JP3751195B2 - Braking device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  This inventionBy inter-vehicle distance controlThe present invention relates to a braking device that automatically applies a predetermined braking force to a wheel to stop the vehicle.
[0002]
[Prior art]
  Regardless of the operation of the foot brake (brake pedal) etc., the vehicle(my car)The braking force is applied to the wheels of the vehicle to maintain the distance between the vehicle and the preceding vehicle ahead of the vehicle.However, this type of tracking system that stops the vehicle in conjunction with the stop of the preceding vehicleBrake devices are conventionally known.
[0003]
  In such a braking deviceStopWhen generating braking force to maintain the stopped state, it is generally considered necessary for stopping, etc.FixedA braking force (braking pressure) (hereinafter referred to as “specified braking force”) is set in advance in the control software, and the specified braking force is applied to the wheels as necessary.
[0004]
[Problems to be solved by the invention]
  However, in the above prior art, when the vehicle load is large due to occupants, luggage, etc., when stopping on a slope, or when the creep force increases due to idling up while stopping, the state of the vehicle or its surroundingsStateThereforeIsInsufficient braking pressure with specified braking forceAnd carBothTheStopStateMaintenanceDoThere is a possibility that you can start and accidentally start.
[0005]
  In order to solve such a problem, for example,As a specified braking force,A means of setting a high braking force from the beginning can be considered, but with such a configuration, a high load on the brake system including the actuator and the accompanying noise and vibration are new problems. Therefore, in such a braking device, the “specified braking force” is the minimum.For braking forceSettingTo doIs desirable.
[0006]
  Therefore, the present invention has been made in view of the above-described problems of the prior art. Basically, a predetermined braking force is used, and a corrected braking force is added to the specified braking force as necessary. Using braking forceThe vehicle properlyStopStateMaintenanceDoIt is an object to provide a braking device.
[0007]
[Means for Solving the Problems]
  In order to solve the above-described problems, the present invention automatically applies a specified braking force preset to the wheels of the vehicle from the hydraulic supply source to the wheels by the control of the vehicle controller based on the inter-vehicle distance control. In the braking device for stopping the vehicle, the controller determines whether or not the vehicle is maintained in a stopped state in a state where the prescribed braking force is applied to the wheels. Based on the determination that the vehicle is not maintained in a stopped state, a braking force obtained by adding a corrected braking force to the prescribed braking force from the hydraulic pressure supply source to the wheel, and means for maintaining the vehicle in a stopped state; Means for determining whether or not the surrounding state of the vehicle is substantially the same as the state before starting after starting from the stop state by the braking force to which the correction braking force is applied; and the state of the vehicle before starting Almost the same as Based on the determination, as a braking force to stop the vehicle, provided with means for applying to the wheel braking force obtained by adding the correction braking force to the braking force of the provisions in place braking force of the provisions from the hydraulic supply sourceDetermining whether the peripheral state of the vehicle is substantially the same as the state before the start based on the moving distance of the vehicle after the start from the stop state by the braking force to which the correction braking force is applied. Therefore, when the moving distance of the vehicle is smaller than a predetermined distance, it is determined that the peripheral state is substantially the same as the state before starting, and the braking force for stopping the vehicle is replaced with the prescribed braking force. When the braking force obtained by adding the corrected braking force to the prescribed braking force is applied from the hydraulic pressure supply source to the wheels, and the moving distance of the vehicle is equal to or greater than the predetermined distance, the peripheral state starts. It is determined that the vehicle has changed from the previous state, and the prescribed braking force is applied to the wheels from the hydraulic pressure supply source as a braking force for stopping the vehicle.It is characterized by that. Here, the “peripheral state of the vehicle” means an inclined state, a surface state, or the like of a road surface on which the host vehicle is stopped or traveling.
[0008]
  According to such a configuration, the correction braking force is applied only when necessary to increase the braking force applied to the wheel, so that an unnecessary high load on the brake system including the actuator is reduced. Therefore, it is possible to obtain a braking device that exhibits appropriate braking force as appropriate. That is, basically, the predetermined braking force is set to be used in advance, and the corrected braking force is applied only when the vehicle is in a stopped state without being properly maintained.Maintaining the vehicle properly stopped without unnecessary high loads on the brake systemCan.
