JP4612454B2 - Brake control device - Google Patents

Description

  The present invention relates to a brake control device, and more particularly to a brake control device that controls a hydraulic brake.

In the conventional hydraulic brake device, the hydraulic fluid accumulated in the accumulator is supplied to the pressure regulating valve, and the hydraulic pressure is adjusted to the hydraulic fluid pressure according to the brake operation by this pressure regulating valve. The switching valve is used, and the wheel cylinder is connected to a pressure regulating valve or a reservoir to arbitrarily adjust the hydraulic pressure in the wheel cylinder (see, for example, Patent Document 1).
JP 2002-264895 (paragraphs 0012-0018, FIG. 1)

  However, the hydraulic brake device described in Patent Document 1 has a problem that the situation must be diagnosed more accurately in order to take an appropriate measure when a failure such as a pressure regulating valve occurs.

  Therefore, an object of the present invention is to provide a brake control device capable of more accurately diagnosing a failure state such as a pressure regulating valve or a switching valve under such a situation.

In order to solve the above problems, a brake control device according to the present invention operates a hydraulic pressure source including an accumulator for accumulating hydraulic fluid in a reservoir at a predetermined pressure, and hydraulic pressure of hydraulic fluid supplied from the hydraulic pressure source. A pressure regulating valve that regulates pressure according to an operation amount from a section; a wheel cylinder that operates by a fluid pressure regulated by the pressure regulating valve; and at least the wheel cylinder and the pressure regulating valve, and the wheel cylinder and the accumulator A switching valve means for automatic brake control different from the pressure regulating valve that is capable of switching between a state that shuts off the wheel cylinder and the accumulator, and a state that shuts off the wheel cylinder and the pressure regulating valve; The first hydraulic pressure sensor for detecting the hydraulic pressure to be output and the wheel cylinder are operated. A second reference pressure sensor that detects a fluid pressure, an operation amount detection sensor that detects an operation amount from the operation unit, and a reference pressure that is set in advance based on the operation amount detected by the operation amount detection sensor A reference pressure determination means for determining at least the automatic brake based on a correlation between a detection value of the first hydraulic pressure sensor, a detection value of the second hydraulic pressure sensor, and a reference pressure determined by the reference pressure determination means Abnormality determining means for determining a failure of the control switching valve means , and at least a state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the reservoir are shut off, and the wheel cylinder and the reservoir Regenerative coordination that allows switching and switching between the state in which the wheel cylinder and the pressure regulating valve are shut off A control switching valve means, and the abnormality determining means is configured to be able to determine an abnormality of the regenerative cooperative control switching valve means, and by means of the detected value of the first hydraulic pressure sensor and the reference pressure determining means. When the determined reference pressure is substantially equal and the detected value of the second hydraulic pressure sensor is larger than both values, the failure is determined, and at the time of the determination, the regenerative cooperative control switching valve means is Control means for controlling to reduce the hydraulic pressure acting on the wheel cylinder is further provided .
If comprised in this way, it will become possible to determine the failure of at least the automatic brake control switching valve means from the relationship between the detected values of the first hydraulic pressure sensor, the second hydraulic pressure sensor and the operation amount detection sensor. .

  According to the present invention, it is possible to more accurately diagnose the failure situation in order to take appropriate measures when a failure occurs in the pressure regulating valve or the like.

FIG. 1 is an explanatory diagram showing a brake control device according to an embodiment of the present invention. Here, the whole structure including the schematic cross section of the hydraulic booster mounted in the motor vehicle is illustrated.
The brake control device 100 mainly includes a hydraulic pressure source 10, a pressure regulating valve 20, an auxiliary hydraulic pressure chamber 61, a master cylinder 50, wheel cylinders 70a, 70b, 71a, 71b, and an ECU 80. The ECU 80 is an abbreviation for an electronic control unit. This will be specifically described below.

The hydraulic pressure source 10 is configured to generate hydraulic fluid for wheel brakes at a predetermined hydraulic pressure. Specifically, the hydraulic pressure source 10 includes an accumulator 10a, a pressure sensor 10b, a DC motor 10c, a hydraulic pump 10d, and a reservoir 10e. The accumulator 10a is for accumulating the hydraulic fluid in a predetermined pressurization state set in advance, and the pressure sensor 10b is for detecting the hydraulic pressure P1 of the hydraulic fluid accumulated in the accumulator 10a. .
The hydraulic fluid is reserved in the reservoir 10e, and the DC motor 10c is driven or stopped in accordance with a command from the ECU 80. When the DC motor 10c is driven, the hydraulic fluid in the reservoir 10e is pumped to the accumulator 10a by the hydraulic pump 10d. The command from the ECU 80 is issued based on the detection value of the pressure sensor 10b.

