JP2018172029A - Vehicle brake system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle brake system which includes electric brakes, enables redundancy at low costs, and achieves high reliability.SOLUTION: A vehicular brake system 1 includes a control device 10 including first and second sub controllers 40, 41. The first sub controller 40 controls a driver 60 of a motor 80 included in a left front wheel and a driver 65 of a motor 85 included in a right rear wheel. The second sub controller 41 controls a driver 62 of a motor 82 included in a right front wheel and a driver 64 of a motor 84 included in a left rear wheel.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a highly reliable vehicle brake system including an electric brake.

  As an electric control system for a vehicle brake system, a system having a central control device and a motor control device for each wheel has been proposed (Patent Document 1). This system has a central control device and a motor control device each having a main microcomputer and a monitoring microcomputer. Redundancy is ensured by having one for each brake, but since a large number of microcomputers are used, the entire system becomes expensive.

JP 2001-138882 A

  An object of the present invention is to provide a vehicle brake system including an electric brake, which is low-cost and highly reliable.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following aspects or application examples.

[Application Example 1]
The vehicle brake system according to this application example is
A brake system for a vehicle, comprising: an electric brake including at least one electric actuator for pressing the friction pad toward the rotor; a driver that drives the electric actuator; and a control device including a plurality of controllers connected to each other. In
The vehicle is a four-wheeled vehicle;
The electric brake is provided on each wheel,
The plurality of controllers are:
A first controller for controlling the driver of the electric actuator provided on the left front wheel and the driver of the electric actuator provided on the right rear wheel;
And a second controller for controlling the driver of the electric actuator provided on the right front wheel and the driver of the electric actuator provided on the left rear wheel.

  According to the vehicle brake system of this application example, the first liquid controller that controls the left front wheel and the right rear wheel and the second controller that controls the right front wheel and the left rear wheel are provided. Control having the same reliability as the X piping of the pressure brake is possible, and redundancy of the system can be realized while suppressing cost increase.

[Application Example 2]
In the vehicle brake system according to the application example,
The first controller further controls the driver of the electric actuator provided on the right front wheel,
The second controller can further control the driver of the electric actuator provided on the left front wheel.

  According to the vehicle brake system according to this application example, it is possible to perform control while considering the brake control of the other front wheel, and it is possible to improve controllability.

[Application Example 3]
In the vehicle brake system according to the application example,
The electric brake includes a plurality of electric actuators,
The individual drivers corresponding to the plurality of electric actuators can be provided.

  According to the vehicle brake system according to this application example, by providing a plurality of electric actuators and individual drivers corresponding thereto, the redundancy of the system can be improved, and variations in brake control can be increased. Can do.

[Application Example 4]
In the vehicle brake system according to the application example,
The plurality of controllers may further include a third controller that controls the driver of the electric actuator provided on the left front wheel and the driver of the electric actuator provided on the right front wheel.

  According to the vehicle brake system according to this application example, it is possible to improve the redundancy of the system by further including the third controller that controls the left front wheel and the right front wheel.

[Application Example 5]
In the vehicle brake system according to the application example,
The control device includes a first control device and a second control device,
The first control device includes the third controller,
The second control device may include the first controller and the second controller.

  According to the vehicle brake system according to this application example, the redundancy of the system includes the first control device including the third controller and the second control device including the first and second controllers. In addition, it is possible to improve the mountability to the vehicle.

[Application Example 6]
In the vehicle brake system according to the application example,
The individual drivers corresponding to the plurality of electric actuators can be divided into the first control device and the second control device.

  According to the vehicle brake system according to this application example, the redundancy of the system can be improved by arranging the driver in a plurality of control devices.

[Application Example 7]
In the vehicle brake system according to the application example,
The electric brake including the plurality of electric actuators may be provided on a front wheel.

According to the vehicle brake system of this application example, redundancy of the electric brakes for the front wheels can be realized, and the reliability can be improved.