[0012]
  Also,Raising the correction braking forceThe vehicle is stopped after starting from a stopped state with the braking force applied,The surrounding state of the vehicle isFrom before departureIf it has not changedJudgmentIs not the prescribed braking force,This specified braking forceSince the braking force raised by the amount of the correction braking force is given to the wheel,From the beginning,Surely the vehicleTheStopStateA sustainable braking device can be obtained. That meansWhen a vehicle that has started from a stop state with a braking force obtained by raising the prescribed braking force by the corrected braking force is stopped,Since the surrounding state of the vehicle has not changed, the prescribed braking force cannot be surely stopped, and eventually there is a high possibility that the corrected braking force must be increased.Sometimes from the beginningA braking force raised by the amount of the corrected braking force is used.ByStop the vehicle reliablycan do.
[0014]
  AndBased on the travel distance of the vehicle (for example, based on a detection signal from a wheel speed sensor), it is possible to determine a change in the surrounding state of the vehicle. Therefore, according to such a configuration, the vehicle distance can be maintained or the vehicle can be maintained at a relatively simple and low cost by using a braking force obtained by adding the corrected braking force to the specified braking force as necessary. Therefore, it is possible to obtain a braking device configured to appropriately maintain the stop.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. The braking device according to the present embodiment is a braking device configured to automatically apply a braking force obtained by adding a corrected braking force to a specified braking force as necessary. In the following, first, the configuration of the braking device will be described, and then the driving state when the corrected braking force is applied will be described in detail.
[0016]
FIG. 1 is a diagram showing an embodiment of a braking device for a vehicle according to the present invention. In FIG. 1, a brake pedal 12 is linked and connected to the master cylinder 11, and the master cylinder 11 is connected to the hydraulic unit 14 via the brake hydraulic system 13 in accordance with the depression operation of the brake pedal 12 by the driver. On the other hand, the brake fluid pressure is output. Note that this braking device can also be used to automate vehicle travel, and brake fluid pressure is output from the master cylinder 11 to the hydraulic unit 14 in the same manner as described above in response to an automatic brake operation. .
[0017]
This hydraulic unit 14 is
-The wheel cylinder 18FR of the right front wheel brake 17FR mounted on the right front wheel 16FR is connected to the wheel cylinder 18FR via the brake hydraulic system 15FR.
-To the wheel cylinder 18FL of the left front wheel brake 17FL mounted on the left front wheel 16FL via the brake hydraulic system 15FL,
The wheel cylinder 18RR of the right rear wheel brake 17RR mounted on the right rear wheel 16RR is connected to the wheel cylinder 18RR via the brake hydraulic system 15RR.
-The wheel cylinder 18RL of the left rear wheel brake 17RL mounted on the left rear wheel 16RL is connected to the wheel cylinder 18RL via the brake hydraulic system 15RL.
It is connected. Then, the brake hydraulic pressure generated in the master cylinder 11 is distributed at an appropriate distribution ratio in accordance with a command from a braking control means, which will be described in detail later, and transmitted to each wheel cylinder 18FR, 18FL, 18RR, 18RL. 17FR, 17FL, 17RR, and 17RL exhibit braking force corresponding to each wheel cylinder pressure.
[0018]
Further, as shown in FIG. 1, the braking device according to the present embodiment includes a pressure sensor 21 that is connected to the brake hydraulic system 13 and detects the brake hydraulic pressure generated in the master cylinder 11. The pressure sensor 21 is electrically connected to a controller 22 having a CPU, and gives an electrical signal corresponding to the brake fluid pressure to the controller 22.
[0019]
In addition to the pressure sensor 21, the controller 22 includes an inter-vehicle distance sensor 23 that detects an inter-vehicle distance from a preceding vehicle in front of the host vehicle, a wheel speed sensor 24 that detects the rotational speed of the wheel, and a braking device. A memory 25 that stores programs necessary for control and various data is electrically connected. Then, the controller 22 sends a control command based on information given from the pressure sensor 21, the inter-vehicle distance sensor 23, the wheel speed sensor 24, a program in the memory 25, etc. to the hydraulic unit 14 via the interface 27. give.
