JP5353848B2 - 車両用ブレーキ装置 - Google Patents
車両用ブレーキ装置 Download PDFInfo
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- JP5353848B2 JP5353848B2 JP2010213201A JP2010213201A JP5353848B2 JP 5353848 B2 JP5353848 B2 JP 5353848B2 JP 2010213201 A JP2010213201 A JP 2010213201A JP 2010213201 A JP2010213201 A JP 2010213201A JP 5353848 B2 JP5353848 B2 JP 5353848B2
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- Prior art keywords
- braking force
- regenerative
- wheel
- control
- wheels
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- 239000003921 oil Substances 0.000 description 22
- 238000010586 diagram Methods 0.000 description 11
- 239000012530 fluid Substances 0.000 description 11
- 239000010720 hydraulic oil Substances 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 9
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- 238000001514 detection method Methods 0.000 description 7
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- 102220486681 Putative uncharacterized protein PRO1854_S10A_mutation Human genes 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
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- 238000009828 non-uniform distribution Methods 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
- B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
- B60T8/404—Control of the pump unit
- B60T8/4059—Control of the pump unit involving the rate of delivery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
- B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
- B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
- B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
- B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Fluid Mechanics (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
Description
21:ブレーキペダル(ブレーキ操作部材) 21a:ペダルストロークセンサ
22:負圧式ブレーキブースタ 23:マスタシリンダ 24:リザーバ
25:液圧制御ユニット 31、41:液圧制御弁
32、33、42、43:増圧制御弁 35、36、45、46:減圧制御弁
34、44:調圧リザーバ 37、47:ポンプ
50:ハイブリッドECU(制動制御装置)
60:ブレーキECU(制動制御装置) 61:車間距離センサ
7FR:前右輪 7FL:前左輪 7RR:後右輪 7RL:後左輪
A:回生ブレーキ装置 B:液圧ブレーキ装置
L1:第1配管経路 L11〜L15:油経路
L2:第2配管経路 L21〜L25:油経路
M:モータ P:圧力センサ
WC1、WC2、WC3、WC4:ホイールシリンダ
FT、FT1、FT2:ドライバー目標制動力
FB、FB1、FB2:基礎液圧制動力
FC、FC1、FC2、FC3、FC4、FC6:制御液圧制動力
FR、FR5:回生要求制動力
FG、FG1、FG2、FG3、FG4、FG6:回生実行制動力
FD、FD2:補正制動力
FU1、FU2、FU3,FU4、FU6:補正後目標制動力
SR:右側合計値 SL:左側合計値
Claims (2)
- ブレーキ操作部材の操作量に応じた基礎液圧を発生するマスタシリンダおよび、制御液圧を発生するポンプおよび、前記基礎液圧に応じた基礎液圧制動力および前記制御液圧に応じた制御液圧制動力を加算して車輪に付与する液圧制御ユニットを有する液圧ブレーキ装置と、前記車輪の中で発電電動機に駆動される駆動輪に回生制動力を付与する回生ブレーキ装置と、前記液圧ブレーキ装置および前記回生ブレーキ装置を協調制御する制動制御装置と、を備える車両用ブレーキ装置であって、