1 is an overall configuration diagram illustrating a vehicle brake system according to an embodiment. It is a block diagram which shows the master controller and 1st, 2nd sub controller of the brake system for vehicles which concern on this embodiment. It is a whole lineblock diagram showing the brake system for vehicles concerning a modification. It is a block diagram which shows the master controller and 1st, 2nd sub controller of the brake system for vehicles which concern on a modification.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The drawings used in this description are for convenience of description. The embodiments described below do not unduly limit the contents of the present invention described in the claims. Also, not all of the configurations described below are essential constituent requirements of the present invention.

  The vehicle brake system according to the present embodiment includes an electric brake including at least one electric actuator for pressing the friction pad toward the rotor, a driver for driving the electric actuator, and a plurality of controllers connected to each other. A vehicle control system, wherein the vehicle is a four-wheeled vehicle, the electric brake is provided on each wheel, and the plurality of controllers are provided on the left front wheel. A first controller that controls the driver and the driver of the electric actuator provided to the right rear wheel; the driver of the electric actuator provided to the right front wheel; and the electric motor provided to the left rear wheel. A second controller for controlling the driver of the actuator. It is characterized in.

1. Vehicle Brake System A vehicle brake system 1 according to the present embodiment will be described in detail with reference to FIGS. 1 and 2. FIG. 1 is an overall configuration diagram showing a vehicle brake system 1 according to this embodiment, and FIG. 2 shows a master controller 30 and first and second sub-controllers 40 and 41 of the vehicle brake system 1 according to this embodiment. FIG.

  As shown in FIG. 1, the vehicle brake system 1 includes electric brakes 16 a to 16 d including at least one motor 80 to 85 that are electric actuators for pressing a friction pad (not shown) to a rotor side (not shown), and a motor 80. Drivers 60 to 65 that drive .about.85 and a control device 10 that includes a plurality of controllers (the master controller 30, the first sub controller 40, and the second sub controller 41) connected to each other. A rotor (not shown) is provided on each of the wheels Wa to Wd of the vehicle VB that is a four-wheeled vehicle and rotates integrally with the wheels Wa to Wd. A plurality of motors may be provided for one electric brake, and a plurality of electric brakes may be provided for one wheel.

1-1. Electric brake The electric brake 16a provided on the left wheel (FL) of the front wheel includes a brake caliper 5a, motors 80 and 81 fixed to the brake caliper 5a via a speed reducer 4a, and friction not shown by the motors 80 and 81. A load sensor 6a for detecting a load applied to the pad. The motor 80 includes a rotation angle sensor 90 that detects the relative position of the rotation shaft with respect to its own stator. Since the motor 81 is coaxial with the motor 80, a rotation angle sensor is unnecessary. The detection signal of the load sensor 6a is input to the first sub-controller 40, and the detection signal of the rotation angle sensor 90 is input to the first and second sub-controllers 40 and 41 and the master controller 30 via the drivers 60 and 61. The

  The electric brake 16b provided on the front wheel (FR) wheel Wb includes a brake caliper 5b, motors 82 and 83 fixed to the brake caliper 5b via the speed reducer 4b, and a friction pad (not shown) by the motors 82 and 83. A load sensor 6b for detecting an applied load. The motor 82 includes a rotation angle sensor 92 that detects the relative position of the rotation shaft with respect to its own stator. Since the motor 83 is coaxial with the motor 82, a rotation angle sensor is unnecessary. The detection signal of the load sensor 6b is input to the second sub-controller 41, and the detection signal of the rotation angle sensor 92 is input to the first and second sub-controllers 40 and 41 and the master controller 30 via the drivers 62 and 63. The

  The electric brake 16c provided on the rear wheel (RL) wheel Wc includes a brake caliper 5c, a motor 84 fixed to the brake caliper 5c via the speed reducer 4c, and a load applied to a friction pad (not shown) by the motor 84. And a load sensor 6c for detecting. The motor 84 includes a rotation angle sensor 94 that detects the relative position of the rotation shaft with respect to its own stator. The detection signal of the load sensor 6 c is input to the second sub-controller 41, and the detection signal of the rotation angle sensor 94 is input to the second sub-controller 41 via the driver 64.