The pressure regulating valve 20 is configured to regulate the hydraulic pressure P1 of the hydraulic fluid supplied from the accumulator 10a to the hydraulic pressure P2 according to the operation amount (depression amount) from the brake pedal (operation unit) 30. This principle will be described later. The pressure regulating valve 20 includes a valve body 20a accommodated in the cylinder 60, a valve spool 20b that closes the open end of the valve body 20a and is slidable in the x1 and x2 directions, and the valve spool 20b in the x1 direction. And a spring 20c biased toward the side. The spring 20c is accommodated in an output chamber 20f defined by the end wall of the valve body 20a and the other end of the valve spool 20b. The output chamber 20f is connected to a hydraulic pressure path R5 that communicates with an auxiliary hydraulic pressure chamber 61, which will be described later, via a valve hole 203 formed in the valve body 20a.
Further, the pressure regulating valve 20 accommodates the valve body 20a and the valve spool 20b, whereby a low pressure chamber 20e is defined by the end wall of the valve body 20a, the inner wall of the cylinder 60, and the outer peripheral wall of the valve spool 20b. ing. The low pressure chamber 20e is always connected to the reservoir 10e via the hydraulic pressure path R2, and the internal pressure is normally atmospheric pressure. The low pressure chamber 20e communicates with the output chamber 20f via a valve hole 201 and a communication hole 204 formed in the valve body 20a and the valve spool 20b, respectively.
Further, in the pressure regulating valve 20, a high pressure chamber 20d is defined by the inner wall of the cylinder 60 and the outer peripheral wall of the valve spool 20b. The high pressure chamber 20d is always connected to the accumulator 10a via the hydraulic pressure path R1, and the high pressure chamber 20d constantly holds the hydraulic pressure P1 of the hydraulic fluid supplied from the accumulator 10a.
The supply valve 20g is for supplying the hydraulic pressure P1 to the output chamber 20f side, and the discharge valve 20h is for discharging the hydraulic pressure P2 in the output chamber 20f to the low pressure chamber 20e side through the communication hole 204. It is.

In the cylinder 60, an auxiliary hydraulic chamber 61 is defined by an inner wall of the cylinder 60, an outer end of the valve body 20a, and an outer surface of a first piston 50a described later. The auxiliary hydraulic pressure chamber 61 is connected to a hydraulic pressure path R5 that communicates with the output chamber 20f. In the hydraulic pressure path R5, a normally open electromagnetic on-off valve 32 and a normally open electromagnetic proportional valve 31 are provided.
Further, a check valve 32 a that allows only the flow from the upstream side to the downstream side in parallel with the electromagnetic on-off valve 32 is provided, and the check valve 31 a that allows only the flow from the downstream side to the upstream side in parallel with the electromagnetic proportional valve 31. Is provided.
On the downstream side of the electromagnetic proportional valve 31, the fluid pressure path R5 branches to a fluid pressure path R3 that communicates with the high pressure chamber 20d, and a normally closed electromagnetic switching valve 34 is provided in the fluid pressure path R3. . In the present embodiment, the two electromagnetic on-off valves 32 and 34 have an automatic brake control function described later, and these are collectively referred to as automatic brake control switching valve means.
Further, on the downstream side of the solenoid proportional valve 31, the fluid pressure path R5 branches to a fluid pressure path R7 that communicates with the low pressure chamber 20e, and a normally closed solenoid proportional valve 33 is provided in the fluid pressure path R7. ing. In the present embodiment, the two electromagnetic proportional valves 31 and 33 have a regenerative cooperative brake control function described later, and these are collectively referred to as a regenerative cooperative control switching valve means. The electromagnetic proportional valves 31 and 33 may be electromagnetic open / close valves, respectively, and these duty controls may be performed.

