JP4720230B2 - Friction braking device for vehicle - Google Patents

Description

  The present invention relates to a vehicle braking device, and more particularly to a friction braking device that controls a braking force by pressing a friction material against a rotating member that rotates together with a wheel and controlling the pressing force.

As one of friction braking devices for vehicles such as automobiles, for example, as described in Patent Document 1 below, there are two pistons that press a friction material against a rotating member that rotates with a wheel, There is already known a friction braking device provided with a spring member and configured to delay the pressing of the friction material by the one piston with respect to the pressing of the friction material by the other piston. According to the friction braking device as described above, since the two pistons do not press the friction material at the same time, the brake squeal can be reduced as compared with the case where the two pistons press the friction material at the same time.
Japanese Utility Model Publication No. 4-44525

  In the conventional friction braking device as described above, a plurality of pistons are provided as reciprocating members, and the plurality of pistons must be driven in order to press the friction material against the rotating member that rotates together with the wheel. Therefore, there is a problem that the structure of the friction braking device becomes complicated, and by changing the pressing position of the friction material against the rotating member, brake squeal is further effectively reduced and appropriate braking is ensured over a long period of time. Therefore, when a plurality of pistons are individually driven, there is a problem that the structure of the friction braking device is further complicated.

  The present invention has been made in view of the above-described problems in a conventional friction braking device in which a friction material is pressed against a rotating member by a plurality of pistons. Brake squeal is ensured over a long period of time without excessively complicating the structure of the friction braking device by configuring the moving member to press the friction material and change the pressing position. Is effectively reduced.

According to the present invention, the main problem described above is the configuration of claim 1, that is, a means for determining a braking request amount, a rotating member that rotates together with a wheel, a friction material, and the friction material with respect to the rotating member. In a vehicle friction braking device having pressing means for pressing and control means for controlling the pressing amount of the pressing means based on the required braking amount, the pressing means reciprocates in a direction approaching and separating from the friction material. A reciprocating member that is movable and rotatable about an axis along a reciprocating direction, and the end surface on the friction material side of the reciprocating member has a convex portion partially extending around the axis. And the control means needs to control the amount of pressing of the reciprocating member against the friction material based on the required braking amount, and to change the rotational position of the reciprocating member around the axis based on the braking situation. Judging sex Is achieved by the friction braking device of the vehicle, characterized in that changing the rotational position of the reciprocating member around said axis in response to materiality.

According to the present invention, in order to effectively achieve the main problem described above, in the configuration of claim 1, the control means ends the pressing of the reciprocating member against the friction material. It is configured to determine that there is a need (configuration of claim 2).

Further, according to the present invention, in order to effectively achieve the above main problem, in the configuration of claim 1 , the control means is more than a reference time from the time when the rotational position of the reciprocating member is changed last time. It is configured to determine that there is the need when the time has passed (configuration of claim 3).

According to the present invention, in order to effectively achieve the main problems described above, in the configuration of claim 1 , the friction braking device determines the possibility of occurrence of brake squeal and the possibility of occurrence of brake squeal. It is configured to determine that there is the necessity when it is determined that there is a defect (configuration of claim 4).

According to the present invention, in order to effectively achieve the above main problem, in the configuration of claim 4 , the control means is configured such that the rate of change in the required braking amount is the required rate of change in braking required amount. It is determined that there is a possibility of occurrence of brake squeal when the vehicle deceleration increase rate is equal to or greater than the deceleration increase rate determination reference value in a situation below the determination reference value, and the convex portion is the rotating member. The rotational position of the reciprocating member around the axis is changed so as to gradually approach the rotation center of the rotation.

According to the present invention, in order to effectively achieve the above main problem, in the configuration of claim 1 , the friction braking device has means for detecting a variation in braking torque, and the control means The necessity is determined when the variation range of the braking torque is greater than or equal to the reference value for determining the braking torque variation range in a situation where the magnitude of the change rate of the required braking amount is equal to or less than the reference value for determining the required braking amount change rate. The reciprocating motion around the axis line is determined so that the convex portion is positioned closer to the rotation center of the rotating member when the braking torque fluctuation range is larger than when the braking torque fluctuation range is smaller. It is comprised so that the rotation position of a member may be changed (structure of Claim 6).

According to the present invention, in order to effectively achieve the main problem described above, in the configuration of claim 1 , the friction braking device includes means for estimating a friction coefficient of the friction material, and The control means determines the necessity based on the estimated value of the friction coefficient of the friction material, and when the estimated value of the friction coefficient of the friction material is low, compared to when the estimated value of the friction coefficient of the friction material is high. The rotation position of the reciprocating member around the axis is changed so that the convex portion is separated from the rotation center of the rotating member (configuration of claim 7 ).

According to the present invention, in order to effectively achieve the above main problem, in the configuration of claim 7 , the means for estimating the friction coefficient of the friction material is based on at least the temperature of the friction material. It is comprised so that the friction coefficient of the said friction material may be estimated (structure of Claim 8 ).

According to the present invention, in order to effectively achieve the above main problem, in the configuration of claim 7 or 8 , the means for estimating the friction coefficient of the friction material is based on at least the vehicle speed. It is comprised so that the friction coefficient of a material may be estimated (structure of Claim 9 ).

According to the present invention, in order to effectively achieve the main problem described above, in the configuration of claim 1 , the friction braking device includes means for estimating a friction load of the friction material, control means configured to determine the estimated value of the frictional load of the friction material is the need when greater than or equal to the reference value of the friction load determination (the construction of claim 1 0).

According to the invention, to the aspect of the effective, the claims at the structure of claim 1 0, means for estimating the friction load of the friction material integrated value of the braking energy during braking configured to estimate the friction load of the friction material on the basis of (the construction of claim 1 1).

Further, according to the present invention, in order to effectively achieve the main problem described above, in the configuration of claim 1 , the control means has an increase rate of the braking request amount equal to or higher than a reference value for emergency braking determination. determines that there is the need for a certain time, the convex portion is the configured to change the rotational position of the reciprocating member (claim 1 2 about said axis so as to leave from the rotating center of the rotary member Constitution).

According to the configuration of the first aspect, the pressing means includes a reciprocating member that can reciprocate in a direction approaching and away from the friction material and that can rotate around an axis along the reciprocating direction. The end face of the friction material side has a convex part partially extending around the axis, and the control means controls the amount of pressing of the reciprocating member against the friction material and reciprocates around the axis based on the braking situation. The necessity of changing the rotational position of the moving member is determined, and the rotational position of the reciprocating member around the axis is changed according to the necessity . Therefore, when it is necessary to change the rotational position, the position of the convex portion with respect to the axis can be changed by changing the rotational position of the reciprocating member, thereby requiring a plurality of reciprocating members and their individual driving. The pressing position of the friction material by the convex portion can be changed easily and reliably. Further, when the rotational position needs to be changed, the rotational position of the reciprocating member is not changed, so that useless energy consumption can be avoided and the durability of the friction braking device can be ensured.