  The electric brake 16d provided on the rear wheel (RR) wheel Wd includes a brake caliper 5d, a motor 85 fixed to the brake caliper 5d via the speed reducer 4d, and a load applied to a friction pad (not shown) by the motor 85. A load sensor 6d for detecting. The motor 85 includes a rotation angle sensor 95 that detects the relative position of the rotation shaft with respect to its own stator. The detection signal of the load sensor 6 d is input to the first sub controller 40, and the detection signal of the rotation angle sensor 95 is input to the first sub controller 40 via the driver 65.

  The brake calipers 5a to 5d are integrally formed with claw portions that are formed in a substantially C shape and extend to the opposite side across a rotor (not shown).

  The reduction gears 4a to 4d are fixed to the brake calipers 5a to 5d, and transmit torque generated by the rotation of the motors 80 to 85 to a linear motion mechanism (not shown) built in the brake calipers 5a to 5d.

  As the linear motion mechanism, a known mechanism in the electric brake can be adopted. The linear motion mechanism converts the rotation of the motors 80 to 85 into the linear motion of the friction pad via the speed reducers 4a to 4d. The linear motion mechanism presses the friction pad against the rotor and suppresses the rotation of the wheels Wa to Wd.

  As the motors 80 to 85, known electric motors can be adopted, for example, brushless DC motors. By driving the motors 80 to 85, the friction pads are moved via the speed reducers 4a to 4d and the linear motion mechanism. Although the example which employ | adopted the motor as an electric actuator is demonstrated, you may employ | adopt not only this but another well-known actuator.

1-2. Input Device The vehicle brake system 1 includes a brake pedal 2 that is an input device, and a stroke simulator 3 connected to the brake pedal 2. The brake pedal 2 includes a second stroke sensor 21 and a third stroke sensor 22 that detect an operation amount of the driver's brake pedal 2. The stroke simulator 3 includes a first stroke sensor 20 that detects an operation amount of the brake pedal 2.

Each of the stroke sensors 20 to 22 independently generates an electrical detection signal corresponding to a depression stroke and / or a depression force, which is a kind of operation amount of the brake pedal 2. The first stroke sensor 20 transmits a detection signal to a master controller 30 to be described later, the second stroke sensor 21 transmits a detection signal to a first sub-controller 40 to be described later, and the third stroke sensor 22 is a second sub-controller to be described later. A detection signal is transmitted to 41.

  The vehicle VB includes a plurality of control devices (hereinafter referred to as “other control devices 1000”) provided in systems other than the vehicle brake system 1 as input devices to the vehicle brake system 1. The other control device 1000 is connected to the master controller 30 of the control device 10 by CAN (Controller Area Network), and communicates information related to the brake operation with each other.

1-3. Control Device The control device 10 is an electronic control unit (ECU), is housed in a synthetic resin casing, and is disposed at a predetermined position of the vehicle VB. The control device 10 is electrically connected to three batteries 100, 101, and 102 that are independent of each other. The batteries 100, 101, 102 supply power to the electronic components provided in the control device 10. The batteries 100, 101, 102 of the vehicle brake system 1 are arranged at predetermined positions of the vehicle VB.

  The control device 10 includes a master controller 30, a first sub controller 40, and a second sub controller 41. Each of the master controller 30 and the first and second sub-controllers 40 and 41 is a microcomputer. When the control device 10 includes a plurality of controllers, redundancy and reliability in the control device 10 are improved. Further, since a plurality of relatively expensive master controllers are not installed, cost reduction can be realized. The master controller 30 requires high performance in order to provide the behavior control unit 303 (the behavior control unit 303 will be described later), and is a relatively expensive controller compared to the first and second sub-controllers 40 and 41.