[0020]
At this time, the controller 22 detects that the vehicle has started erroneously without being maintained in a stopped state, although a prescribed braking force is applied to each of the wheel cylinders 18FR, 18FL, 18RR, 18RL. A control command is given to the hydraulic unit 14 in order to give a braking force obtained by adding a corrected braking force to a prescribed braking force for each wheel cylinder 18FR, 18FL, 18RR, 18RL.
[0021]
This correction braking force (correction value) is determined in advance by experimentally determining in advance a braking force that can reliably maintain the stop in consideration of various conditions such as the weight of the vehicle body, the slope of the slope, and the increase amount of the creep force. It is desirable to determine the optimum braking force (correction value) from the obtained braking force (experimental value). The corrected braking force (corrected value) may be stored in advance in, for example, the memory 25 described above or other memory not shown in FIG.
[0022]
Furthermore, the controller 22 determines whether the surrounding state of the vehicle such as the road surface inclination state or the surface state has changed before the start, and gives it before the start when determining that there is almost no change. In order to continue the braking force obtained by adding the corrected braking force to the specified braking force, a control command is given to the hydraulic unit 14.
[0023]
By the way, the braking device shown in FIG. 1 can be used to maintain a distance between vehicles by automatically applying a braking force to the wheels of the vehicle regardless of an operation of a foot brake or the like, or a parking brake. The braking device can also be used as a driving device, and the driving control state of the braking device (selection of “automatic” or “manual”) is performed by a driver's switch operation or the like.
[0024]
Next, for example, operations when “inter-vehicle distance control”, “stop maintenance control”, and the like in the following traveling system are performed will be described with reference to FIGS. 2 and 3. Here, FIG. 2 is a flowchart showing a control procedure of the braking device according to the present embodiment, and FIG. 3 is a graph showing the processing contents of the braking device according to the present embodiment based on the vehicle speed, the braking pressure, and the time. It is.
[0025]
  Now, as shown in FIG. 2, the inter-vehicle distance D between the host vehicle and the preceding vehicle is detected using the inter-vehicle distance sensor 23 (step S1), and the speed (vehicle speed) V of the host vehicle is determined using the wheel speed sensor 24. It is detected (step S2). Also, DepartureA calculation process of the travel distance Dre after traveling is performed (step S3).
[0026]
  AndCarIf the inter-distance control is being performed, then the process of step S5 is performed to determine whether stop maintenance control is being performed for the vehicle (step S4). Here, when the inter-vehicle distance control is being performed (YES in step S4), a control command based on the inter-vehicle distance D based on the detection signal from the inter-vehicle distance sensor 23 is sent to the controller 22FromThe wheel cylinder pressure (braking pressure) transmitted to the hydraulic unit 14 via the interface 27 and applied from the hydraulic unit 14 to the wheel cylinders 18FR, 18FL, 18RR, 18RL is appropriately adjusted, and the inter-vehicle distance D is increased. The target inter-vehicle distance is maintained according to the vehicle speed V of the host vehicle.
[0027]
  further,In step S5StopIt is determined whether stop maintenance control is being performed (step S5). In step S5, as described above,,Controller 22Thus, control for automatically maintaining the inter-vehicle distance D at a predetermined stop inter-vehicle distance is performed. Thus, for example, when the preceding vehicle stops, the own vehicle also keeps the inter-vehicle distance D with the preceding vehicle at the preset stopping inter-vehicle distance.StopIt is necessary to maintain the stop state, and a control command for maintaining the stop is issued from the controller 22 to the hydraulic unit 14.
[0028]
  At this time, if the stop maintenance control is being performed (YES in step S5), the process proceeds to step S6 and the controller 22By controllingThe hydraulic unit 14 or the like gives a predetermined braking force Pstop to the vehicle. If the stop maintenance control is not in progress (NO in step S5), then the processes in and after step S10 are performed. The processing after step S10 will be described later.