Further, according to the configuration of the second aspect, since the control means determines that there is the necessity when the pressing of the reciprocating member against the friction material is finished, every time the pressing of the reciprocating member against the friction material is finished. The rotational position of the reciprocating member can be changed, and the pressing position of the friction material by the convex portion can be changed, thus preventing the friction material from being always pressed against the rotating member at the same pressing position, thereby The risk of occurrence of brake squealing can be effectively reduced.

In the above-described configuration according to claim 3, the control means determines that there is the need when they are older than the reference time from the time of changing the rotational position of the previous reciprocating member. Therefore, the friction material is pressed against the rotating member at the same pressing position without changing the rotating position of the reciprocating member in a situation where the reference time has passed since the time when the rotating position of the reciprocating member was changed last time. prevents situations being continues, thereby it is possible to effectively reduce the risk of brake squeal occurrence.

In the above-described configuration according to claim 4, frictional braking device determines the possibility of brake noise generation, it determined that there is the need when it is determined that there is a risk of brake noise occurrence. Thus while preventing the rotational position of the reciprocating member at the situation there is no fear that the brake noise is generated is changed unnecessarily, can you to effectively reduce the possibility of brake noise is generated .

According to the fifth aspect of the present invention, the control means is configured such that the increase rate of the vehicle deceleration increases when the magnitude of the change rate of the braking request amount is equal to or less than a reference value for determining the braking request amount change rate. When it is equal to or higher than the reference value for rate determination, it is determined that there is a possibility of occurrence of brake squeal, and the rotational position of the reciprocating member around the axis is changed so that the convex portion approaches the rotation center of the rotating member . Therefore, in a situation where the rate of change in the required braking amount is large and the rate of increase in vehicle deceleration is large , the distance between the center of pressure of the reciprocating member against the friction material and the center of rotation of the rotating member is reduced, As a result, it is possible to effectively reduce the risk of brake squealing or the occurrence thereof, while avoiding an unnecessary increase in braking torque that occurs when the friction material is pressed against the rotating member.

According to the configuration of the sixth aspect, the friction braking device has means for detecting fluctuations in the braking torque, and the control means has a magnitude of the rate of change of the braking request amount equal to or less than a reference value for determining the braking request amount change rate. When the fluctuation range of the braking torque is equal to or greater than the reference value for determining the fluctuation range of the braking torque, the necessity is determined. When the fluctuation range of the braking torque is large, the fluctuation range of the braking torque is small. In comparison, the rotational position of the reciprocating member around the axis is changed so that the convex portion is positioned closer to the rotational center of the rotating member . Therefore, in a situation where the rate of change of the required braking amount is small and the fluctuation range of the braking torque is small, the rotational position of the reciprocating member is unnecessarily changed and the braking torque is prevented from being unnecessarily reduced. In a situation where the rate of change of the required braking amount is small and the fluctuation range of the braking torque is large, the braking torque can be reduced, and the fluctuation of the braking torque and the resulting brake vibration can be effectively reduced. .

According to the seventh aspect of the present invention, the friction braking device has means for estimating the friction coefficient of the friction material, and the control means determines the necessity based on the estimated value of the friction coefficient of the friction material, When the estimated value of the friction coefficient of the material is low, the rotational position of the reciprocating member around the axis is changed so that the convex portion is separated from the rotation center of the rotating member as compared with the estimated value of the friction coefficient of the friction material . Therefore, when the frictional braking force generated when the frictional material is pressed against the rotating member by the reciprocating member is low, the pressing center of the reciprocating member against the frictional material and the rotating member are more reliable than when the frictional braking force is high. Thus, the required braking torque can be generated regardless of fluctuations in the friction coefficient of the friction material.

Although the friction coefficient of the friction material varies depending on the temperature of the friction material, there is a certain relationship between the friction coefficient of the friction material and the temperature of the friction material regardless of the type of the friction material. According to the configuration of the above aspect 8 , since the means for estimating the friction coefficient of the friction material estimates the friction coefficient of the friction material based on at least the temperature of the friction material, the friction coefficient of the friction material and the temperature of the friction material The friction coefficient of the friction material can be estimated using a certain relationship between the friction materials.

The friction coefficient of the friction material also varies depending on the relative speed between the friction material and the rotating member, but there is a certain relationship between the friction coefficient of the friction material and the relative speed regardless of the type of the friction material. The relative speed changes according to the vehicle speed. According to the configuration of the ninth aspect , since the means for estimating the friction coefficient of the friction material estimates the friction coefficient of the friction material based on at least the vehicle speed, it is appropriate according to the relative speed between the friction material and the rotating member. In addition, the friction coefficient of the friction material can be estimated.

In the above-described configuration according to claim 1 0, the friction braking device comprises means for estimating the frictional load of the friction material, the control means estimate the frictional load of the friction material is greater than or equal to the reference value of the friction load determination determining that sometimes there is the need. Therefore, when the friction load of the friction material is high, the rotational position of the reciprocating member is changed, thereby reducing the possibility of occurrence of brake squeal compared to the case where the rotational position of the reciprocating member around the axis is constant. In addition, the risk of uneven wear of the friction material due to the friction material being maintained in a constant friction state with respect to the rotating member can be reduced, and a good braking condition can be ensured over a long period of time.

In the above-described configuration according to claim 1 1, the means for estimating the frictional load of the friction material so to estimate the frictional load of the friction material on the basis of the integrated value of the braking energy during braking, ensures friction load of the friction material Can be estimated.

In the above-described configuration according to claim 1 2, the control means determines that there is the need when the rate of increase in the braking demand is above the reference value of the emergency braking determination, the rotation center of the convex portion rotating member The rotational position of the reciprocating member around the axis is changed so as to be further away . Therefore, in a situation where the required braking amount increases rapidly as in emergency braking, the rotational position of the reciprocating member is changed so that the rotational position of the reciprocating member is not changed or the convex portion approaches the rotational center of the rotating member. The braking torque can be increased quickly compared to the case where the

[Preferred embodiment of problem solving means]
According to one preferred embodiment of the present invention, in the configuration of the claims 1 to 1 2, means for determining the braking demand is configured to determine the braking amount required based on the amount of braking operation of the driver (Preferred embodiment 1)

According to another preferred aspect of the present invention, in the configuration of claims 1 to 12 or preferred aspect 1, the pressing amount is a pressing force and the target pressing amount is a target pressing force. (Preferred embodiment 2).

