 5 converts the input brake fluid pressure into a thrust, and generates a friction braking force by pushing the disc rotor through a brake pad of the disc brake (not shown).
The pressure increase control valve 6 is a normally open type solenoid valve that opens and closes by a command current from the control unit 20 and supplies the master cylinder pressure or pump pressure supplied to the pressure increase control valve 6 to the wheel cylinder 5. Or perform an action to shut off. A check valve 17 provided in parallel with the pressure increase control valve 6 functions to release the wheel cylinder pressure to the master cylinder 3 when the wheel cylinder pressure> the master cylinder pressure.
The pressure reduction control valve 7 is a normally closed electromagnetic valve, and performs an opening / closing operation by a command current from the control unit 20 to supply or shut off the wheel cylinder pressure to the internal reservoir 12.

The gate-in valve 8 is a normally-closed proportional solenoid valve that opens and closes in response to a command current from the control unit 20 and performs an operation of intermittently connecting between the intake side of the master cylinder 3 and the gear pump 10 and the internal reservoir 12. At the same time, by changing the opening degree, the increase / decrease in the master cylinder pressure when supplying brake fluid from the master cylinder 3 to the suction side of the gear pump 10 and the internal reservoir 12 is adjusted.
The gate-out valve 9 is a normally-open proportional solenoid valve that opens and closes in response to a command current from the control unit 20, and intermittently operates between the discharge side of the master cylinder 3 and the gear pump 10 and the pressure increase control valve 6. I do. The check valve 18 provided in parallel with the gate-out valve 9 controls the master cylinder pressure when the master cylinder pressure> (pressure on the discharge side of the gear pump 10) and pressure increase control on the discharge side of the gear pump 10. It works to tell the valve 6 side.
The gear pump 10 is driven by the motor 11 to scrape the brake fluid in the internal reservoir 12 to the master cylinder 3 side, or sucks the brake fluid from the master cylinder 3 through the gate-in valve 8 and discharges it to the wheel cylinder 5 side.
The rotation speed of the motor 11 is controlled by a command current from the control unit 20, and the gear pump 10 is driven.
The internal reservoir 12 stores brake fluid sent via the pressure reducing control valve 7 or brake fluid sent from the master cylinder 3 via the gate-in valve 8.
The master cylinder pressure sensor 13 detects the master cylinder pressure and inputs the detected value to the control unit 20.
The check valve 14 prevents the backflow of brake fluid from the master cylinder 3 side to the discharge side of the gear pump 10.
The internal pressure sensor 15 detects the pressure on the discharge side of the gear pump 10 and inputs the detected value to the control unit 20.
The pedal force sensor 16 detects the driver's operation force (step force) applied to the brake pedal 1 and inputs the detected value to the control unit 20. The pedaling force sensor 16 is a strain detection device that is attached to the brake pedal 1 and detects the amount of deformation of the brake pedal 1 in accordance with the driver's operating force.
In addition to the detection values sent from the master cylinder pressure sensor 13, the internal pressure sensor 15 and the treading force sensor 16, the control unit 20 includes information on the running state sent from the vehicle (for example, wheel speed of each wheel, vehicle lateral acceleration, Yaw rate etc.) is input. The control unit 20 controls the pressure-increasing control valve 6, the pressure-reducing control valve 7, the gate-in valve 8, the gate-out valve 9, and the motor 11 based on a built-in program, so that the normal braking according to the driver's brake operation is performed The brake fluid pressure control for the automatic braking control for increasing / decreasing or maintaining the wheel cylinder pressure according to the state of the wheel and the vehicle behavior is performed. The automatic braking control is, for example, ABS control, TCS control, vehicle behavior stabilization control, or the like.
The brake control device according to the first embodiment is a system that does not have a booster that boosts the brake operation force of the driver. For this reason, in brake fluid pressure control during normal braking, the driver's operating force (pedal operating force) applied to the brake pedal 1 is detected by the pedal force sensor 16, and the brake fluid supplied from the master cylinder 3 is increased by the gear pump 10. By increasing the pressure of the wheel cylinder 5, a desired boost ratio is realized.