[0029]
  Step S6Processing of meansIn step S6, it is determined whether or not the vehicle speed V of the host vehicle is “0” based on the wheel speed sensor 24. If the vehicle speed V of the host vehicle is 0 (YES in step S6), the stop of the host vehicle is maintained at the braking force Pstop given in the process of step S5. If so, then the process of step S8 is performed. On the other hand, if the vehicle speed V of the host vehicle is not 0 (NO in step S6), the vehicle has stopped erroneously without being properly maintained.MeansProcessing is performed. Here, as a factor that the stop of the own vehicle is not properly maintained, for example, when the on-board load is large, when stopping on a steep slope, or when the creep force increases due to idle up, etc. Even if the braking force Pstop is given, the situation where the vehicle cannot start to stop and starts without permission regardless of the driver's start request applies.
[0030]
In step S7, the corrected braking force (correction value) α is added to the prescribed braking force Pstop (step S7). Here, the correction value α is a value stored in advance in the memory 25 or the like as described above. The process of step S7 is a process that is performed when the vehicle is not able to maintain the stop state even if the prescribed braking force Pstop is applied, and the vehicle starts erroneously. In such a case, A large braking force raised by the correction value (correction braking force) α is given to the own vehicle. After step S7, the process proceeds to step S8.
[0031]
Since it is considered that the stop state of the vehicle is appropriately maintained by the above steps, in step S8, the travel distance Dre after the start calculated in step S3 is reset to “0” (step S8). That is, preparations are made for calculating the travel distance after the next start.
[0032]
  In step S9, until the start control command is issued (for example, until the vehicle ahead starts), the stop maintaining pressure is set.Braking forceP (= Pstop + α) is given to the wheel (step S9). Here, as described above, if “YES” is determined in step S6, the correction value α is not added, so the stop maintaining pressureBraking forceP is a prescribed braking force Pstop (that is, P = Pstop + 0).
[0033]
  Next, after step S10Of each meansProcessing will be described. Step S10 is performed when “NO” is determined in Step S5.TogetherThis is a process to be performed. That is, the processes after step S10 (steps S10 to S12) are processes performed when the host vehicle is traveling while performing inter-vehicle distance control.
[0034]
  In step S10, the travel distance Dre after the start calculated in step S3 is a predetermined travel distance (hereinafter referred to as “predetermined distance”, for example, set to a value within 10 m) Dth. Is also determined (step S10).Based on this judgment,When it is determined that the travel distance Dre after the start is smaller than the predetermined distance Dth (YES in step S10), the previous stop maintenance controlThe braking force ofCorrection braking forceα bulkIf it is raised, the corrected braking force α is storedThereStop maintenance pressureBraking forceP (= Pstop + α)InformationIt is held (step S11). Further, when it is determined that the travel distance Dre after the start calculated in step S3 is larger than the predetermined distance Dth (NO in step S10), the corrected braking force in the previous stop maintenance control.α bulkRaisedBraking forceEven so, the correction braking force α is reset to “0” and the stop maintaining pressureBraking forcePInformationWill return to the prescribed braking force Pstop (that is, P = Pstop + 0) (step S12). And after the process of step S11 and step S12, the process after step S1 is repeated again.
[0035]
In step S10, based on the travel distance Dre after the start, it is determined whether or not the surrounding state of the vehicle has changed before and after the start. That is, if the travel distance Dre after the start is smaller than the predetermined distance Dth, it is determined that the surrounding state of the vehicle has not changed, and if the travel distance Dre after the start is equal to or greater than the predetermined distance Dth, the peripheral state of the vehicle is Judged to have changed. Here, the “vehicle peripheral state” mainly refers to an inclined state or a surface state of a road surface on which the host vehicle is stopped or traveling.
[0036]
  That is, in the determination of step S10, when the travel distance Dre after the start is smaller than the predetermined distance Dth, it is possible to determine that the surrounding state of the host vehicle (the road surface inclination state, the surface state, etc.) has not changed significantly. If it is necessary to increase the corrected braking force α when the vehicle is stopped before starting, the corrected braking force α is increased.StopHolding pressureBraking forceP (= Pstop + α)InformationIs retained.