According to the aspect of the present invention, in the configuration of the upper Symbol upper Symbol claims 3 to 1 2 or the preferred embodiment 1 or 2, the control means reciprocally in pushing of the reciprocating member with respect to the friction material when changing the rotational position of the rotary members is configured to change the rotational position of the forward backward member when the pressing amount of the reciprocating member is less than the reference value of permission decision for the friction material (preferred embodiment 3).

According to another preferred embodiment of the present invention, in the configuration of the above-described claims 1 to 12 or the preferred embodiments 1 to 3 , the pressing means is configured to be an electromagnetic pressing force generator ( Preferred embodiment 4 ).

  The present invention will now be described in detail with reference to a few preferred embodiments with reference to the accompanying drawings.

  1 is a schematic configuration diagram showing a first embodiment of a vehicle friction braking device according to the present invention, FIG. 2 is an enlarged front view of the piston shown in FIG. 1, and FIG. 3 is a plan view showing the piston shown in FIG. It is a side view which expands and shows.

  In these drawings, reference numeral 10 denotes a rotor disk as a rotating member that rotates around a wheel axis 10A together with a wheel that is not shown. A caliper 12 is disposed at a position close to the outer edge of the rotor disk 10, and the caliper 12 is attached to a sprung member not shown in the drawing. The caliper 12 supports the piston 16 so as to be able to reciprocate in a direction perpendicular to the rotor disk 10 and to be rotatable around an axis 14 along the reciprocating direction.

  In the illustrated first embodiment, the piston 16 extends through the contact plate 18 of the caliper 12 toward the rotor disk 10, and the end surface 16 A of the piston 16 on the rotor disk 10 side is around the axis 14. Has a convex portion 20 extending in a semicircular arc shape. The convex portion 20 abuts on the support plate 22, and a friction material 24 is fixed to the support plate 22. The support plate 22 is supported by the contact plate 18 so as to reciprocate in a direction perpendicular to the rotor disk 10 and not to rotate about the axis 14.

  An electromagnetic actuator 26 is fixed to the caliper 12, and a drive shaft 28 of the electromagnetic actuator 26 is in contact with an end face 16 </ b> B of the piston 16 on the side opposite to the rotor disk 10. The piston 16 is reciprocated along the axis 14 by the drive shaft 28 of the electromagnetic actuator 26, whereby the friction material 24 is pressed against the rotor disk 10. The electromagnetic actuator 26 is provided with an axial force sensor 30 for detecting the axial force Fs of the piston 16.

  A plurality of permanent magnets 32 are fixed to the outer periphery of the piston 16 at regular intervals in the circumferential direction, and the permanent magnets 32 are spaced at regular intervals in the circumferential direction. A plurality of solenoids 34 are arranged. Accordingly, when the control current is supplied to the solenoid 34, the piston 16 is rotationally driven around the axis line 14, and thereby the rotational position of the piston 16 around the axis line 14, in other words, the position of the convex portion 20 with respect to the axis line 14 is set. By changing the position, the position of the pressing center 36 of the piston 16 with respect to the friction material 24 can be variably controlled.

  Although not shown in the drawing, an urging means such as a compression coil spring for urging the piston 16 in a direction away from the rotor disk 10 when a drive current is not supplied to the electromagnetic actuator 26 is provided. As a result, the friction material 24 is not pressed against the rotor disk 10 when the electromagnetic actuator 26 is not energized. In addition, the friction coefficient between the piston 16 and the support plate 22 is set to a very low value so that the piston 16 can be rotated relatively easily with respect to the support plate 22.

  The electromagnetic actuator 26 is controlled by the electronic control unit 40. The electronic control unit 40 has a signal indicating the pressing force Fsi (i = fl, fr, rl, rr) from the axial force sensor 30 of each wheel, and each wheel. The rotary encoder 44 provides a signal indicating the rotation angle θi (i = fl, fr, rl, rr) of each piston 16, a signal indicating the pedal depression force Fp from the pedal force sensor 46 provided on the brake pedal 42, and a stop lamp switch (STPSW). 48), a signal indicating whether or not the stop lamp switch is on is input. Although not shown in detail in FIG. 1, the electronic control unit 40 includes a CPU, a ROM, a RAM, and an input / output port device, which are connected to each other by a bidirectional common bus and a drive circuit. It may be better.

The electronic control unit 40 calculates the target braking force Fball of the entire vehicle based on the pedal depression force Fp, and calculates the target braking force Fbti (i = fl, fr, rl, rr) of each wheel based on the target braking force Fball. The electronic control unit 40 sets the friction coefficient of the friction material 24 to μ, and sets the distance (braking radius) between the braking force generation center of the friction material 24 and the rotation axis 10A of the rotor disk 10 to Ri (i = fl, fr, rl, rr), the value of Fsti satisfying the following expression 1 is calculated as the target pressing force Fsti of the electromagnetic actuator 26 for each wheel. In this case, the braking force generation center of the friction material 24 is estimated to be at the position of the pressing center 36 of the piston 16 against the friction material 24, and the braking radius Ri is considered to be constant regardless of the rotational position of the piston 16.
Fbti = FstiμRi (1)

  Furthermore, the electronic control unit 40 calculates the target voltage Vti of the electromagnetic actuator 26 based on the target pressing force Fsti, and controls the driving voltage of the electromagnetic actuator 26 based on the target voltage Vti, thereby detecting the pressing force detected by the axial force sensor 30. Each electromagnetic actuator 26 is controlled so that the pressure Fsi becomes the target pressing force Fsti.

  Further, the electronic control unit 40 is positioned so that the rotational position of the piston 16 shown in FIG. 2, that is, the pressing center 36 is positioned on the trailing side in the rotational direction of the rotor disk 10 when the vehicle moves forward with respect to the axis 14. Is the standard position, the piston 16 is controlled to the standard position when the vehicle starts to travel, and the rotational angle θi of the piston 16 when the piston 16 is in the standard position is set to 0, and the rotational angle θi (−180 ° ≦ θi ≦ 180 °, The clockwise direction as viewed in FIG.

  In particular, in the illustrated first embodiment, the electronic control unit 40 moves the piston 16 around the axis 14 at a predetermined rotation angle at the end of braking, that is, at the end of pressing the friction material 24 against the rotor disk 10 by the piston 16. By rotating Δθ (positive constant), the pressing position of the piston 16 against the friction material 24 is changed for each braking.

  In this case, when the rotation angle θi of the piston 16 after rotation exceeds 180 °, the current rotation angle θi−360 ° is set as the current rotation angle θi in the next cycle. When the rotation angle θi of the rotated piston 16 exceeds −180 °, the current rotation angle θi + 360 ° is set as the current rotation angle θi in the next cycle.

  Next, the braking force control routine according to the first embodiment will be described with reference to the flowchart shown in FIG. The control according to the flowchart shown in FIG. 4 is started by closing an ignition switch (not shown), and is repeatedly executed at predetermined time intervals.