The master cylinder 50 includes a first piston 50a and a second piston 50b that slidably engage with the cylinder 60, a first master cylinder hydraulic pressure chamber 50e that faces the recess of the first piston 50a, and a second master that faces the recess of the second piston 50b. A cylinder hydraulic pressure chamber 50f is included.
The first master cylinder hydraulic chamber 50e accommodates a spring 50c that biases the first piston 50a toward the x1 direction and biases the second piston 50b toward the x2 direction. The second master cylinder hydraulic pressure chamber 50f accommodates a spring 50d that biases the second piston 50b toward the x1 direction.
The first piston 50a is provided with a connection hole 501 leading to the hydraulic pressure path R8 to the reservoir 10e, and the second piston 50b is provided with a connection hole 502 leading to the hydraulic pressure path R9 to the reservoir 10e. Thereby, in the state shown in FIG. 1, that is, when the brake pedal 30 is not depressed, the first master cylinder hydraulic chamber 50e and the second master cylinder hydraulic chamber 50f are connected to the reservoir 10e. Become.
The first master cylinder hydraulic chamber 50e is connected to a hydraulic pressure path R4 communicating with the wheel cylinders 70a and 70b for applying braking force to the left and right rear wheels, and the second master cylinder hydraulic chamber 50f is connected to the left and right front wheels. Is connected to a hydraulic pressure path R6 communicating with the wheel cylinders 71a and 71b for applying a braking force to the cylinder.

The pressure sensor (first hydraulic pressure sensor) 40 detects the hydraulic pressure P2 in the output chamber 20f, and the pressure sensor (second hydraulic pressure sensor) 41 detects the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61. It has become. And these pressure sensors 40 and 41 output each detection value to ECU80, respectively.
The stroke sensor 51 detects the operation amount of the brake pedal 30 and outputs the detected value to the ECU 80.

  The ECU 80 has not only general functions such as a drive command to the DC motor 10c described above but also functions of a reference pressure determining unit 80a, an abnormality determining unit 80b, and a control unit 80c. The functions of these means 80a to 80c will be described later.

Next, an outline of general actions and the like of the brake control device 100 will be described.
First, the pressure regulation principle of the pressure regulating valve 20 will be described. The pressure regulating valve 20 regulates the hydraulic pressure P1 in the high-pressure chamber 20d to the hydraulic pressure P2 based on the balanced relationship between the force on the x1 direction side and the force on the x2 direction side. Specifically, the hydraulic pressure P2 is the forward thrust (in the x2 direction) of the valve spool 20b due to the depression force from the brake pedal 30, the pressure of the output chamber 20f × the area facing the output chamber 20f of the valve spool 20b + the spring 20c. It is obtained so that the reverse thrust (x1 direction) which is a return force is balanced.

Next, an operation when the brake pedal 30 is actually depressed by the driver will be described.
In this case, when the valve spool 20b moves in the x2 direction from the position shown in FIG. 1, the output chamber 20f is shut off from the low pressure chamber 20e, and then the output chamber 20f communicates with the high pressure chamber 20d. At this time, the valve spool 20b is pushed in the x2 direction by the depression force of the brake pedal 30, and is pushed in the x1 direction by the hydraulic pressure P2 in the spring 20c and the output chamber 20f.
Then, first, the discharge valve 20h is closed, then the supply valve 20g is opened, and the hydraulic pressure P1 in the high pressure chamber 20d is led out from the supply valve 20g to the output chamber 20f through the communication hole 204, and the liquid is output in the output chamber 20f. The pressure is adjusted to the pressure P2. Then, the adjusted hydraulic pressure P2 is derived in the order of the electromagnetic on-off valve 32, the electromagnetic proportional valve 31, and the auxiliary hydraulic pressure chamber 61 through the hydraulic pressure path R5.

In the auxiliary hydraulic pressure chamber 61, the hydraulic pressure P2 from the output chamber 20f is introduced to generate the hydraulic pressure P3, and the first piston 50c moves in the x2 direction by the hydraulic pressure P3. As a result, the connection hole 501 of the first piston 50c also moves in the x2 direction, and the connection hole 501 is blocked from the hydraulic pressure path R8 leading to the reservoir 10e. Then, the hydraulic pressure P4 in the first master cylinder hydraulic pressure chamber 50e is led out to the wheel cylinders 70a and 70b via the hydraulic pressure path R4. Therefore, braking force is applied to the left and right rear wheels.
On the other hand, the second piston 50b also moves in the x2 direction in conjunction with the movement of the first piston 50c, and the connection hole 502 of the second piston 50b is also cut off from the hydraulic pressure path R9 leading to the reservoir 10e. Then, the hydraulic pressure P4 in the second master cylinder hydraulic pressure chamber 50f is led out to the wheel cylinders 71a and 71b via the hydraulic pressure path R6. Therefore, braking force is applied to the left and right front wheels.