  As shown in FIGS. 1 and 2, the master controller 30 (an example of a third controller) includes a driver control unit 301 that controls the drivers 61 and 63 and a braking force calculation that calculates the braking force of the electric brakes 16a to 16d. Unit 302 and behavior control unit 303 that controls the behavior of vehicle VB.

  The first sub-controller 40 (an example of a first controller) includes a driver control unit 400 that controls the drivers 60, 62, and 65, and a braking force calculation unit 402 that calculates the braking force of the electric brakes 16a to 16d. . The second sub-controller 41 (an example of a second controller) includes a driver control unit 410 that controls the drivers 60, 62, and 64, and a braking force calculation unit 412 that calculates the braking force of the electric brakes 16a to 16d. . Since the first and second sub-controllers 40 and 41 do not include a behavior control unit, a microcomputer that is less expensive than the master controller 30 can be employed, which contributes to cost reduction.

  Drivers 60 to 65 control driving of the motors 80 to 85. Specifically, the driver 60 controls the driving of the motor 80, the driver 61 controls the driving of the motor 81, the driver 62 controls the driving of the motor 82, the driver 63 controls the driving of the motor 83, and the driver Reference numeral 64 controls the driving of the motor 84, and the driver 65 controls the driving of the motor 85. The drivers 60 to 65 control the motors 80 to 85 by, for example, a sine wave driving method. Further, the drivers 60 to 65 are not limited to the sine wave driving method, and may be controlled by, for example, rectangular wave current.

  The drivers 60 to 65 include power supply circuits and inverters that supply electric power to the motors 80 to 85 in accordance with commands from the driver control units 301, 400, and 410.

  The braking force calculation units 302, 402, and 412 calculate the braking force (required value) based on the detection signals of the stroke sensors 20 to 22 corresponding to the operation amount of the brake pedal 2. Further, the braking force calculation units 302, 402, and 412 can calculate the braking force (required value) based on a signal from another control device 1000.

  The driver control units 301, 400, and 410 include the braking force (required value) calculated by the braking force calculation units 302, 402, and 412, the detection signals of the load sensors 6a to 6d, and the rotation angle sensors 90, 92, 94, The drivers 60 to 65 are controlled based on the 95 detection signals. The drivers 60 to 65 supply driving sine wave currents to the motors 80 to 85 in accordance with instructions from the driver control units 301, 400, and 410. Currents supplied to the motors 80 to 85 are detected by current sensors 70 to 75.

The behavior control unit 303 outputs a signal for controlling the behavior of the vehicle VB to the driver control units 301, 400, and 410. It is a behavior other than simple braking according to the operation of the normal brake pedal 2, for example, ABS (Antilock) which is a control for preventing the wheels Wa to Wd from being locked.
Brake System), TCS (Traction Control System) which is control for suppressing idling of wheels Wa to Wd, and behavior stabilization control which is control for suppressing side slip of the vehicle VB.

  The master controller 30 and the first and second sub-controllers 40 and 41 include determination units 304, 404, and 414 that determine the braking force by comparing the braking force calculation results of other controllers. Since the master controller 30 and the first and second sub-controllers 40, 41 have the determination units 304, 404, 414, the vehicle brake can be used by properly using the controllers (30, 40, 41) according to the braking force calculation result. Redundancy of the system 1 can be realized.

  The determination units 304, 404, and 414 determine the braking force by comparing the braking force calculation results of other controllers. The other controllers are the first sub controller 40 and the second sub controller 41 for the determination unit 304, the master controller 30 and the second sub controller 41 for the determination unit 404, and the master controller 30 for the determination unit 414. And a first sub-controller 40. For example, the determination units 304, 404, and 414 calculate the calculation result in the braking force calculation unit 302 of the master controller 30, the calculation result in the braking force calculation unit 402 of the first sub controller 40, and the braking force calculation of the second sub controller 41. The calculation result in the unit 412 is compared, and it is determined by the majority vote which calculation result is adopted as the braking force. For example, if only the calculation result of the braking force calculation unit 402 is different from other calculation results, the master controller 30 controls the driver 61 and the driver 63 based on the calculation results of the braking force calculation unit 302 and the braking force calculation unit 412. That is, the determination units 304, 404, and 414 make the vehicle brake system 1 redundant.