  First, at step 10, the rotational position of the piston 16 is controlled to the standard position, and at step 20, a signal indicating the pedal depression force Fp detected by the depression force sensor 44 is read.

  In step 30, it is determined whether or not the stop lamp switch 46 is in an on state. If an affirmative determination is made, the process proceeds to step 110. If a negative determination is made, the process proceeds to step 40.

  In step 40, it is determined whether or not it was previously determined that the stop lamp switch 46 was in the on state. When a negative determination is made, the process returns to step 20, and when an affirmative determination is made, the process returns to step 50. Here, assuming that the current rotation angle of the piston 16 is θfi (i = fl, fr, rl, rr), the piston 16 is predetermined around the axis 14 so that the rotation angle θi of the piston 16 becomes a target rotation angle of θti = θfi + Δθ. Is then rotated, and then the process returns to step 20.

  In step 110, the target braking force Fball of the entire vehicle is calculated based on the pedal depression force Fp in the manner known in the art, and in step 120, the distribution law known in the art is followed. A target braking force Fbti for each wheel is calculated.

  In step 130, the target pressing force Fsti of the electromagnetic actuator 26 is calculated as a value of Fsti that satisfies the above equation 1, and in step 300, each pressing force Fsi of the electromagnetic actuator 26 becomes the target pressing force Fsti. The pressing force of the electromagnetic actuator 26 is controlled.

  Thus, according to the first embodiment shown in the figure, when the rotation position of the piston 16 is controlled to the standard position at step 10 at the start of traveling of the vehicle, and when it is determined at step 30 that braking is being performed, steps 110 to 110 are performed. In 130 and 300, the pressing force Fsi of the electromagnetic actuator 26 is controlled in accordance with the braking operation amount of the driver. On the other hand, if it is determined in step 30 that the braking is not being performed, and it is determined in step 40 that the braking is finished, the piston 16 is rotated around the axis 14 at a predetermined rotation angle in step 50. Δθ is rotated.

  Therefore, according to the first embodiment shown in the drawing, the piston 16 is rotated about the axis 14 by a predetermined rotation angle Δθ every time braking is finished, so that the position of the pressing center 36 of the piston 16 with respect to the axis 14 is changed every time braking is performed. As a result, it is possible to effectively reduce the possibility of occurrence of brake squealing by changing the pressing state of the friction material 24 against the rotor disk 10, and uneven wear of the friction material compared to the case where the piston 16 is not rotated. It is possible to reliably reduce the fear.

  Further, according to the first embodiment shown in the figure, the piston 16 is rotated at the end of braking, in other words, in a situation where the pressing force of the piston 16 against the friction material 24 is very small, the piston 16 is braked. The rotational load of the electromagnetic actuator 26 can be reduced and the energy consumption of the electromagnetic actuator 26 can be reduced as compared with the case where the electromagnetic actuator 26 is rotated inside, and the electromagnetic actuator 26 having a low output is used. Can do.

  In the illustrated embodiment 1, if an affirmative determination is made in step 40, the piston 16 is rotated around the axis 14 by a predetermined rotation angle Δθ in step 50. Prior to step 50, it is determined whether or not the pressing force Fsi detected by the axial force sensor 30 is equal to or less than a reference value Fso (a positive constant close to 0). It may be modified so that step 50 is executed when an affirmative determination is made.

  FIG. 5 is a flowchart showing a braking force control routine in the second embodiment of the vehicle friction braking apparatus according to the present invention. In FIG. 5, the same step number as the step number shown in FIG. 4 is assigned to the same step number shown in FIG. Is the same.

  In the second embodiment, when a negative determination is made in step 30, the process returns to step 20, and when an affirmative determination is made, steps 110 to 130 are executed in the same manner as in the first embodiment. When step 130 is completed, the routine proceeds to step 140.

  In step 140, it is determined whether or not the target pressing force Fsti of the electromagnetic actuator 26 is equal to or less than a reference value Fsto (a positive constant close to 0). If a negative determination is made, the process proceeds to step 300. When a positive determination is made, the routine proceeds to step 150.

  In step 150, it is determined whether or not a reference time Δto (a positive constant) has elapsed since the time when the piston 16 was rotated by a predetermined rotation angle Δθ last time. If a negative determination is made, the process proceeds to step 300. When an affirmative determination is made, the piston 16 is rotated around the axis 14 by a predetermined rotation angle Δθ in step 160, as in step 50 in the first embodiment, and then to step 300. move on.

  Thus, according to the illustrated second embodiment, when the driver performs a braking operation and an affirmative determination is made in step 30, the electromagnetic actuator 26 is controlled based on the amount of braking operation of the driver in steps 110 to 130. When the target pressing force Fsti is calculated and the target pressing force Fsti exceeds the reference value Fsto or when the target pressing force Fsti is equal to or less than the reference value Fsto, the reference time from the time when the piston 16 is rotated a predetermined rotation angle Δθ last time. When Δt0 or more has not elapsed, in step 300, the pressing force Fsi of the electromagnetic actuator 26 is controlled to become the target pressing force Fsti.

  On the other hand, when the target pressing force Fsti is equal to or less than the reference value Fsto and the reference time Δto has elapsed from the time when the piston 16 has been rotated by the predetermined rotation angle Δθ last time, the piston 16 is moved to the axis 14 in step 160. Thereafter, the rotation angle is rotated by a predetermined rotation angle Δθ, and thereafter, in step 300, the pressing force Fsi of the electromagnetic actuator 26 is controlled to become the target pressing force Fsti.

  Therefore, according to the illustrated second embodiment, the piston 16 is rotated about the axis 14 by the predetermined rotation angle Δθ in a situation where the braking is being performed and the pressing force Fsi of the piston 16 is small. By changing the position of the pressing center 36 of the piston 16 with respect to the rotor 16, it is possible to effectively reduce the possibility of occurrence of brake noise by changing the pressing state of the friction material 24 against the rotor disk 10. The risk of uneven wear of the friction material can be reliably reduced as compared with the case where the friction material is not rotated.

  Also, according to the illustrated embodiment 2, the piston 16 is rotated in a situation where the pressing force Fsi of the piston 16 is small, so that the piston 16 is rotated during braking with a high pressing force. Thus, the rotational load of the electromagnetic actuator 26 can be reduced, the energy consumption of the electromagnetic actuator 26 can be reduced, and the electromagnetic actuator 26 having a low output can be used.

  In particular, according to the second embodiment shown in the figure, when it is determined in step 150 that the reference time Δto or more has elapsed since the piston 16 was previously rotated by a predetermined rotation angle Δθ, the piston 16 is rotated in step 160. Therefore, for example, in a situation where the brake pedal is pumped by the driver, the piston 16 can be reliably prevented from rotating unnecessarily frequently.