[Stroke generator]
FIG. 2 is a schematic diagram of the stroke generation device 2 according to the first embodiment.
The stroke generating device 2 includes a piston 25, a cylinder 26, a coil spring 27, and a stopper 28.
The piston 25 is in contact with the brake pedal 1 at the end surface 25a, and pedal operation force is input through the end surface 25a. The other end face 25 b of the piston 25 is in contact with the coil spring 27 and transmits pedal operation force to the coil spring 27. The stopper 28 is fixed to the piston 25, and a clearance CL is provided between the end surface 28a and the end surface 26a of the cylinder 26 in a state where no pedal operating force is applied. When the pedal operating force is applied, the coil spring 27 is compressed by the pedal operating force, the distance between the end surface 28a and the end surface 26a of the cylinder 26 is shortened, and finally, the end surface 28a and the end surface 26a abut, The pedal operating force is transmitted to the cylinder 26 through the stopper 28.
The cylinder 26 is in contact with the master cylinder 3 at the end face 26b, and transmits the pedal operating force transmitted through the coil spring 27 or the stopper 28 built in the cylinder hole 26d to the master cylinder 3.
The coil spring 27 is in contact with the end surface 25b of the piston 25 and the inner surface 26c of the cylinder 26, and receives the pedal operation force applied from the end surface 25b of the piston 25 and compresses it, so that the pedal operation force is applied to the brake pedal 1. The brake pedal stroke is generated and the pedal operating force is transmitted to the cylinder 26 via the inner surface 26c of the cylinder 26.

Here, the clearance CL between the end face 28a of the stopper 28 and the end face 26a of the cylinder 26 is the so-called system in the system using the brake pedal initial stroke (10 to 20 mm (= L1), negative pressure booster). Set to a value corresponding to the pedal stroke equivalent to jump-in). Specifically, if the pedal ratio (brake pedal 1 lever ratio) is r, CL is set as follows.
Set to the value calculated by CL = L1 / r.
Further, the set load ST and the spring constant k of the coil spring 27 are set to values corresponding to the initial pedal operating force when the brake pedal is depressed. That is, if the operating force at the start of depressing the brake pedal is F0 (= the so-called invalid pedaling force, the brake pedal stroke occurs when the operating force exceeds F0), and the pedal operating force at the initial stroke L1 is F1, ST, k Is set as follows.
ST = F0 × r
k = (F1-F0) × r / CL
When the maximum stroke of the brake pedal 1 is Lmax, a value calculated by Lmax−L1 is used as a stroke when the master cylinder 3 discharges the brake fluid. Therefore, when the initial stroke L1 increases, the stroke when the master cylinder 3 discharges brake fluid decreases, the discharge fluid volume decreases (the fluid volume sent to the wheel cylinder 5 decreases), and the maximum value of the wheel cylinder pressure. Will be reduced.
In the stroke generating device 2 according to the first embodiment, the generated initial stroke L1 is limited to a small value of about 10 to 20 mm by the action of the stopper 28, so that a reduction in the maximum value of the wheel cylinder pressure can be suppressed. .

[Brake fluid pressure control processing]
FIG. 3 is a flowchart showing the flow of the brake fluid pressure control process during normal braking executed by the control unit 20 of the first embodiment. Each step will be described below.
In step s301, the detection values sent from the master cylinder pressure sensor 13, the internal pressure sensor 15, and the pedaling force sensor 16 are read.
In step s302, the target wheel cylinder pressure is calculated from the target wheel cylinder pressure setting map corresponding to the brake pedal operating force shown in FIG. As shown in FIG. 4, the target wheel cylinder pressure has a characteristic of increasing linearly with respect to the pedal operating force. However, when the pedal operating force is a pedal operating force F0 to F1 corresponding to a predetermined amount of initial stroke, the so-called target wheel cylinder pressure Set to output hydraulic pressure equivalent to jump-in (deceleration equivalent to 0.1G, circled in the figure). Here, the predetermined initial stroke is set to be less than half (for example, about 1/5) of the entire stroke of the brake pedal 1. This is because the initial stroke is reduced to suppress the decrease in the maximum value of the wheel cylinder pressure.
In step s303, based on the target wheel cylinder pressure, each valve and the motor 11 are controlled using any one of methods 1 to 4 shown in FIG.
1 Wheel cylinder pressure increase When the pressure of the wheel cylinder 5 is increased, when the pressure of the master cylinder 3 is increased, the gate-in valve 8 is opened, the gate-out valve 9 is controlled by the wheel cylinder hydraulic pressure, and the motor 11 is driven (ON). The gate-in valve 8 is controlled so as to reduce the opening. On the other hand, when depressurizing the master cylinder 3, the gate-in valve 8 is opened, the gate-out valve 9 is controlled by the wheel cylinder hydraulic pressure, and the motor 11 is driven. The gate-in valve 8 is controlled to open the opening.
2 Maintaining wheel cylinder pressure To maintain the wheel cylinder pressure, close both the gate-in valve 8 and the gate-out valve 9 and stop the motor 11 (OFF).
3 Wheel cylinder decompression When decompressing the wheel cylinder 5, the gate-in valve 8 is closed, the gate-out valve 9 is controlled by the wheel cylinder hydraulic pressure, and the motor 11 is stopped.
4 Non-control Non-control, that is, when the target wheel cylinder pressure = 0, the gate-in valve 8 is closed, the gate-out valve 9 is opened, and the motor 11 is stopped.

