JP5619677B2 - Magnetic rotation angle detection device and brake-by-wire braking control device - Google Patents

Description

  The present invention relates to a magnetic rotation angle detection device and a brake-by-wire brake control device, and more particularly to a magnetic rotation angle detection device used as a brake pedal sensor and the like, and a brake-by-wire brake control device including the magnetic rotation angle detection device. About.

  As a rotation angle detection device for detecting a rotation angle, a magnet that is rotationally displaced with the rotation of a rotation shaft, and an axial direction that is orthogonal to each other on a plane parallel to the rotation surface of the magnet, are arranged at 90 degrees. Two magnetic detection elements for detecting the magnetic intensity of the magnet with a rotational phase, and a rotation angle calculation unit for calculating a rotation angle based on a combined vector obtained by combining the magnetic intensities detected by the two magnetic detection elements; There is known a magnetic rotation angle detection device provided with (for example, Patent Documents 1 and 2).

JP 2007-155617 A JP 2007-155618 A

  However, if a disturbance magnetic field acts on the magnetic rotation angle detection device due to geomagnetism or other events, the magnetic detection element also responds to the magnetic intensity of the disturbance magnetic field, and the rotation angle calculation unit rotates as the rotation shaft rotates. The rotation angle is calculated based on the combined vector of the magnetic field including the disturbance magnetic field in the magnetic field (normal magnetic field) generated by the displaced magnet, and the correct rotation angle cannot be calculated. For this reason, when a disturbance magnetic field acts on the magnetic rotation angle detection device, a rotation angle detection error occurs.

  The problem to be solved by the present invention is to accurately determine a state in which a disturbance magnetic field acts on the magnetic rotation angle detection device and causes a rotation angle detection error.

  The magnetic rotation angle detection device according to the present invention is disposed along a magnet (54) that rotates and rotates with the rotation of the rotation shaft (52), and a plane parallel to the rotation surface of the magnet (54). The plurality of magnetic detection elements 58 and 60) for detecting the magnetic strength of the magnet in different directions and the combined vector obtained by combining the magnetic strengths detected by the plurality of magnetic detection elements (58 and 60). A magnetic rotation angle detection device comprising a rotation angle calculation unit (62) for calculating a rotation angle of a rotation axis (52), wherein a value of the synthesized vector is compared with a predetermined threshold value, and the synthesis is performed. If the value of the vector exceeds the threshold value, an abnormality determination unit (64) for determining abnormality is provided.

  According to this configuration, the abnormality determination unit (64) compares the combined vector value obtained by combining the magnetic intensities with the threshold value, and determines that an abnormality is detected if the combined vector value exceeds the threshold value.

  In the magnetic rotation angle detection device according to the present invention, preferably, the abnormality determination unit (64) compares the value of the composite vector with a predetermined threshold value, and the value of the composite vector indicates the threshold value. If the amount of time change exceeds the predetermined threshold, the abnormality is determined.

  According to this configuration, the accuracy of abnormality determination is improved, and high abnormality detection with no erroneous determination is obtained.

  In a magnetic rotation angle detection device according to the present invention, as a preferred embodiment, the abnormality determination unit (64) compares the value of the combined vector with a predetermined upper and lower limit threshold value, or the absolute value of the combined vector. Compare with a predetermined threshold.

  According to this configuration, the value of the combined vector and the threshold value are accurately compared.

  The magnetic rotation angle detection device according to the present invention is arranged along a magnet (54) that rotates and displaces as the rotation shaft (52) rotates, and a plane parallel to the rotation surface of the magnet (54). And a plurality of magnetic detection elements 58 and 60) for detecting the magnetic strength of the magnet in different directions, and a combined vector obtained by combining the magnetic intensities detected by the plurality of magnetic detection elements (58 and 60). A magnetic rotation angle detection device including a rotation angle calculation unit (62) for calculating a rotation angle of the rotation shaft (52), wherein the magnetism detected by the two magnetic detection elements (58, 60). An abnormality determination unit (64) is provided that calculates the time change amount of the absolute value of the combined vector obtained by combining the intensities and determines an abnormality if the time change amount exceeds a predetermined threshold value.

  According to this configuration, if the amount of time change of the absolute value of the combined vector obtained by combining the magnetic intensities by the abnormality determination unit (64) exceeds the threshold, the abnormality is determined.