  In the illustrated embodiment 2, it is determined in step 140 whether or not the target pressing force Fsti of the electromagnetic actuator 26 is equal to or less than the reference value Fsto. Whether or not the pressing force Fsi detected by the axial force sensor 30 is equal to or less than the reference value Fso is determined. If a negative determination is made, the process proceeds to step 300. If an affirmative determination is made, step 150 is performed. May be corrected to be executed, or may be corrected to determine whether or not the pressing force Fsi is equal to or less than the reference value Fso in place of the determination in step 140.

  FIG. 6 is a flowchart showing a braking force control routine in Embodiment 3 of the vehicle friction braking apparatus according to the present invention.

  In the third embodiment, steps 10 to 30, steps 110 to 130, and step 300 are executed in the same manner as in the first embodiment. When step 130 is completed, the process proceeds to step 170. It is determined whether or not the absolute value of the change rate Fpd of the pedal effort Fp is equal to or less than a reference value Fpdo (a positive constant), that is, whether or not the amount of braking operation by the driver is substantially constant. When a negative determination is made, the process proceeds to step 300, and when an affirmative determination is made, the process proceeds to step 180.

  In step 180, a deviation ΔFsi between the maximum value and the minimum value of the pressing force Fsi detected by the axial force sensor 30 within a predetermined time until the present is calculated, and the deviation ΔFsi is a reference value ΔFso (positive Constant), that is, whether or not the braking torque fluctuation is large. If a negative determination is made, the process proceeds to step 300. If an affirmative determination is made, the process proceeds to step 300. At 190, the target rotation angle θti of the piston 16 is set to 90 °, and the piston 16 is rotated around the axis line 14 so that the rotation angle θi of the piston 16 becomes the target rotation angle θti.

  Thus, according to the illustrated third embodiment, it is determined in step 170 that the absolute value of the rate of change Fpd of the pedal effort Fp is equal to or less than the reference value Fpdo, and the braking operation amount of the driver is substantially constant. If it is determined in step 180 that the fluctuation of the braking torque is large, the piston 16 is moved around the axis 14 so that the rotation angle θi of the piston 16 becomes the target rotation angle θti = 90 ° in step 190. The braking torque is reduced by rotating and reducing the distance between the braking force generation center of the friction material 24 and the rotation axis 10A of the rotor disk 10, that is, the braking radius, to the minimum value.

  For example, FIGS. 7A to 7C show the convex portions 20 of the piston 16 with respect to the rotor disk 10 and the friction material 24 when the rotation angle θi of the piston 16 is 0 ° (standard position), 90 °, and −90 °, respectively. And the positional relationship of the pressing center 36 is shown. As shown in the figure, the braking radius Ri becomes the maximum value Rmax when the rotation angle θi is −90 °, becomes the minimum value Rmin when the rotation angle θi is 90 °, and when the rotation angle θi is 0 °. The intermediate value Rn = (Rmax + Rmin) / 2 between the maximum value Rmax and the minimum value Rmin.

  According to the illustrated third embodiment, when the fluctuation of the braking torque is large in a situation where the amount of braking operation of the driver is substantially constant, the piston 16 is rotated so that the braking radius Ri becomes the minimum value Rmin, As a result, the pressing state of the friction material 24 against the rotor disk 10 is changed and the braking torque is reduced, so that it is possible to effectively reduce the possibility that the fluctuation of the braking torque will continue.

  In particular, according to the third embodiment shown in the drawing, in step 170, it is determined whether or not the absolute value of the rate of change Fpd of the pedal depression force Fp is equal to or less than the reference value Fpdo and the amount of braking operation by the driver is substantially constant. When the determination is made and an affirmative determination is made in step 170, the determination in step 180 is executed, so that the piston 16 is unnecessarily rotated in a situation where the amount of braking operation by the driver is finely increased or decreased. This can be prevented.

  In the illustrated third embodiment, in step 190, the piston 16 is rotated so that the rotation angle θi of the piston 16 becomes the target rotation angle θti = 90 °. The piston 16 may be modified to rotate by a specific angle for each cycle so that the angle θi gradually approaches the target rotation angle θti = 90 °.

  FIG. 8 is a flowchart showing a braking force control routine in the fourth embodiment of the vehicle friction braking apparatus according to the present invention.

  In the fourth embodiment, as indicated by the phantom lines in FIG. 1, the electronic control unit 40 has a signal indicating the vehicle speed V from the vehicle speed sensor 50 and a temperature sensor 52i (i = fl, fr , Rl, rr) are input signals indicating the temperature Ti (i = fl, fr, rl, rr) of the friction material 24 of each wheel. The electronic control unit 40 stores a map corresponding to the graph shown in FIG.

  Next, a braking force control routine according to the fourth embodiment will be described with reference to the flowchart shown in FIG.

  As shown in FIG. 8, Steps 10 to 30, Steps 110 to 130, and Step 300 are executed in the same manner as in the first embodiment, and when a negative determination is made in Step 30, that is, the operation. When no braking operation is performed by the operator, the routine proceeds to step 60, where the friction coefficient of the friction material 24 is determined from the map corresponding to the graph shown in FIG. 9 based on the temperature Ti of the friction material 24 and the vehicle speed V. The estimated value μai (i = fl, fr, rl, rr) is calculated.

  In step 70, the target rotational angle θti of the piston 16 is calculated so that the braking radius Ri increases as the estimated value μai of the friction coefficient of the friction material 24 decreases. In step 80, the rotational angle θi of the piston 16 is calculated. It is determined whether or not the rotation angle θti is the target rotation angle θti. When the rotation angle θi is not the target rotation angle θti, the piston 16 is rotated around the axis 14 so that the rotation angle θi becomes the target rotation angle θti. Return.

  Thus, according to the fourth embodiment, the friction coefficient μai of the friction material 24 is estimated in step 60 and the friction coefficient μai of the friction material 24 is low in a situation where the braking operation is not performed by the driver. Since the piston 16 is rotated so that the braking radius Ri becomes larger, the fluctuation of the braking torque due to the fluctuation of the friction coefficient of the friction material 24 is reduced, and the good braking is always achieved regardless of the fluctuation of the friction coefficient of the friction material 24. Performance can be ensured.

  In particular, according to Example 4 shown in the figure, the estimated value μai of the friction coefficient of the friction material 24 is calculated from the map corresponding to the graph shown in FIG. 9 based on the temperature Ti and the vehicle speed V of the friction material 24. The friction coefficient μai of the friction material 24 can be accurately estimated as compared with the case where the estimated value μai of the friction material 24 is calculated based only on the temperature Ti of the friction material 24 or the vehicle speed V.

  FIG. 10 is a flowchart showing a braking force control routine in the fifth embodiment of the vehicle friction braking apparatus according to the present invention.