Next, the automatic brake control function by the electromagnetic on-off valves 32 and 34 will be described. During the automatic brake control in which the brake pedal 30 is not operated, the ECU 80 increases or decreases the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 by performing the following control. Automatic control of wheel braking force.
For example, when increasing the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61, the ECU 80 controls the electromagnetic on-off valve 32 to a closed state and controls the electromagnetic on-off valve 34 to an open state. In this way, the hydraulic pressure P1 in the high-pressure chamber 20d is supplied from the electromagnetic on-off valve 34 to the auxiliary hydraulic pressure chamber 61 via the hydraulic pressure paths R3 and R5, and the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is changed. Pressurized. When maintaining the pressurized hydraulic pressure P3, both the electromagnetic on-off valve 32 and the electromagnetic on-off valve 34 are controlled to be closed.
On the other hand, when reducing the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61, the ECU 80 controls the electromagnetic on-off valve 32 to an open state and controls the electromagnetic on-off valve 34 to a closed state. As a result, the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is led out to the output chamber 20f via the electromagnetic on-off valve 32 and discharged to the low pressure chamber 20e side via the discharge valve 20h. Therefore, the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is reduced.
When the brake pedal 30 is operated during the automatic brake control, when the hydraulic pressure P2 that is the output of the pressure regulating valve 20 exceeds the hydraulic pressure P3 of the auxiliary hydraulic pressure chamber 61 during the automatic brake control, the electromagnetic on-off valve The hydraulic pressure P3 is increased through a check valve 32a in parallel with 32.

Next, the regenerative cooperative brake control function by the electromagnetic proportional valves 31 and 33 will be described. At the time of regenerative cooperative control brake control, the ECU 80 performs the following control in order to distribute the required brake force due to the depression force of the brake pedal 30 in an electric vehicle or the like to the regenerative brake force and the friction (hydraulic pressure) brake force. . That is, for example, the ECU 80 controls the electromagnetic proportional valve 31 to a closed state and controls the electromagnetic proportional valve 33 to an open state. As a result, the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is discharged to the low pressure chamber 20e side via the electromagnetic proportional valve 33. Therefore, the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is reduced, and the distribution of the friction (hydraulic pressure) braking force with respect to the regenerative braking force can be arbitrarily controlled. When regenerative cooperative brake control is performed from the beginning of the depression of the brake pedal 30, the electromagnetic proportional valve 31 may be controlled to prevent or reduce the hydraulic pressure flowing into the auxiliary hydraulic pressure chamber 61 from the output chamber 20f.
When the operation amount of the brake pedal 30 decreases during the regenerative cooperative brake control, and the hydraulic pressure P2 that is the output of the pressure regulating valve 20 falls below the hydraulic pressure P3 of the auxiliary hydraulic pressure chamber 61 during the regenerative cooperative brake control, the electromagnetic proportionality. The hydraulic pressure P3 is reduced through the check valve 31a in parallel with the valve 31.

Next, a characteristic operation of the ECU 80 of the brake control device 100 will be described.
FIG. 2 is a diagram showing a processing procedure of the ECU. Here, the description will be made on the assumption that the ECU 80 inputs predetermined detection values from the three sensors of the pressure sensors 40 and 41 and the stroke sensor 51.
Specifically, the ECU 80 inputs a detection value indicating the hydraulic pressure P2 in the output chamber 20f from the pressure sensor 40. Further, the ECU 80 inputs a detection value indicating the hydraulic pressure P <b> 3 in the auxiliary hydraulic chamber 61 from the pressure sensor 41. Further, the ECU 80 inputs a detection value indicating an operation stroke of the brake pedal 30 as an operation amount of the brake pedal 30 from the stroke sensor 51.
Then, the reference pressure determining means 80 a of the ECU 80 determines the reference pressure based on the detection value from the stroke sensor 51. This determination is performed based on a correspondence relationship between a preset detection value and a pressure output from the output chamber 20f when the hydraulic pressure source 10 is normal and a predetermined pressure is accumulated in the accumulator 10a. Is called.

In this case, first, the abnormality determination means 80b of the ECU 80 determines the hydraulic pressure P2 indicated by the detection value from the pressure sensor 40, the hydraulic pressure P3 indicated by the detection value from the pressure sensor 41, and the reference pressure 3 described above. From the two correlations, it is determined whether only the hydraulic pressure P3 is excessive (S1). Excessive here means that the hydraulic pressure P2 and the reference pressure are substantially equal, and the hydraulic pressure P3 is larger than both values.
Whether or not “P2 and the reference pressure are substantially equal” or “P3 is large” is determined using a threshold value. For example, when the difference between P2 and the reference pressure is less than the threshold value, “P2 and the reference pressure are substantially equal”. Further, when both the difference between P2 and P3 and the difference between the reference pressure and P3 are equal to or larger than the threshold value, it corresponds to “P3 is large”.