In step s304, it is determined whether or not the wheel cylinder pressure detected by the internal pressure sensor 15 substantially matches the target wheel cylinder pressure. If YES, the process proceeds to return, and if NO, the process proceeds to step s303.
The control characteristics of the gate-in valve 8 are shown in FIG.
The gate-in valve 8 is a proportional solenoid valve, and the opening degree can be changed according to the current value. Therefore, the gate-in valve 8 operates to intermittently connect between the master cylinder 3 and the suction side of the gear pump 10 and the internal reservoir 12, and the opening degree Thus, it is possible to adjust the increase / decrease in the master cylinder pressure when supplying brake fluid from the master cylinder 3 to the suction side of the gear pump 10 and the internal reservoir 12. As a result, for example, when the brake fluid supplied from the master cylinder 3 is increased by the gear pump 10, the occurrence of a decrease in the operation reaction force of the brake pedal 1 due to a decrease in the master cylinder pressure (so-called stepping-off feeling) is suppressed. Ensure a comfortable pedal feel.
The control characteristics of the gate-out valve 9 are shown in FIG.
FIG. 7 shows the control characteristics of the gate-out valve 9 when the motor 11 is turned on and the brake fluid discharged from the gear pump 10 is received and controlled. The valve control pressure (in this case, the wheel cylinder pressure) is determined according to the current value. Match). Therefore, the wheel cylinder pressure, that is, the brake fluid pressure during normal braking can be controlled by turning on the motor 11 and controlling the current value based on the characteristics shown in FIG.

Next, the operation will be described.
[Securing initial stroke]
In the conventional brake control device, when the pedal operation force of the driver reaches a predetermined value, the hydraulic pump is operated to supply the hydraulic pressure equivalent to the idle stroke of the brake pedal, thereby reducing the idle stroke and the braking operation feeling. Has improved.
However, when the above configuration is applied to a system that does not have a booster, the wheel cylinder pressure rises by the pump pressure increase before the master cylinder pressure rises, so that the wheel cylinder pressure> master cylinder pressure, and the brake pedal at the initial stage when the brake pedal is depressed Becomes heavy (provides a so-called treading feeling), and pedal feeling may be deteriorated. In particular, when the driver depresses the brake pedal quickly, this phenomenon becomes prominent due to the operation delay of the pump (the gate-in valve and the gate-out valve in the first embodiment).
On the other hand, in the brake control device of the first embodiment, the stroke generation device 2 that absorbs the initial stroke (10 to 20 mm) of the brake pedal is provided. The stroke generation device 2 is provided between the brake pedal 1 and the master cylinder 3, and can absorb the initial stroke without depending on the relationship between the master cylinder pressure and the wheel cylinder pressure. Therefore, even when the wheel cylinder pressure is higher than the master cylinder pressure by driving the gear pump 10, the initial stroke can be secured and the feeling of stepping on the plate can be reduced, so that a good pedal feeling can be realized. The stroke generating device 2 reduces the coil spring 27 to reduce the initial stroke of a predetermined amount (10 to 20 mm) when a pedal operating force is input to the piston 25 sliding in the cylinder hole 26d of the cylinder 26. Since it absorbs, the operation stroke production | generation part which absorbs a brake pedal initial stroke with a simple structure is realizable.