前記制動制御装置は、
前記ブレーキ操作部材の操作量に応じたドライバー目標制動力を演算するドライバー目標制動力演算手段と、
前記ドライバー目標制動力とは別に前記制動制御装置自身が各前記車輪の補正制動力を設定する補正制動力設定手段と、
各前記車輪について、前記ドライバー目標制動力および前記補正制動力のうち大きい側を選択し前記基礎液圧制動力を減算して補正後目標制動力とする選択補正手段と、
前記補正後目標制動力を、各前記車輪の前記制御液圧制動力と各前記駆動輪の前記回生制動力とに配分制御する配分制御手段と、を有し、
前記車輪は前輪2輪および後輪2輪の合計4輪であり、前記駆動輪は前記前輪2輪または前記後輪2輪であり、
前記配分制御手段は、
前記選択補正手段で演算した右側前後輪の補正後目標制動力を加算した右側合計値と、左側前後輪の補正後目標制動力を加算した左側合計値とを比較する左右比較手段と、
前記右側合計値と前記左側合計値とが同じ場合に、前記4輪の補正後目標制動力を加算して求めた回生要求制動力を前記発電電動機に指令し、前記発電電動機が実行した回生実行制動力を取得し、前記回生実行制動力を4で除算した値を前記4輪の補正後目標制動力からそれぞれ減算して各前記制御液圧制動力とする左右均等時配分制御手段と、
前記右側合計値と前記左側合計値とが異なる場合に、前記右側合計値および前記左側合計値のうち小さい側を2倍して求めた回生要求制動力を前記発電電動機に指令し、前記発電電動機が実行した回生実行制動力を取得し、前記回生実行制動力を4で除算した値を前記4輪の補正後目標制動力からそれぞれ減算して各前記制御液圧制動力とする左右不均等時配分制御手段と、を含むことを特徴とする車両用ブレーキ装置。 - ブレーキ操作部材の操作量に応じた基礎液圧を発生するマスタシリンダおよび、制御液圧を発生するポンプおよび、前記基礎液圧に応じた基礎液圧制動力および前記制御液圧に応じた制御液圧制動力を加算して車輪に付与する液圧制御ユニットを有する液圧ブレーキ装置と、前記車輪の中で発電電動機に駆動される駆動輪に回生制動力を付与する回生ブレーキ装置と、前記液圧ブレーキ装置および前記回生ブレーキ装置を協調制御する制動制御装置と、を備える車両用ブレーキ装置であって、
前記制動制御装置は、
前記ブレーキ操作部材の操作量に応じたドライバー目標制動力を演算するドライバー目標制動力演算手段と、
前記ドライバー目標制動力とは別に前記制動制御装置自身が各前記車輪の補正制動力を設定する補正制動力設定手段と、
各前記車輪について、前記ドライバー目標制動力に前記補正制動力を加算し前記基礎液圧制動力を減算して補正後目標制動力とする加算補正手段と、
前記補正後目標制動力を、各前記車輪の前記制御液圧制動力と各前記駆動輪の前記回生制動力とに配分制御する配分制御手段と、を有し、
前記車輪は前輪2輪および後輪2輪の合計4輪であり、前記駆動輪は前記前輪2輪または前記後輪2輪であり、
前記配分制御手段は、
前記加算補正手段で演算した右側前後輪の補正後目標制動力を加算した右側合計値と、左側前後輪の補正後目標制動力を加算した左側合計値とを比較する左右比較手段と、
前記右側合計値と前記左側合計値とが同じ場合に、前記4輪の補正後目標制動力を加算して求めた回生要求制動力を前記発電電動機に指令し、前記発電電動機が実行した回生実行制動力を取得し、前記回生実行制動力を4で除算した値を前記4輪の補正後目標制動力からそれぞれ減算して各前記制御液圧制動力とする左右均等時配分制御手段と、
前記右側合計値と前記左側合計値とが異なる場合に、前記右側合計値および前記左側合計値のうち小さい側を2倍して求めた回生要求制動力を前記発電電動機に指令し、前記発電電動機が実行した回生実行制動力を取得し、前記回生実行制動力を4で除算した値を前記4輪の補正後目標制動力からそれぞれ減算して各前記制御液圧制動力とする左右不均等時配分制御手段と、を含むことを特徴とする車両用ブレーキ装置。
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JP5516528B2 (ja) * | 2011-07-25 | 2014-06-11 | 株式会社アドヴィックス | 車両用ブレーキ装置 |
JP5790870B2 (ja) * | 2012-03-14 | 2015-10-07 | 日産自動車株式会社 | 制動制御装置及び制御方法 |
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JP5990548B2 (ja) * | 2014-01-28 | 2016-09-14 | 株式会社アドヴィックス | 車両の制動制御装置 |
KR101536247B1 (ko) * | 2014-04-25 | 2015-07-13 | 현대모비스 주식회사 | 차량용 제동장치 및 제동방법 |
CN104149635A (zh) * | 2014-08-19 | 2014-11-19 | 青岛盛嘉信息科技有限公司 | 一种基于数字控制的磁阻刹车片 |
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US11273811B2 (en) | 2016-12-29 | 2022-03-15 | Cummins Inc. | Electric drive vehicle with low speed creep |
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JP2001169405A (ja) * | 1999-12-09 | 2001-06-22 | Toyota Motor Corp | 車輌用制動装置 |
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