When it is determined that only P3 is excessive (Yes in S1), the abnormality determining unit 80b
It is determined that there is a failure due to leakage of the electromagnetic on-off valve 34 or obstruction of the electromagnetic on-off valve 32 (S2), and the process proceeds to S3.
In S3, the control means 80c of the ECU 80 performs an FS action for reducing the hydraulic pressure P3 by the electromagnetic proportional valve 33 (S3). FS is an abbreviation for fail-safe. Specifically, the electromagnetic proportional valve 33 is opened. As a result, the hydraulic fluid in the auxiliary hydraulic chamber 61 is discharged to the reservoir 10e through the electromagnetic proportional valve 33 and the low pressure chamber 20e, and the hydraulic pressure P3 in the auxiliary hydraulic chamber 61 is reduced.

On the other hand, in the determination in S1, when it is determined that only P3 is not excessive (No in S1), the abnormality determination unit 80b proceeds to S4, and from the above three correlations, is only P3 insufficient? Judge whether. The term “too small” means that the hydraulic pressure P2 and the reference pressure are substantially equal, and the hydraulic pressure P3 is smaller than both values.
Whether or not it can be said that “P2 and the reference pressure are substantially equal” is the same as S1, and whether or not “P3 is small” is determined using a threshold value. For example, when both the difference between P2 and P3 and the difference between the reference pressure and P3 are less than the threshold value, it corresponds to “P3 is small”.

If it is determined that only P3 is too small (Yes in S4), the abnormality determining unit 80b determines that the electromagnetic proportional valve 33 has leaked or has failed due to the electromagnetic proportional valve 31 being blocked (S5), and proceeds to S6.
In S <b> 6, the control means 80 c of the ECU 80 performs an FS action for increasing the hydraulic pressure P <b> 3 by the electromagnetic opening / closing valve 34. Specifically, the electromagnetic on-off valve 34 is opened. As a result, the hydraulic fluid in the high pressure chamber 20d is supplied to the auxiliary hydraulic pressure chamber 61 via the electromagnetic on-off valve 34, and the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is increased.

  If it is determined in S4 that only P3 is not too small (No in S4), then the abnormality determining means 80b proceeds to S7, and from the above three interrelationships, only the reference pressure is described. Is determined to be excessive, that is, whether only the stroke of the brake pedal 30 is excessive. Excess here means a case where P2 and P3 described above are substantially equal and the reference pressure is larger than both values. In this case also, the determination is made using the threshold value.

If it is determined that only the stroke is excessive (Yes in S7), the abnormality determination unit 80b proceeds to S8, determines whether P2 and P3 are not increased, and as a result, has not increased. When it is determined that the state is in the state (Yes in S8), the process proceeds to S9.
In S9, the abnormality determining unit 80b determines that a failure has occurred due to the blockage of the supply valve 20g, and proceeds to S10.
In S10, the control means 80c of the ECU 80 performs an FS action of increasing the hydraulic pressure P3 by the electromagnetic opening / closing valve 34. Specifically, the electromagnetic on-off valve 34 is opened. As a result, the hydraulic fluid in the high pressure chamber 20d is supplied to the auxiliary hydraulic pressure chamber 61 via the electromagnetic on-off valve 34, and the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is increased.

  On the other hand, if it is determined in S7 that only the stroke is not excessive (No in S7), the abnormality determining unit 80b proceeds to S11, and from the above three correlations, only the stroke of the brake pedal 30 described above is performed. Determine if is too low. The term “under” here means that the above-described P2 and P3 are substantially equal and the reference pressure is smaller than both values. In this case also, the determination is made using the threshold value.

  If it is determined that only the stroke is insufficient (Yes in S11), the abnormality determining unit 80b proceeds to S12 and determines whether there is a stroke (changed in a decreasing direction). In determining whether or not there is a stroke, for example, it is determined that there is a stroke when the detection value of the stroke sensor 51 is not zero.