[0037]
  Therefore, before startingMaintaining a stopped stateIn addition, when it is necessary to increase the correction braking force α,When starting and then stopping again, the distance traveled after starting D re Is the predetermined distance D th Smaller thanIf the surrounding area of the vehicle has not changedJudgedWhen assumed, not the specified braking force Pstop, but the stop maintenance pressure raised earlierBraking forceP (= Pstop + α) is directly given to the wheel. On the other hand, in the determination of step S10, the case where the travel distance Dre after the start is greater than or equal to the predetermined distance Dth is a situation in which it can be determined that the surrounding state of the vehicle has changed,in this case,The corrected braking force α is reset to “0”, and the prescribed braking force Pstop as initially set is applied to the wheels.
[0038]
  Therefore, according to the present embodiment, basically, the braking force P (= Pstop + α) obtained by adding the corrected braking force to the specified braking force is used as necessary using a predetermined braking force Pstop. Use the vehicle stopStateMaintenance can be performed appropriately. In other words, because it is configured to increase the braking force by a predetermined amount only when necessary, it prevents unnecessary high load on the brake system including the actuator, noise and vibration associated therewith,It is possible to properly maintain the stop state of the vehicle.A braking device can be obtained.
[0039]
Next, operation | movement of the braking device concerning this embodiment is demonstrated concretely using FIG. As described above, FIG. 3 is a graph showing the operation of the braking device according to the present embodiment based on the vehicle speed, the braking pressure, and the time. Here, the upper diagram of FIG. 3 is a graph showing the relationship between vehicle speed and time, and the lower diagram is a graph showing the relationship between braking pressure and time. That is, FIG. 3 (upper and lower figures) shows the relationship between the vehicle speed and the braking pressure when the horizontal axis is the same time axis.
[0040]
In FIG. 3, the first braking region B <b> 1 shows a state in which a certain braking pressure Pb is applied to the wheels in order to stop the host vehicle when the preceding vehicle stops, for example. In the first braking region B1, by applying the braking pressure Pb, the vehicle speed of the host vehicle is reduced, and the vehicle eventually stops (the vehicle speed becomes “0”). This first braking region B1 shows a state in which the preceding vehicle has stopped and the host vehicle has stopped along with the inter-vehicle distance control (step S4) in the flowchart of FIG.
[0041]
Next, the first stop maintenance area K1 shows a state in which a prescribed braking force Pstop is applied to the wheels in order to maintain the stop of the host vehicle after the stop of the host vehicle. The first stop maintaining area K1 indicates a state determined as “YES” in step S5 of FIG. 2, that is, a state during the stop maintaining control.
[0042]
  Next, in the vehicle speed detection area M, the stop condition is issued from the braking device (the controller 22 or the like). This means that the creep force is increased due to an unusual condition such as being on the slope of the vehicle, and the vehicle has misstarted. Here, the vehicle speed V of the host vehicle is detected by the wheel speed sensor 24, and the correction braking force α is immediately added in accordance with the detection of the vehicle speed V, so that the stop maintaining pressure is increased.Braking forceP (= Pstop + α) is given to the wheel, and the host vehicle is stopped again. That is, in this vehicle speed detection area M, the vehicle speed V is detected in step S6 of FIG. 2 (NO in step S6), the correction value α is added in steps S7 to S9, and the own vehicle is stopped again. Indicates the state.
[0043]
  Next, the second stop maintenance region K2 is a stop maintenance pressure in which a correction value α is added to the wheels in order to maintain the stop of the host vehicle after the stop including the stop of the host vehicle.Braking forceA state in which P (= Pstop + α) is given is shown. That is, the second stop maintaining region K2 is the stop maintaining pressure until a start command is issued in step S9 of FIG.Braking forceA state where P (= Pstop + α) is given to the wheel is shown.