  In the vehicle brake system 1 according to the present embodiment, the driver control unit 400 of the first sub-controller 40 includes a motor 80 provided on two wheels Wa and Wd (left front wheel and right rear wheel) arranged diagonally. , 85 drivers 60, 65 can be controlled, and the driver control unit 410 of the second sub-controller 41 is provided on two wheels Wb, Wc (right front wheel, left rear wheel) arranged diagonally. The drivers 62 and 64 of the motors 82 and 84 can be controlled. Thereby, control equivalent to X piping of the existing hydraulic brake can be performed, and redundancy of the vehicle brake system 1 can be realized while suppressing an increase in cost.

In the vehicle brake system 1 according to the present embodiment, the driver control unit 400 of the first sub-controller 40 can further control the driver 62 of the motor 82 provided on the wheel Wb (right front wheel). The driver control unit 410 of the second sub-controller 41 can further control the driver 60 of the motor 80 provided on the wheel Wa (the left front wheel). Thereby, the brake control of the two wheels arranged diagonally can be performed while considering the brake control of the other front wheel, and the controllability can be improved.

  In the vehicle brake system 1 according to the present embodiment, the electric brake 16a provided on the wheel Wa (left front wheel) includes two motors 80 and 81, and the electric brake 16b provided on the wheel Wb (right front wheel) has two. Two motors 82 and 83 are provided, drivers 60 and 61 individually corresponding to the two motors 80 and 81, and drivers 62 and 63 individually corresponding to the two motors 82 and 83, and the drivers 60 and 62 are controlled. First and second sub-controllers 40 and 41, and a master controller 30 for controlling the drivers 61 and 63. As a result, it is possible to provide redundancy for the motor for the front wheel electric brake, the driver for driving the motor, and the controller for controlling the driver, and increase the variation of brake control for the front wheel.

2. Modified Example A vehicle brake system 1a according to a modified example will be described with reference to FIGS. FIG. 3 is an overall configuration diagram showing a vehicle brake system 1a according to a modified example, and FIG. 4 is a block diagram showing a master controller 30 and first and second sub-controllers 40, 41 of the vehicle brake system 1a according to the modified example. FIG. In the following description, the same components as those in the vehicle brake system 1 in FIGS. 1 and 2 are denoted by the same reference numerals in FIGS. 3 and 4 and detailed description thereof is omitted.

  As shown in FIGS. 3 and 4, in the vehicle brake system 1 a, the control device includes a first control device 10 and a second control device 11. The second control device 11 is arranged at a predetermined position of the vehicle VB independently of the first control device 10. The 1st control apparatus 10 and the 2nd control apparatus 11 are electronic control units (ECU), and are each accommodated in the housing | casing made from a synthetic resin. The first control device 10 and the second control device 11 are connected by CAN and communicate. In CAN communication, unidirectional and bidirectional information is transmitted. Communication between ECUs is not limited to CAN. The first control device 10 and the second control device 11 are electrically connected to three batteries 100, 101, and 102 that are independent from each other. The batteries 100, 101, and 102 supply power to the electronic components included in the first control device 10 and the second control device 11.

  The first control device 10 includes a master controller 30, a driver 61 that drives the motor 81 of the electric brake 16a, a driver 63 that drives the motor 83 of the electric brake 16b, and current sensors 71 and 73.

  The second control device 11 includes first and second sub-controllers 40 and 41, a driver 60 that drives the motor 80 of the electric brake 16a, a driver 62 that drives the motor 82 of the electric brake 16b, and the electric brake 16c. A driver 64 for driving the motor 84, a driver 65 for driving the motor 85 of the electric brake 16d, and current sensors 70, 72, 74, 75 are provided.