In the fifth embodiment, steps 10 to 30, steps 110 to 130, and step 300 are executed in the same manner as in the above-described first embodiment. When the braking operation is not performed by the person, the support load of each wheel is set to Mi (i = fl, fr, rl, rr) in step 35, and each braking is performed after step 55 described later is executed. An integrated value Ebi (i = fl, fr, rl, rr) of braking energy is calculated for each wheel according to the following formula 2, where Vs is the vehicle speed at the start of braking and Ve is the vehicle speed at the end of braking. .
Ebi = ΣMi (Vs ² −Ve ² ) / 2 (2)

  In step 45, it is determined whether or not the integrated value Ebi of the braking energy is greater than or equal to a reference value Ebo (positive constant), that is, whether or not the braking load is large. When the determination is made, the process returns to Step 20, and when an affirmative determination is made, the process proceeds to Step 50.

  In step 50, as in the case of the first embodiment, the current rotation angle of the piston 16 is θfi (i = fl, fr, rl, rr), and the target rotation angle θi of the piston 16 is θti = θfi + Δθ. The piston 16 is rotated by a predetermined rotation angle Δθ around the axis 14 so as to obtain a rotation angle, and in step 55, the braking energy Ebi is reset to 0, and then the process returns to step 20.

  Thus, according to the fifth embodiment shown in the figure, in a situation where the driver does not perform the braking operation, the integrated value Ebi of the braking energy is calculated in step 35, and the integrated value of the braking energy is calculated in step 45. If it is determined that Ebi is equal to or greater than the reference value Ebo and the braking load is large, the piston 16 is rotated around the axis 14 by a predetermined rotation angle Δθ in step 50.

  Therefore, every time it is determined that the braking load is large, the position of the pressing center 36 of the piston 16 with respect to the axis 14 is changed, thereby changing the pressing state of the friction material 24 against the rotor disk 10 and the possibility of occurrence of brake noise. This can effectively reduce the possibility of uneven wear of the friction material.

  For example, FIG. 11 compares the wear state (broken line) of the friction material 24 when the pressing state of the piston 16 against the friction material 24 is constant and the wear state (dashed line) of the friction material 24 in the illustrated embodiment 5. It is explanatory drawing shown. As shown by the broken line in FIG. 11, when the pressing state of the piston 16 against the friction material 24 is constant, uneven wear is likely to occur in the friction material 24, and the friction braking device is used for a long time. If this is done, there is a problem that braking cannot be performed stably or the frequency of replacement of the friction material 24 is increased. On the other hand, according to the illustrated embodiment 5, the pressing state of the friction material 24 against the rotor disk 10 is changed, and therefore, as shown by the one-dot chain line in FIG. The fear and the replacement frequency thereof can be reduced, and appropriate braking can be performed stably over a long period of time.

  Further, according to the illustrated embodiment 5, the piston 16 is not braked. In other words, the piston 16 is rotated in a situation in which the pressing force of the piston 16 against the friction material 24 is zero. As compared with the case where the electromagnetic actuator 26 is rotated, the rotational load of the electromagnetic actuator 26 can be reduced, the energy consumption of the electromagnetic actuator 26 can be reduced, and the electromagnetic actuator 26 having a low output can be used. it can.

  In the illustrated embodiment 5, the braking load is calculated based on the deviation between the vehicle speed Vs at the start of braking and the vehicle speed Ve at the end of braking, but is detected by the axial force sensor 30. It may be calculated in an arbitrary manner such as the integrated value of the pressing force Fsi.

  FIG. 12 is a flowchart showing a braking force control routine in the sixth embodiment of the vehicle friction braking apparatus according to the present invention.

  In the sixth embodiment, steps 10 to 30, steps 110 to 130, and step 300 are executed in the same manner as in the first embodiment, and step 170 is executed in the same manner as in the third embodiment. When an affirmative determination is made at step 170, the routine proceeds to step 200.

  In step 200, it is determined whether or not the increase rate Gbd of the vehicle deceleration Gb is equal to or greater than the reference value Gbd1, that is, an increase in braking force and occurrence of brake squeal due to an increase in the temperature of the friction material and the friction coefficient. It is determined whether or not there is a possibility of a situation. When a negative determination is made, the process proceeds to step 300, and when an affirmative determination is performed, the process proceeds to 210.

  In step 210, the rotation angle Δθb of the piston 16 is calculated from a map corresponding to the graph shown in FIG. 13 based on the increase rate Gbd of the vehicle deceleration Gb. In step 220, the rotation angle of the piston 16 is calculated. The piston 16 is rotated by Δθb around the axis 14 every cycle so that θi approaches 90 °, and then the process proceeds to step 300.

  Thus, according to the sixth embodiment shown in the figure, it is determined in step 170 that the absolute value of the rate of change Fpd of the pedal effort Fp is equal to or less than the reference value Fpdo, and the braking operation amount of the driver is substantially constant. In step 200, the increase rate Gbd of the vehicle deceleration Gb is equal to or greater than the reference value Gbd1, and it is determined that there is a possibility of increase in braking force and occurrence of brake squeal due to increase in the temperature and friction coefficient of the friction material. In steps 210 and 220, the piston 16 is rotated by .DELTA..theta.b around the axis 14 every cycle so that the rotation angle .theta.i of the piston 16 approaches 90.degree., And the braking radius Ri is reduced so as to gradually approach the minimum value Rmin. As a result, the braking torque is gradually reduced.

  Therefore, when there is a risk of brake force increase and brake squealing due to an increase in the temperature and friction coefficient of the friction material due to continued braking, the braking torque is gradually reduced. It is possible to reliably prevent the vehicle deceleration from increasing unnecessarily, and to effectively reduce the possibility of occurrence of brake noise.

  For example, FIG. 14 shows a case where the vehicle travels at a deceleration speed, and is maintained substantially constant for a relatively long time after the driver's braking operation amount is increased, and then is reduced. It is a graph which shows the change of the deceleration of a vehicle about the case (A) of the conventional friction braking device, and the case (B) of Example 6 of illustration.

  As shown in FIG. 14 (A), in the case of the conventional friction braking device, when the duration of braking deceleration traveling becomes longer, the temperature of the friction material rises due to the frictional heat. The braking force increases due to the increase in the coefficient of friction, and therefore the deceleration of the vehicle is unnecessarily increased and the brake is applied despite the fact that the amount of braking operation by the driver is maintained substantially constant. A squeal is likely to occur.

  On the other hand, according to the embodiment shown in the figure, as shown in FIG. 14 (B), the braking deceleration traveling time is lengthened, and the braking force is increased due to the increase in the temperature and the friction coefficient of the friction material. Increases, and the deceleration of the vehicle begins to increase, the piston 16 is gradually rotated so that the rotation angle θi of the piston 16 approaches 90 °, and the braking radius Ri is gradually reduced, whereby the braking torque is gradually reduced. Therefore, compared to the case where the piston 16 is not rotated, it is possible to effectively reduce the possibility that the deceleration of the vehicle will increase unnecessarily and that the brake noise will occur.