If it is determined that there is a stroke (Yes in S12), the abnormality determining unit 80b proceeds to S13, determines that there is a failure due to the closure of the discharge valve 20h, and proceeds to S14.
In S <b> 14, the control unit 80 c of the ECU 80 performs an FS action for reducing the hydraulic pressure P <b> 3 by the electromagnetic proportional valve 33. Specifically, the electromagnetic proportional valve 33 is opened. Thereby, the hydraulic fluid in the auxiliary hydraulic pressure chamber 61 is discharged to the low pressure chamber 20e side through the electromagnetic proportional valve 33, and the hydraulic pressure P3 in the auxiliary hydraulic pressure chamber 61 is reduced.
The abnormality determining unit 80b determines that the pressure sensor 40 is abnormal, for example, when it is determined that only P2 is excessive or too small from the above three correlations.

  In this way, the ECU 80 causes a failure related to the pressure regulating valve 20 such as the supply valve 20g, the electromagnetic on-off valves 32 and 34, and the electromagnetic proportional valves 31 and 34 from the mutual relationship of the three sensors of the pressure sensors 40 and 41 and the stroke sensor 51. Can be diagnosed, and a countermeasure can be taken by FS action according to the diagnosis result.

  The present invention is not limited to the embodiment described above. The configuration of the brake control device 100 may be modified and configured without departing from the spirit of the present invention. For example, although the case where the master cylinder 50 is provided (the pressure regulating valve and the wheel cylinder are indirectly connected) has been described, for example, the hydraulic pressure P2 in the output chamber 20f is directly supplied to each wheel cylinder 70a, It may be applied to 70b, 71a, 71b (the pressure regulating valve and the wheel cylinder are directly connected).

  Further, instead of the stroke sensor 51, a depression sensor that detects the depression force of the brake pedal 30 may be used.

  If the abnormality determination unit 80b determines that a failure has occurred in S2, S5, S9, and S13, the abnormality determination unit 80b may further output the fact of the failure to an external display device (not shown). In this case, the driver can confirm the possibility of a failure of the boost function. Further, when the stroke sensor 51 has a self-diagnosis function by duplication or the like, and the stroke sensor 51 itself can determine normality or abnormality, it is possible to omit S8 and S12 described above. .

  Further, since the automatic brake control function can pressurize the hydraulic pressure P3 on the wheel cylinder side (auxiliary hydraulic pressure chamber 61) with respect to the hydraulic pressure P2 output from the pressure regulating valve 20, the pressure regulating valve 20 is structurally determined. It can be used for the control to increase the boosting pressure ratio or the brake assist control during sudden braking.

Moreover, although the case where the brake control apparatus 100 is mounted in an automobile has been described as an example, for example, the brake control apparatus 100 may be mounted and applied to a moving body such as an aircraft.
Further, the processing procedure of the ECU 80 may be changed and configured without departing from the gist of the present invention.

It is explanatory drawing which shows the brake control apparatus which concerns on embodiment of this invention. It is a figure which shows the process sequence of ECU shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Hydraulic pressure source 20 Pressure regulation valve 30 Brake pedal 40, 41 Pressure sensor 50a, 50b Piston 80 ECU
80a Reference pressure determining means 80b Abnormality determining means 80c Control means

Claims (6)