Further, in the first embodiment, the initial stroke of the brake pedal 1 is detected and a preset deceleration (0.1 G) is generated during the initial stroke, so that the wheel cylinder pressure is equivalent to jump-in according to the driver operation. It can be controlled to an appropriate value, and a good braking operation feeling can be realized.
In the first embodiment, the pedal operation force (step force) of the driver is detected by the pedal force sensor 16 attached to the brake pedal 1, and when the detected brake operation force is between F0 and F1, a preset deceleration ( 0.1G) is generated. When the driver depresses the brake pedal 1, a pedal stroke is generated by the pedal operation force, and the master cylinder pressure rises according to the pedal stroke. In other words, by detecting the pedal operating force acting on the brake pedal 1 to which the driver's operating force is directly input, the pedal stroke can be detected quickly and accurately, so that it is possible to realize brake fluid pressure control with little response delay. At the same time, an appropriate deceleration according to the pedal operation force can be provided. Furthermore, the relationship between the pedal operation force and the stroke can be maintained, and the pedal feel is improved.
Further, since the pedal force sensor 16 is a strain detection device that detects the deformation amount of the brake pedal 1 according to the driver's operating force, a minute pedal operating force can be detected, and the controllability of the brake hydraulic pressure control is improved.

FIG. 8 is a time chart showing the initial stroke ensuring action when the brake pedal of the first embodiment is depressed.
At time t0, the depression of the brake pedal 1 is started, and then the control of the motor 11, the gate-in valve 8, and the gate-out valve 9 is started based on the operation force of the driver detected by the pedal force sensor 16, and the wheel cylinder 5 Pressure increase is started. Since the motor 11, that is, the gear pump 10 starts to operate immediately after the start of the depression, the brake fluid pressure control with a small response delay can be realized. Thereafter, the wheel cylinder pressure is controlled according to the map shown in FIG.
At time t1, the pedal operating force reaches F0, and thereafter, the stroke generating device 2 can ensure the initial depression of the brake pedal 1 even though the wheel cylinder pressure> the master cylinder pressure.
From time t1 to t2, the wheel cylinder pressure is controlled to be equivalent to jump-in.
At time t2, the pedal operating force is F1, so the stroke of the brake pedal 1 due to the action of the stroke generating device 2 is the initial stroke L1 of the brake pedal depression. At this time, in the stroke generating device 2, the end surface 28a of the stopper 28 and the end surface 26a of the cylinder 26 are in contact with each other, and thereafter, the brake pedal stroke due to the action of the stroke generating device 2 is not generated, and the gear pump from the master cylinder 3 is generated. Depending on the amount of brake fluid supplied to 10 and increased in pressure, the brake pedal stroke will occur. Thereafter, the characteristic (input / output characteristic) of the target wheel cylinder pressure with respect to the pedal operating force is maintained linearly.

Next, the effect will be described.
The brake control device according to the first embodiment has the following effects.
(1) A brake operation amount detection unit (stepping force sensor 16) that detects the operation amount of the brake pedal 1 by the driver, and a master that operates in conjunction with the brake pedal 1 based on the detected increase in the operation amount of the brake pedal 1. A hydraulic pressure control unit 19 that drives the gear pump 10 to suck in the brake fluid in the cylinder 3 and increase the wheel cylinder pressure, and a stroke generation that generates a predetermined amount of operation stroke of the brake pedal 1 at the initial operation of the brake pedal 1 The apparatus 2 and a control unit 20 that starts driving the gear pump 10 during a predetermined amount of operation stroke are provided.
Therefore, the brake pedal initial stroke can be secured, and a good pedal feeling can be realized by reducing the feeling of stepping on the plate.
(2) The control unit 20 controls the hydraulic pressure control unit 19 so that a preset deceleration (0.1 G) is generated for the vehicle when the brake pedal 1 makes a predetermined amount (10 to 20 mm) stroke. .
Therefore, the wheel cylinder pressure can be controlled to an appropriate value corresponding to jump-in according to the driver operation, and a good braking operation feeling can be realized.