  In particular, according to the sixth embodiment shown in the drawing, it is determined whether or not braking is being performed in step 30, and if it is determined that braking is being performed, step 110 and subsequent steps are executed. It is possible to reliably prevent the piston 16 from being rotated unnecessarily in the absence of the situation.

  Further, according to the illustrated embodiment 6, the rotation angle Δθb of the piston 16 is variably set according to the increase rate Gbd so that it increases as the increase rate Gbd of the vehicle deceleration Gb increases in step 210. For example, when an affirmative determination is made in step 200, the vehicle is prevented while preventing a sudden change in braking torque, compared to the case where the piston 16 is reduced at a constant rotation angle regardless of the increase rate Gbd. The increase in the deceleration can be appropriately suppressed.

  FIG. 15 is a flowchart showing a braking force control routine in the seventh embodiment of the vehicle friction braking apparatus according to the present invention.

  In the seventh embodiment, steps 10 to 30, steps 110 to 130, and step 300 are executed in the same manner as in the first embodiment described above. If an affirmative determination is made in step 30, the process proceeds to step 90. .

  In step 90, it is determined whether or not the absolute value of the rate of change Fpd of the pedal depression force Fp is equal to or greater than a reference value Fpde (positive constant) for emergency braking determination, that is, whether or not an emergency braking operation has been performed by the driver. If a negative determination is made, the process proceeds to step 110. If an affirmative determination is made, the target rotation angle θti of the piston 16 is set to 90 ° in step 100, and the rotation angle θi of the piston 16 is set to the target. The piston 16 is rotated around the axis 14 so that the rotation angle θti is reached, and then the process proceeds to step 300.

  Thus, according to the illustrated embodiment 7, in step 90, the absolute value of the rate of change Fpd of the pedal effort Fp is equal to or greater than the reference value Fpde for emergency braking determination, and it is determined that an emergency braking operation has been performed by the driver. In step 100, the target rotation angle θti of the piston 16 is set to 90 °, and the piston 16 is rotated around the axis line 14 so that the rotation angle θi of the piston 16 becomes the target rotation angle θti, whereby the braking radius Ri is maximized. Since the value Rmax is controlled, the braking torque can be increased efficiently and the deceleration of the vehicle can be increased as compared with the case where the piston 16 is not rotated.

  In the eighth embodiment, as shown by phantom lines in FIG. 1, each caliper 12 is provided with a magnetic sensor 54i, and the magnetic sensor 54i is a permanent magnet provided on the piston 16. A magnetic force Mpi of 32 (i = fl, fr, rl, rr) is detected. In particular, in the illustrated embodiment, the magnetic force sensor 54i is located on the side of the rotor disk 10 relative to the permanent magnet 32 so that the detected magnetic force Mpi increases as the moving distance of the piston 16 toward the rotor disk 10 increases. Is provided.

  The electronic controller 40 also receives a signal indicating the detected magnetic force Mpi from the magnetic sensor 54i. When the detected magnetic force Mpi is greater than or equal to a reference value Mpo (a positive constant), the amount of wear of the friction material 24 is excessive. Is determined, and a command signal to issue an alarm is output to an alarm device not shown in FIG.

Next will be described main part of in the braking force control routine in Example 8 with reference to the flowchart shown in FIG 6. The routine shown in FIG. 16 may be executed at any stage after the affirmative determination is made in step 30 of another embodiment.

  In step 310, it is determined whether or not the detected magnetic force Mpi is greater than or equal to the reference value Mpo. If a negative determination is made, the next step after step 320 (for example, in step 30 in the first embodiment). If step 310 and 320 are executed when an affirmative determination is made, the process proceeds to step 110), and if an affirmative determination is made, a command signal to issue an alarm to the alarm device is output at step 320. Is done.

  Thus, according to the illustrated eighth embodiment, when the wear amount of the friction material 24 becomes excessive, this is surely determined and proper braking is ensured by prompting the driver to replace the friction material 24. Necessary measures can be easily taken.

  FIG. 17 is a schematic diagram showing a ninth embodiment of the vehicle friction braking device according to the present invention. In FIG. 17, the same members as those shown in FIG. 1 are denoted by the same reference numerals as those shown in FIG.

  In the ninth embodiment, the electromagnetic actuator 26 and its output shaft 28 are hollow, and the output shaft 56A of the electromagnetic actuator 56 extends into the piston 16 through the electromagnetic actuator 26 and its output shaft 28. ing. The front end portion of the output shaft 56A is serrated with the piston 16, so that the output shaft 56A can be displaced relative to the piston 16 along the axis 14, but with respect to the piston 16 around the axis 14. It cannot be rotated relatively.

  Accordingly, the friction braking device of the ninth embodiment is shown in FIG. 1 except that the pressing force of the piston 16 against the support plate 22 is controlled by the electromagnetic actuator 26 and the rotational position around the axis line 14 is controlled by the electromagnetic actuator 56. Thus, the pressing of the friction material 24 against the rotor disk 10 and the control of the rotational position around the axis 14 of the piston 16 may be performed by any of the above-described embodiments 1 to 8, The same effects as those of the first to eighth embodiments can be obtained.

  Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to the above-described embodiments, and various other embodiments are possible within the scope of the present invention. It will be apparent to those skilled in the art.

  For example, in each of the above-described embodiments, the standard position of the piston 16 is the rotational position where the pressing center 36 is located on the trailing side in the rotational direction of the rotor disk 10 when the vehicle moves forward with respect to the axis 14. The standard position may be set to an arbitrary rotational position other than the rotational position of the embodiment.

  In each of the above-described embodiments, the rotation angle θi of each piston 16 is detected by the rotary encoder 44, but the means for detecting the rotation position of the piston 16 is omitted, and the rotation of the piston 16 is omitted. The rotational position of the piston 16 may be estimated from the accumulated angle.

  In each of the embodiments described above, the pressing force and rotational position of the piston 16 are controlled by the structural means shown in FIG. 1 or FIG. As long as they can be controlled, they may be controlled by any structure.

  In the second embodiment described above, the piston 16 is rotated about the axis 14 by a predetermined rotation angle Δθ in a situation where braking is being performed and the pressing force Fsi of the piston 16 is small. In addition, a sensor for detecting a brake squeal by sound or vibration is provided. When the brake squeal is detected, the piston 16 is independent of the pressing force Fsi of the piston 16 and the elapsed time from the previous rotation of the predetermined rotation angle Δθ. May be modified so as to be rotated about the axis 14 by a predetermined rotation angle Δθ.