[0044]
Next, the start area G indicates a state in which the stop maintaining pressure P is completely released by the start command from the controller 22 based on the start of the vehicle ahead and the vehicle starts normally. This start area G shows a state in which the processes from Steps S1 to S5 and Steps S10 to S12 are repeated after the release of the stop maintaining pressure P in Step S9 of FIG. That is, in this start area G, the vehicle is in a normal traveling state while performing inter-vehicle distance control, and the calculation of the distance Dre after starting and the processing after starting are performed by the processes in and after step S3 and step S10. The correction value α based on the distance Dre is held (step S11) or released (step S12).
[0045]
Next, the second braking area B2 shows a state in which a certain braking pressure Pb is applied to the wheels in order to stop the started vehicle. In the second braking region B2, by applying the braking pressure Pb, the vehicle speed of the vehicle is reduced and finally the vehicle is stopped (the vehicle speed becomes “0”).
[0046]
  Next, the third stop maintenance area K3 is a stop maintenance pressure with respect to the wheels in order to maintain the stop of the vehicle after the vehicle that has started is restarted.Braking forceA state in which P (= Pstop + α) is given is shown. At this time, it is a precondition that the travel distance Dre after the start in the start area G is smaller than the predetermined distance Dth described above and the process of step S11 in FIG.ButHere, since it is in a held state, stop maintenance pressureBraking forceThe value P (= Pstop + α) obtained by adding the correction value α from the beginning is stopped as PStatusAs a braking pressure for maintaining the above, it is given to the wheel.
[0047]
  That is, in the example of FIG. 3, the travel distance Dre after the start in the start area G is smaller than the predetermined distance Dth.,carIt is assumed that both peripheral states have not changed. Therefore, the vehicle stops in the third stop maintenance area K3.StatusIs maintained for the vehicle when the correction value α is maintained.Braking forceP (= Pstop + α) is given. In the present embodiment, the stop maintenance pressure is maintained until a start command is issued from the controller 22 or the like.Braking forceP (= Pstop + α) is given to the wheel.
[0048]
As described with reference to FIG. 2, when the travel distance Dre after the start in the start area G is equal to or greater than the predetermined distance Dth, there is a high possibility that the surrounding state of the vehicle has changed before and after the start. Therefore, for example, when the travel distance Dre after the start is greater than or equal to the predetermined distance Dth, the correction value α is reset, and the prescribed braking force Pstop is applied to the wheels in the third stop maintaining region K3. It becomes. Thereafter, addition of the correction value α and the like are performed as necessary by the processing after step S6 in FIG.
[0049]
  As described above with reference to FIGS. 1 to 3, in the braking apparatus according to the present embodiment, basically, a high load on the brake system including the actuator, noise / vibration associated therewith, and the like are generated. Stoppage of the vehicle is maintained using a specified braking force Pstop that is not, and if necessary, a stop maintaining pressure obtained by raising the correction value (corrected braking force) α to the specified braking force Pstop.Braking forceP (= Pstop + α) is configured to be used.
[0050]
  Therefore, according to the present embodiment, the brake force is configured to increase only when necessary, so that an unnecessary high load or the like on the brake system including the actuator is eliminated, and a brake that appropriately exerts an appropriate brake force is provided. A device can be obtained. That is, even if it is basically set to use the prescribed braking force Pstop, if the vehicle speed V is detected by the wheel speed sensor 24 during the stop maintenance control, the vehicle iscertainlyStopKeep in stateTherefore,The braking force P of the stop maintenance pressure isSpecified braking force PstopTheCorrection valueα bulkRaiseThe braking forceTherefore, according to the braking device according to the present embodiment,Keep it stoppedAppropriate braking force can be obtained.
[0051]
  In addition, in the braking device according to the present embodiment, a correction value (correction braking force)α bulkRaisedFrom the stop state of braking force PThe vehicle startsAfterWhen stopping, startBefore andWhen it is assumed that the surrounding state of the vehicle has not changed, the stop maintaining pressure raised first is not the prescribed braking force Pstop.Braking forceP (= Pstop + α) is given to the wheel.