(3) The stroke generating device 2 is provided between the brake pedal 1 and the master cylinder 3.
Therefore, even when the master cylinder pressure is lower than the wheel cylinder pressure, the brake pedal initial stroke can be secured.
(4) The brake operation amount detection unit is a pedaling force sensor 16 that detects a pedaling force acting on the brake pedal 1, and the control unit 20 detects whether the detected pedaling force detects a preset pedaling force. The hydraulic pressure control unit 19 is controlled so as to generate a preset deceleration.
Therefore, since the pedal stroke can be detected quickly and accurately, it is possible to realize the brake hydraulic pressure control with a small response delay and to provide an appropriate deceleration according to the pedal operation force.
(5) The pedal force sensor 16 is attached to the brake pedal 1.
Therefore, since the pedal operation force input to the brake pedal 1 can be directly detected, it is possible to realize the brake hydraulic pressure control with a small response delay and to provide an appropriate deceleration according to the pedal operation force.

[Example 2]
FIG. 9 is a configuration diagram of the brake control device of the second embodiment. In the second embodiment, the stroke generating device 2 is eliminated and a stroke sensor 21 is added to the configuration of the first embodiment shown in FIG. And the control of the gate-in valve 8 is different in that the initial stroke of the brake pedal is ensured.
The stroke sensor 21 detects a brake pedal stroke based on an operation of a driver applied to the brake pedal 1 and inputs the detected value to the control unit 20. In addition, in FIG. 9, about the member to which the code | symbol same as FIG. 1 is attached | subjected, since it has the same structure and effect | action, description is abbreviate | omitted.

[Brake fluid pressure control processing]
FIG. 10 is a flowchart showing the flow of the brake hydraulic pressure control process during normal braking executed by the control unit 20 of the second embodiment. Each step will be described below.
In step s1001, detection values sent from the master cylinder pressure sensor 13, the internal pressure sensor 15, the treading force sensor 16, and the stroke sensor 21 are read.
In step s1002, it is determined whether the brake pedal operating force> 0 and brake pedal stroke ≦ the brake pedal depression initial stroke L1. If YES, the process proceeds to step s1003, and if NO, the process proceeds to step s1007.
In step s1003, the gate-in valve 8 is opened.
In step s1004, the target wheel cylinder pressure is calculated from the target wheel cylinder pressure setting map corresponding to the brake pedal operating force (depressing force) shown in FIG.
In step s1005, based on the target wheel cylinder pressure, each valve and the motor 11 are controlled using the method shown in FIG.
In step s1006, it is determined whether or not the wheel cylinder pressure detected by the internal pressure sensor 15 substantially matches the target wheel cylinder pressure. If YES, the process proceeds to return, and if NO, the process proceeds to step s1005.
In step s1007, the processing shown in steps s302 to s304 in FIG. 3 is performed. The contents of the process are the same as in FIG.

Next, the operation will be described.
[Securing the initial stroke of the brake pedal]
FIG. 11 is a time chart illustrating the initial stroke ensuring action when the brake pedal is depressed according to the second embodiment.
When the depression of the brake pedal 1 starts at the time t0, the gate-in valve 8 opens (the dotted circle indicated by the arrow A in the gate-in valve current in FIG. 11), and the master cylinder is depressed by the depression of the brake pedal 1. The brake fluid supplied from 3 can be stored in the internal reservoir 12, and the initial stroke of the brake pedal 1 can be secured by the amount of liquid stored in the internal reservoir 12. That is, in the second embodiment, the operation stroke generating unit is configured in software by controlling the amount of brake fluid flowing out from the master cylinder 3 by the gate-in valve 8 in the internal reservoir 12.
After the time point t1 ′, when the stroke of the brake pedal 1 becomes longer than L1, the gate-in valve 8 is controlled by the normal method shown in FIG. As a result, the storage of the brake fluid supplied from the master cylinder 3 in the internal reservoir 12 is suppressed, and the stroke when the brake pedal is initially depressed can be set to an appropriate value, so that the same effects as those of the first embodiment are obtained. be able to.
Further, in the second embodiment, since the same effect can be obtained without the mechanical operation stroke generating unit, the cost effect can be enhanced as compared with the first embodiment having the mechanical stroke generating device 2. .