  In each of the above-described embodiments, the target braking force Fball of the entire vehicle is calculated based on the braking operation amount of the driver, the target braking force Fbti of each wheel is calculated based on the target braking force Fball, and the target braking force is calculated. The target pressing force Fsti of the electromagnetic actuator 26 is calculated based on Fbti, and the electromagnetic actuator 26 is controlled so that the pressing force Fsi becomes the target pressing force Fsti, but based on the target braking force Fbti of each wheel. The target displacement amount of each piston is calculated, and each actuator may be controlled so that the displacement amount of each piston becomes the corresponding target displacement amount. In this modified example, the axial force sensor 30 for detecting the pressing force Fsi of the electromagnetic actuator 26 is replaced with a displacement amount sensor such as an encoder for detecting the displacement amount of each piston.

1 is a schematic configuration diagram illustrating a first embodiment of a vehicle friction braking device according to the present invention. It is a front view which expands and shows the piston shown by FIG. It is a side view which expands and shows the piston shown by FIG. 3 is a flowchart showing a braking force control routine in the first embodiment. 7 is a flowchart showing a braking force control routine in Embodiment 2. 10 is a flowchart showing a braking force control routine in a third embodiment. (A)-(C) are the convex part 20 and the pressing center of the piston 16 with respect to the rotor disk 10 and the friction material 24 when the rotation angle θi of the piston 16 is 0 ° (standard position), 90 °, and −90 °, respectively. It is explanatory drawing which shows the positional relationship of 36. FIG. 10 is a flowchart showing a braking force control routine in a fourth embodiment. It is a graph which shows the relationship between the temperature Ti of a friction material, and the estimated value (mu) ai of a friction coefficient. 10 is a flowchart illustrating a braking force control routine according to a fifth embodiment. It is explanatory drawing which compares and shows the abrasion condition (dashed line) of the friction material in the case of Example 5, and the abrasion condition (dashed line) of the friction material in the case of Example 5 when the pressing condition of the piston with respect to a friction material is constant. 10 is a flowchart showing a braking force control routine in a sixth embodiment. It is a graph which shows the relationship between the increase rate Gbd of the deceleration Gb of a vehicle, and rotation angle (DELTA) (theta) b of a piston. In the case where the vehicle travels at a deceleration speed, the deceleration of the vehicle in the case where the braking operation amount of the driver is increased and maintained substantially constant for a relatively long time and then reduced. It is a graph which shows a change about the case (A) of the conventional friction braking device, and the case (B) of the Example of illustration. 18 is a flowchart showing a braking force control routine in a seventh embodiment. 10 is a flowchart showing a braking force control routine in an eighth embodiment. It is a schematic block diagram which shows Example 9 of the friction braking apparatus of the vehicle by this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Rotor disk 12 Caliper 16 Piston 24 Friction material 26 Electromagnetic actuator 30 Axial force sensor 40 Electronic control unit 42 Brake pedal 44 Rotary encoder 46 Treading force sensor 48 Stop lamp switch (STPSW)
50 Vehicle speed sensor 52i Temperature sensor 54i Magnetic sensor 56 Electromagnetic actuator

Claims (12)

A means for determining a braking request amount, a rotating member that rotates together with a wheel, a friction material, a pressing means that presses the friction material against the rotating member, and a pressing amount of the pressing means is controlled based on the braking request amount. Reciprocating motion in which the pressing means can reciprocate in directions toward and away from the friction material and can rotate around an axis along the reciprocating direction. An end face on the friction material side of the reciprocating member has a convex portion partially extending around the axis, and the control means reciprocates relative to the friction material based on the required braking amount. The amount of pressing of the member is controlled , the necessity of changing the rotational position of the reciprocating member around the axis is determined based on the braking situation, and the reciprocating member around the axis is determined according to the necessity the rotational position Friction braking device of the vehicle, characterized by further. 2. The vehicle friction braking device according to claim 1, wherein the control unit determines that the necessity is present when the pressing of the reciprocating member against the friction material is finished . 3. 2. The vehicle friction braking device according to claim 1, wherein the control unit determines that the necessity is present when a reference time or more has elapsed from a time point when the rotational position of the reciprocating member was changed last time. . 2. The vehicle according to claim 1, wherein the friction braking device determines that there is a need for the occurrence of a brake squeal and determines that there is a need for the occurrence of a brake squeal. 3. Friction braking device. When the rate of change in the required braking amount is equal to or less than a reference value for determining the required braking amount change rate, the control means has a vehicle deceleration increase rate that is greater than or equal to a reference value for determining the deceleration increase rate. claims is determined that there is a risk of brake noise generation, the convex portion is characterized by changing the rotational position of the reciprocating member around progressively closer as the axis to the center of rotation of the rotary member 4 vehicle friction braking device according to. The friction braking device has a means for detecting a variation in braking torque, and the control means is configured to control the braking torque in a situation where the magnitude of the rate of change of the requested braking amount is equal to or less than a reference value for determining the requested braking rate change rate . When the fluctuation range is equal to or greater than the reference value for determining the braking torque fluctuation range, the necessity is determined. When the fluctuation range of the braking torque is large, the protrusion is greater than when the fluctuation range of the braking torque is small. 2. The friction braking device for a vehicle according to claim 1 , wherein the rotational position of the reciprocating member around the axis is changed so as to be positioned closer to the rotation center of the rotating member. The friction braking device has means for estimating a friction coefficient of the friction material, and the control means determines the necessity based on an estimated value of the friction coefficient of the friction material, and estimates the friction coefficient of the friction material. When the value is low, the rotational position of the reciprocating member around the axis is changed so that the convex portion is separated from the rotational center of the rotating member as compared to when the estimated value of the friction coefficient of the friction material is high. The vehicle friction braking device according to claim 1, wherein the friction braking device is a vehicle. 8. The vehicle friction braking device according to claim 7 , wherein the means for estimating the friction coefficient of the friction material estimates the friction coefficient of the friction material based on at least the temperature of the friction material. The vehicle friction braking apparatus according to claim 7 or 8 , wherein the means for estimating a friction coefficient of the friction material estimates a friction coefficient of the friction material based on at least a vehicle speed. The friction braking device has means for estimating a friction load of the friction material, and the control means has the necessity when the estimated value of the friction load of the friction material is equal to or greater than a reference value for friction load determination. The vehicle friction braking device according to claim 1, wherein the determination is made . Vehicle friction braking apparatus according to claim 1 0 wherein the means for estimating the frictional load of the friction material, characterized in that estimating the friction load of the friction material on the basis of the integrated value of the braking energy during braking. The control means determines that the necessity is present when an increase rate of the required braking amount is equal to or greater than a reference value for emergency braking determination, and the control unit is arranged around the axis so that the convex portion is separated from the rotation center of the rotating member. The vehicle friction braking device according to claim 1, wherein a rotational position of the reciprocating member is changed.

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