A hydraulic pressure source including an accumulator for accumulating the hydraulic fluid in the reservoir at a predetermined pressure;
A pressure regulating valve that regulates the hydraulic pressure of the hydraulic fluid supplied from the hydraulic pressure source in accordance with an operation amount from the operation unit;
A wheel cylinder that operates by hydraulic pressure regulated by the pressure regulating valve;
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the accumulator are shut off, and the state in which the wheel cylinder and the accumulator are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. Switching valve means for automatic brake control different from the pressure regulating valve,
A first hydraulic pressure sensor for detecting a hydraulic pressure output from the pressure regulating valve;
A second hydraulic pressure sensor for detecting a hydraulic pressure acting on the wheel cylinder;
An operation amount detection sensor for detecting an operation amount from the operation unit;
Reference pressure determination means for determining a preset reference pressure based on the operation amount detected by the operation amount detection sensor;
A failure of at least the automatic brake control switching valve means is determined based on the correlation between the detected value of the first hydraulic pressure sensor, the detected value of the second hydraulic pressure sensor, and the reference pressure determined by the reference pressure determining means. An abnormality determining means for performing ,
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the reservoir are shut off, and the state in which the wheel cylinder and the reservoir are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. It further comprises switching valve means for regenerative cooperative control ,
The abnormality determining means, the regeneration abnormality with being determinable configure the cooperative control switching valve means, before Symbol reference pressure determined by the detected value and the reference pressure determining means in the first hydraulic pressure sensor is substantially If the detected value of the second hydraulic pressure sensor is equal to and greater than both values, the failure is determined,
The brake control device further comprising a control means for controlling the regenerative cooperative control switching valve means to reduce the hydraulic pressure acting on the wheel cylinder at the time of the determination. A hydraulic pressure source including an accumulator for accumulating the hydraulic fluid in the reservoir at a predetermined pressure;
A pressure regulating valve that regulates the hydraulic pressure of the hydraulic fluid supplied from the hydraulic pressure source in accordance with an operation amount from the operation unit;
A wheel cylinder that operates by hydraulic pressure regulated by the pressure regulating valve;
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the accumulator are shut off, and the state in which the wheel cylinder and the accumulator are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. Switching valve means for automatic brake control different from the pressure regulating valve,
A first hydraulic pressure sensor for detecting a hydraulic pressure output from the pressure regulating valve;
A second hydraulic pressure sensor for detecting a hydraulic pressure acting on the wheel cylinder;
An operation amount detection sensor for detecting an operation amount from the operation unit;
Reference pressure determination means for determining a preset reference pressure based on the operation amount detected by the operation amount detection sensor;
A failure of at least the automatic brake control switching valve means is determined based on the correlation between the detected value of the first hydraulic pressure sensor, the detected value of the second hydraulic pressure sensor, and the reference pressure determined by the reference pressure determining means. An abnormality determination means for performing ,
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the reservoir are shut off, and the state in which the wheel cylinder and the reservoir are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. It further comprises switching valve means for regenerative cooperative control,
The abnormality determining means may be determinable configured abnormalities before Symbol regeneration cooperative control switching valve means, the previous SL reference pressure determined by the detected value and the reference pressure determining means in the first hydraulic pressure sensor When the detected value of the second hydraulic pressure sensor is smaller than both values and is substantially equal, the failure is determined,
The brake control device further comprising a control means for controlling the automatic brake control switching valve means at the time of the determination to pressurize the hydraulic pressure acting on the wheel cylinder. A hydraulic pressure source including an accumulator for accumulating the hydraulic fluid in the reservoir at a predetermined pressure;
A pressure regulating valve that regulates the hydraulic pressure of the hydraulic fluid supplied from the hydraulic pressure source in accordance with an operation amount from the operation unit;
A wheel cylinder that operates by hydraulic pressure regulated by the pressure regulating valve;
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the accumulator are shut off, and the state in which the wheel cylinder and the accumulator are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. Switching valve means for automatic brake control different from the pressure regulating valve,
A first hydraulic pressure sensor for detecting a hydraulic pressure output from the pressure regulating valve;
A second hydraulic pressure sensor for detecting a hydraulic pressure acting on the wheel cylinder;
An operation amount detection sensor for detecting an operation amount from the operation unit;
Reference pressure determination means for determining a preset reference pressure based on the operation amount detected by the operation amount detection sensor;
A failure of at least the automatic brake control switching valve means is determined based on the correlation between the detected value of the first hydraulic pressure sensor, the detected value of the second hydraulic pressure sensor, and the reference pressure determined by the reference pressure determining means. An abnormality determination means for performing ,
The abnormality determining means includes
In a state where the detected value of the first hydraulic pressure sensor and the detected value of the second hydraulic pressure sensor are substantially equal and the reference pressure determined by the reference pressure determining means is larger than both values, When the detected values of the first hydraulic pressure sensor and the second hydraulic pressure sensor are not increased, the failure is determined,
The brake control device further comprising a control means for controlling the automatic brake control switching valve means at the time of the determination to pressurize the hydraulic pressure acting on the wheel cylinder. A hydraulic pressure source including an accumulator for accumulating the hydraulic fluid in the reservoir at a predetermined pressure;