[Other Examples]
As mentioned above, although the form for implementing this invention was demonstrated based on the Example, the concrete structure of this invention is not limited to the structure shown in the Example, and is the range which does not deviate from the summary of invention. Any design changes are included in the present invention.
For example, in the embodiment, the example in which the pedal force sensor is attached to the brake pedal is shown, but the pedal force sensor may be attached to a bracket (support member) that attaches the brake pedal to the vehicle body.

Hereinafter, technical ideas other than the invention described in the scope of claims understood from the embodiments will be described.
(a) In the brake control device according to claim 5,
The brake control device, wherein the pedal force sensor is a strain detection device that detects a deformation amount of the brake operation member or a support member that supports the brake operation member on a vehicle body.
Therefore, the microdeformation can be detected by the strain detection device, and the controllability is improved.
(b) The brake control device according to claim 4,
The brake control device according to claim 1, wherein the preset pedaling force is set to be generated when the brake operation member has stroked a predetermined amount.
Therefore, the relationship between the pedaling force and the stroke can be maintained, and the pedal feel is improved.

(c) The brake control device according to claim 1,
The operation stroke generation unit
A piston member having one end connected to one side of a brake pedal or a master cylinder as the brake operation member; and a cylinder hole into which the other end of the piston member is inserted; and the other side of the brake pedal or the master cylinder; A cylinder member to be connected;
A spring provided between the bottom of the cylinder hole and the end face of the piston member;
A stopper member provided in contact with the cylinder hole opening end surface of the piston member and the cylinder member;
With
A brake control device, wherein a clearance for obtaining the predetermined amount of stroke is formed between the stopper member and the cylinder hole opening end surface.
Therefore, the operation stroke generation unit can be realized with a simple configuration.
(d) In the brake control device according to (c),
CL = L1 / r where CL is the clearance, L1 is the predetermined stroke, and r is the ratio between the distance between the fulcrum and the force point of the brake pedal and the distance between the fulcrum and the action point. A brake control device that is set to have a relationship.
Therefore, it is possible to easily set an appropriate initial stroke.

(e) The brake control device according to claim 1,
The brake control device according to claim 1, wherein the predetermined amount of stroke is set to half or less of a total stroke amount set in the brake operation member.
Therefore, the fall of the maximum value of wheel cylinder pressure can be suppressed by setting an initial stroke small.
(f) The brake control device according to claim 1,
A reservoir provided in the hydraulic actuator and capable of storing brake fluid flowing out of the master cylinder;
A gate-in valve provided between the master cylinder and the reservoir;
With
The said stroke production | generation part is comprised by controlling the storage amount to the said reservoir of the brake fluid which flowed out from the master cylinder with the said gate-in valve, The brake control apparatus characterized by the above-mentioned.
Therefore, the same effect can be obtained by eliminating the mechanical operation stroke generation unit, and the cost effect can be enhanced.

(g) a brake operation amount detection unit for detecting the operation amount of the brake operation member by the driver;
A hydraulic actuator that drives a pump to suck in brake fluid in a master cylinder that operates in conjunction with the brake operation member based on the detected increase in the operation amount of the brake operation member and to increase the wheel cylinder hydraulic pressure When,
An operation stroke generator provided between the brake operation member and the master cylinder for generating a predetermined amount of operation stroke of the brake operation member at the initial operation of the brake operation member;
A stroke control unit that drives the hydraulic actuator to perform stroke control of the brake operation member when the stroke is less than the predetermined amount;
A hydraulic pressure control unit that drives the hydraulic actuator to control the wheel cylinder hydraulic pressure when the stroke is equal to or greater than the predetermined amount of stroke;
A brake control device comprising:
Therefore, it is possible to achieve both the reduction of the feeling of stepping on the plate by the stroke control and the implementation of the hydraulic pressure control by the hydraulic pressure control unit.
(h) In the brake control device according to (g),
The brake control device, wherein the actuator drive control unit controls the hydraulic actuator such that a deceleration set in advance with respect to the vehicle is generated when the brake operation member strokes the predetermined amount.
Therefore, it is possible to give an appropriate feeling of deceleration according to the pedal operation force.
(i) In the brake control device according to (g),
The brake operation amount detection unit is a pedal force sensor that detects a pedal force acting on the brake operation member,
The actuator drive control unit controls the hydraulic actuator so that a preset deceleration is generated for the vehicle when the detected pedal force detects a preset pedal force. Control device.
Therefore, an appropriate deceleration can be given.
(j) In the brake control device according to (i),
The pedaling force sensor is a strain detection sensor that is attached to a bracket for attaching the brake operation member or the brake operation member to a vehicle body and detects distortion of the brake operation member or the bracket generated by a driver's brake operation. Brake control device.
Therefore, since the distortion of the brake operation member or the bracket is directly detected, the detection accuracy is improved.
(k) In the brake control device according to (j),
The brake control device according to claim 1, wherein the predetermined amount of stroke is set to half or less of a total stroke amount set in the brake operation member.
Therefore, the fall of the maximum value of wheel cylinder pressure can be suppressed by setting an initial stroke small.