  According to the vehicle brake system 1a according to this modification, the first control device 10 including the master controller 30 and the second control device 11 including the first and second sub-controllers 40 and 41 are provided. The redundancy of the vehicle brake system 1a can be improved. Moreover, compared with the case where all the controllers are mounted in one control apparatus, each control apparatus can be reduced in size and the mounting property to a vehicle can be improved.

Moreover, according to the vehicle brake system 1a according to this modification, the two drivers 60 and 61 corresponding to the two motors 80 and 81 provided in the electric brake 16a are provided as separate control devices (first control device 10). The two drivers 62 and 63 corresponding to the two motors 82 and 83 installed in the second control device 11) and provided in the electric brake 16b are provided as separate control devices (first control device 10 and second control device 11). By mounting on the control device 11), the redundancy of the vehicle brake system 1a can be improved.

  The present invention is not limited to the above-described embodiments, and various modifications can be made. For example, the present invention includes configurations that are substantially the same as the configurations described in the embodiments (for example, configurations that have the same functions, methods, and results, or configurations that have the same objects and effects). In addition, the invention includes a configuration in which a non-essential part of the configuration described in the embodiment is replaced. In addition, the present invention includes a configuration that exhibits the same operational effects as the configuration described in the embodiment or a configuration that can achieve the same object. In addition, the invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

DESCRIPTION OF SYMBOLS 1,1a ... Brake system for vehicles, 2 ... Brake pedal, 3 ... Stroke simulator, 4a-4d ... Reducer, 5a-5d ... Brake caliper, 6a-6d ... Load sensor, 10 ... 1st control apparatus, 11 ... Second control device, 16a to 16d ... electric brake, 20 ... first stroke sensor, 21 ... second stroke sensor, 22 ... third stroke sensor, 30 ... master controller, 301 ... driver controller, 302 ... braking force calculation , 303 ... Behavior control unit, 304 ... determination unit, 40 ... first sub controller, 400 ... driver control unit, 402 ... braking force calculation unit, 404 ... determination unit, 41 ... second sub controller, 410 ... driver control unit 412 ... braking force calculation unit, 414 ... determination unit, 60-65 ... driver, 70-75 ... current sensor, 80-85 ... motor 90,92,94,95 ... rotation angle sensor, 100 to 102 ... battery, 1000 ... other control devices, VB ... vehicle, Wa to Wd ... wheel

Claims (7)

A brake system for a vehicle, comprising: an electric brake including at least one electric actuator for pressing the friction pad toward the rotor; a driver that drives the electric actuator; and a control device including a plurality of controllers connected to each other. In
The vehicle is a four-wheeled vehicle;
The electric brake is provided on each wheel,
The plurality of controllers are:
A first controller for controlling the driver of the electric actuator provided on the left front wheel and the driver of the electric actuator provided on the right rear wheel;
A brake system for a vehicle, comprising: a second controller that controls the driver of the electric actuator provided to the right front wheel and the driver of the electric actuator provided to the left rear wheel. In claim 1,
The first controller further controls the driver of the electric actuator provided on the right front wheel,
The vehicular brake system, wherein the second controller further controls the driver of the electric actuator provided on the left front wheel. In claim 1 or 2,
The electric brake includes a plurality of electric actuators,
A vehicle brake system comprising the individual drivers corresponding to the plurality of electric actuators. In claim 3,
The plurality of controllers further includes a third controller that controls the driver of the electric actuator provided on the left front wheel and the driver of the electric actuator provided on the right front wheel. For brake system. In claim 4,
The control device includes a first control device and a second control device,
The first control device includes the third controller,
The second control device includes the first controller and the second controller, and is a vehicle brake system. In claim 5,
The vehicle brake system according to claim 1, wherein the individual drivers corresponding to the plurality of electric actuators are arranged separately in the first control device and the second control device. In any one of Claims 3 thru | or 6,
The vehicle brake system, wherein the electric brake including the plurality of electric actuators is provided on a front wheel.

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