A pressure regulating valve that regulates the hydraulic pressure of the hydraulic fluid supplied from the hydraulic pressure source in accordance with an operation amount from the operation unit;
A wheel cylinder that operates by hydraulic pressure regulated by the pressure regulating valve;
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the accumulator are shut off, and the state in which the wheel cylinder and the accumulator are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. Switching valve means for automatic brake control different from the pressure regulating valve,
A first hydraulic pressure sensor for detecting a hydraulic pressure output from the pressure regulating valve;
A second hydraulic pressure sensor for detecting a hydraulic pressure acting on the wheel cylinder;
An operation amount detection sensor for detecting an operation amount from the operation unit;
Reference pressure determination means for determining a preset reference pressure based on the operation amount detected by the operation amount detection sensor;
A failure of at least the automatic brake control switching valve means is determined based on the correlation between the detected value of the first hydraulic pressure sensor, the detected value of the second hydraulic pressure sensor, and the reference pressure determined by the reference pressure determining means. An abnormality determination means for performing ,
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the reservoir are shut off, and the state in which the wheel cylinder and the reservoir are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. It further comprises switching valve means for regenerative cooperative control ,
The abnormality determining means, the regeneration abnormality with being determinable configure the cooperative control switching valve means, substantially equal before Symbol detected value and the detection value of the second hydraulic pressure sensor of the first hydraulic pressure sensor, And in the state where the reference pressure determined by the reference pressure determining means is larger than both of these values and the detected values of the first hydraulic pressure sensor and the second hydraulic pressure sensor are not increased, Determine the failure,
The brake control device further comprising a control means for controlling the automatic brake control switching valve means at the time of the determination to pressurize the hydraulic pressure acting on the wheel cylinder. A hydraulic pressure source including an accumulator for accumulating the hydraulic fluid in the reservoir at a predetermined pressure;
A pressure regulating valve that regulates the hydraulic pressure of the hydraulic fluid supplied from the hydraulic pressure source in accordance with an operation amount from the operation unit;
A wheel cylinder that operates by hydraulic pressure regulated by the pressure regulating valve;
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the reservoir are shut off, and the state in which the wheel cylinder and the reservoir are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. Switching valve means for regenerative cooperative control different from the pressure regulating valve;
A first hydraulic pressure sensor for detecting a hydraulic pressure output from the pressure regulating valve;
A second hydraulic pressure sensor for detecting a hydraulic pressure acting on the wheel cylinder;
An operation amount detection sensor for detecting an operation amount from the operation unit;
Reference pressure determination means for determining a preset reference pressure based on the operation amount detected by the operation amount detection sensor;
A failure of at least the regenerative cooperative control switching valve means is determined based on the correlation between the detected value of the first hydraulic pressure sensor, the detected value of the second hydraulic pressure sensor, and the reference pressure determined by the reference pressure determining means. An abnormality determination means for performing ,
In the abnormality determination means, the detected value of the first hydraulic pressure sensor and the detected value of the second hydraulic pressure sensor are substantially equal, and the reference pressure determined by the reference pressure determining means is smaller than both values. In the state, when the detection value of the operation amount detection sensor further changes in a decreasing direction, the failure is determined,
The brake control device further comprising a control means for controlling the regenerative cooperative control switching valve means to reduce the hydraulic pressure acting on the wheel cylinder at the time of the determination. A hydraulic pressure source including an accumulator for accumulating the hydraulic fluid in the reservoir at a predetermined pressure;
A pressure regulating valve that regulates the hydraulic pressure of the hydraulic fluid supplied from the hydraulic pressure source in accordance with an operation amount from the operation unit;
A wheel cylinder that operates by hydraulic pressure regulated by the pressure regulating valve;
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the accumulator are shut off, and the state in which the wheel cylinder and the accumulator are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. Switching valve means for automatic brake control different from the pressure regulating valve,
A first hydraulic pressure sensor for detecting a hydraulic pressure output from the pressure regulating valve;
A second hydraulic pressure sensor for detecting a hydraulic pressure acting on the wheel cylinder;
An operation amount detection sensor for detecting an operation amount from the operation unit;
Reference pressure determination means for determining a preset reference pressure based on the operation amount detected by the operation amount detection sensor;
A failure of at least the automatic brake control switching valve means is determined based on the correlation between the detected value of the first hydraulic pressure sensor, the detected value of the second hydraulic pressure sensor, and the reference pressure determined by the reference pressure determining means. An abnormality determination means for performing ,
At least the state in which the wheel cylinder and the pressure regulating valve are connected and the wheel cylinder and the reservoir are shut off, and the state in which the wheel cylinder and the reservoir are connected and the wheel cylinder and the pressure regulating valve are shut off are switchable. It further comprises switching valve means for regenerative cooperative control ,
The abnormality determining means, the regeneration abnormality with being determinable configure the cooperative control switching valve means, substantially equal before Symbol detected value and the detection value of the second hydraulic pressure sensor of the first hydraulic pressure sensor, And, in the state where the reference pressure determined by the reference pressure determination means is smaller than both of these values, and the detection value of the operation amount detection sensor is changed in a decreasing direction, the failure is determined,
The brake control device further comprising a control means for controlling the regenerative cooperative control switching valve means to reduce the hydraulic pressure acting on the wheel cylinder at the time of the determination.

Images