(l) In the brake control device according to (g),
The operation stroke generation unit
A piston member having one end connected to one side of a brake pedal or a master cylinder as the brake operation member; and a cylinder hole into which the other end of the piston member is inserted; and the other side of the brake pedal or the master cylinder; A cylinder member to be connected;
A spring provided between the bottom of the cylinder hole and the end face of the piston member;
A stopper member provided in contact with the cylinder hole opening end surface of the piston member and the cylinder member;
With
A brake control device, wherein a clearance for obtaining the predetermined amount of stroke is formed between the stopper member and the cylinder hole opening end surface.
Therefore, the operation stroke generation unit can be realized with a simple configuration.
(m) In the brake control device according to (h),
The brake control device according to claim 1, wherein the preset pedaling force is set to be generated when the brake operation member has stroked a predetermined amount.
Therefore, the relationship between the pedaling force and the stroke can be maintained, and the pedal feel is improved.

(n) In the brake control device according to (k),
CL = L1 / r where CL is the clearance, L1 is the predetermined stroke, and r is the ratio between the distance between the fulcrum and the force point of the brake pedal and the distance between the fulcrum and the action point. A brake control device that is set to have a relationship.
Therefore, it is possible to easily set an appropriate initial stroke.
(o) a brake operation amount detection unit that detects an operation amount of a brake operation member by a driver;
A hydraulic actuator that drives a pump to suck in brake fluid in a master cylinder that operates in conjunction with the brake operation member based on the detected increase in the operation amount of the brake operation member and to increase the wheel cylinder hydraulic pressure When,
Stroke generation that is provided between the brake operation member and the master cylinder and that generates a predetermined amount of operation stroke of the brake operation member when the brake operation member is relatively displaced with respect to the master cylinder at the initial operation of the brake operation member. And
An actuator drive controller that starts driving the pump during the predetermined amount of operation stroke;
Therefore, the feeling of stepping on the board can be reduced.

1 Brake pedal (brake operating member)
2 Stroke generator (operation stroke generator)
3 Master cylinder
5 Wheel cylinder
10 Gear pump (pump)
16 Treading force sensor (brake operation amount detector)
19 Hydraulic control unit (hydraulic actuator)
20 Control unit (actuator drive controller)

Claims (5)

A brake operation amount detection unit for detecting the operation amount of the brake operation member by the driver;
A hydraulic actuator that drives a pump to suck in brake fluid in a master cylinder that operates in conjunction with the brake operation member based on the detected increase in the operation amount of the brake operation member and to increase the wheel cylinder hydraulic pressure When,
An operation stroke generator for generating a predetermined amount of operation stroke of the brake operation member at the initial operation of the brake operation member;
An actuator drive controller that starts driving the pump during the predetermined amount of operation stroke;
A brake control device comprising: The brake control device according to claim 1, wherein
The brake control device, wherein the actuator drive control unit controls the hydraulic actuator such that a deceleration set in advance with respect to the vehicle is generated when the brake operation member strokes the predetermined amount. The brake control device according to claim 1, wherein
The brake control device, wherein the operation stroke generation unit is provided between the brake operation member and the master cylinder. The brake control device according to claim 3,
The brake operation amount detection unit is a pedal force sensor that detects a pedal force acting on the brake operation member,
The actuator drive control unit controls the hydraulic actuator so that a preset deceleration is generated for the vehicle when the detected pedal force detects a preset pedal force. Control device. The brake control device according to claim 4, wherein
The brake control device according to claim 1, wherein the pedal force sensor is attached to the brake operation member.

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