[0052]
  Therefore, according to this embodiment, the correction value α is increased.StopAfterWhen you start and stop againSince it is possible to apply the necessary stop maintaining braking force P (= Pstop + α) to the wheels from the beginning, it is possible to provide a braking device that can reliably maintain the stop of the vehicle.
[0053]
In the present embodiment, the “predetermined distance Dth” is exemplified as a value within 10 m. However, the value is not particularly limited to this value, and can be appropriately changed according to the vehicle type, the displacement, the use area, and the like. is there.
[0056]
Furthermore, the present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.
[0057]
【The invention's effect】
  As described above, according to the invention described in claim 1,In so-called inter-vehicle distance control, in a braking device that automatically applies a predetermined braking force to the wheels of the vehicle to stop the vehicle,Basically, it is set to maintain the stop state using the predetermined braking force determined in advance, and only when necessary.To the prescribed braking forceAdding the correction braking force increases the braking force applied to the wheel.And keep it stoppedBecause it is configured to be unnecessary, an unnecessary high load is applied to the brake system including the actuator.Without equality,ProperlyvehicleTheStopStateMaintenanceTo doCan do.
[0059]
  Also,When starting and stopping again after starting from a stop state with the braking force with the increased correction braking force,When it is assumed that the surrounding state of the vehicle has not changed, the braking force raised by the amount of the corrected braking force is not the prescribed braking force,From the beginningBecause it is given to the wheels, the vehicle is surely stoppedMaintain statebe able to.
[0060]
  And, Based on the travel distance of the vehicle, the surrounding state of the vehicleJudge whether there is a change in the above and determine if it is necessaryTherefore, it is relatively simple and low-cost, and it is possible to reliably maintain the stop state of the vehicle by using a braking force obtained by adding the corrected braking force to the specified braking force as necessary. Can be done.
[Brief description of the drawings]
FIG. 1 is a diagram showing an embodiment of a braking device for a vehicle according to the present invention.
FIG. 2 is a flowchart showing the operation of the braking device of FIG.
FIG. 3 is an operation explanatory diagram of the braking device of FIG. 1;
[Explanation of symbols]
14 ... Hydraulic unit (hydraulic supply source)
16FL ... Front left wheel
16FR ... Right front wheel
16RL ... Left rear wheel
16RR ... Right rear wheel
21 ... Pressure sensor
22 ... Controller
23 ... Inter-vehicle distance sensor
24 ... Wheel speed sensor
25 ... Memory

Claims (1)

In a braking device that automatically gives a predetermined braking force preset to the wheels of the vehicle from a hydraulic supply source to the wheels by the control of the vehicle controller based on the inter-vehicle distance control, and stops the vehicle,
In the controller,
Means for determining whether or not the vehicle is maintained in a stopped state with the prescribed braking force applied to the wheels;
Means for applying a braking force obtained by adding a corrected braking force to the prescribed braking force to the wheels from the hydraulic pressure supply source based on the determination that the vehicle is not maintained in the stopped state, and maintaining the vehicle in a stopped state;
Means for determining whether or not the surrounding state of the vehicle is substantially the same as the state before the start after the start from the stop state by the braking force to which the correction braking force is applied;
As a braking force for stopping the vehicle, a braking force obtained by adding the corrected braking force to the specified braking force, instead of the specified braking force, based on the determination that the surrounding state of the vehicle is substantially the same as the state before starting. Providing the wheel from the hydraulic supply source ,
Judging whether or not the surrounding state of the vehicle is substantially the same as the state before the start based on the moving distance of the vehicle after the start from the stop state by the braking force applied with the correction braking force,
Based on this determination, when the moving distance of the vehicle is smaller than a predetermined distance, it is determined that the surrounding state is substantially the same as the state before starting, and the braking force for stopping the vehicle is determined as the prescribed control. When the braking force obtained by adding the corrected braking force to the prescribed braking force instead of power is applied to the wheel from the hydraulic pressure supply source, and the moving distance of the vehicle is not less than the predetermined distance, It is judged that the state has changed from the state before starting, and the prescribed braking force is applied to the wheels from the hydraulic pressure supply source as a braking force for stopping the vehicle. Braking device to do.

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