  The magnetic rotation angle detection device according to the present invention is a rotation angle detection device that detects a rotation angle that correlates with a depression amount of the brake pedal (11), and the magnetic rotation angle detection device according to any one of claims 1 to 5. A brake pedal sensor (11a) configured by a detection device (50) for detecting a rotation angle correlated with the depression amount of the brake pedal (11), and a vehicle based on the rotation angle detected by the brake pedal sensor (11a) An electric hydraulic pressure generator (13) for generating hydraulic pressure to be supplied to the brake device (2), and the brake device (13) mechanically connected to the brake pedal in response to depression of the brake pedal (11). 2) If the mechanical hydraulic pressure generator (15) that generates the braking force for generating the hydraulic pressure supplied to 2) and the abnormality determination unit (64) have not determined an abnormality, the electric hydraulic pressure is generated. When only the hydraulic pressure generated by the device (13) is supplied to the braking device (2) and the abnormality determination unit (64) determines abnormality, the mechanical hydraulic pressure generation device (15) is generated. And a switching unit that supplies only the hydraulic pressure to the braking device (2).

  According to this configuration, in the state where the disturbance magnetic field is not acting on the brake pedal sensor (11a) by the magnetic rotation angle detection device (50) and the depression amount of the brake pedal (11) can be accurately detected, The brake fluid pressure generated by the hydraulic pressure generator (13) is used to perform braking by a brake-by-wire system, and a disturbance magnetic field acts on the brake pedal sensor (11a) of the magnetic rotation angle detector (50) to generate a brake pedal ( In a state where the stepping amount 11) cannot be accurately detected, fail-safe braking is performed mechanically by the brake fluid pressure generated by the mechanical fluid pressure generator (15).

  According to the magnetic rotation angle detection device of the present invention, the abnormality determination unit compares the value of the combined vector with a threshold value, and if the value of the combined vector exceeds the threshold value, the abnormality is determined. A state in which a disturbance magnetic field acts on the detection device to cause a rotation angle detection error is accurately found.

1 is a perspective view showing one embodiment of a magnetic rotation angle detection device according to the present invention. The block diagram which shows one Embodiment of the sensor chip used for the magnetic type rotation angle detection apparatus by this invention. The graph which shows the composite vector of the biaxial magnetic intensity in the state where the disturbance magnetic field does not act. The graph which shows the composite vector of the biaxial magnetic intensity in the state which the disturbance magnetic field is acting. The block diagram which shows one Embodiment of the brake-by-wire type | mold braking control apparatus by this invention.

  An embodiment of a magnetic rotation angle detection device according to the present invention will be described below with reference to FIGS.

  The magnetic rotation angle detection device 50 includes a magnet (rotor) 54 attached to a rotation shaft 52 and a sensor chip 56 fixedly disposed adjacent to the magnet 54.

  The magnet 54 is composed of a two-pole permanent magnet having N and S poles at a position rotated and rotated 180 degrees around the central axis of the rotary shaft 52, and is rotationally displaced along with the rotation of the rotary shaft 52. A magnetic field in which the magnetic vectors of the N pole and the S pole change due to the rotational displacement is generated on the rotation plane orthogonal to the central axis of 52. This magnetic field is called a normal magnetic field.

  The sensor chip 56 is composed of an IC chip, and an X-axis magnetic detection element 58 is formed by a Hall element array or the like arranged along an axis direction orthogonal to each other on a plane parallel to the rotation plane of the magnet 54, that is, the X-axis direction. And a Y-axis magnetic detection element 60 such as a Hall element array arranged along the Y-axis direction, and a rotation angle calculation unit 62.

  The X-axis magnetic detection element 58 and the Y-axis magnetic detection element 60 detect the magnetic strength (magnetic density) of the magnet 54 with a rotational phase of 90 degrees with respect to each other, and only 90 degrees with a change in the magnetic field due to the rotational displacement of the magnet 54. Outputs a sine wave signal whose phase is biased.

  The rotation angle calculation unit 62 receives signals indicating the magnetic strength from the X-axis magnetic detection element 58 and the Y-axis magnetic detection element 60, and detects the magnetic strength in the X-axis direction detected by the X-axis magnetic detection element 58 and the Y-axis magnetism. The rotation angle of the rotation shaft 52 is calculated based on the combined vector obtained by combining the magnetic strength in the Y-axis direction detected by the detection element 60, and the calculation result (rotation angle information) is output.

As shown in FIG. 3, when the magnetic strength of the magnet 54 detected by the X-axis magnetic detection element 58 is Mx and the magnetic strength of the magnet 54 detected by the Y-axis magnetic detection element 60 is My, the rotation angle The calculation unit 62 calculates the X-axis reference rotation angle θ of the rotation shaft 52 by the following equation.
θ = arctan (My / Mx)

  The angle formed by the combined vector M, which combines the magnetic intensity Mx in the X-axis direction and the magnetic intensity My in the Y-axis direction, with the X-axis is the rotation angle θ with respect to the X-axis of the rotating shaft 52, and a disturbance magnetic field is applied to the sensor chip 56. As long as it does not act, the value (magnitude) of the composite vector M is constant regardless of the change in the rotation angle θ. In other words, the magnitude of the combined vector M over the entire detection range of the rotation angle θ is constant except for fluctuation due to temperature characteristics and does not fluctuate.

  The sensor chip 56 further includes an abnormality determination unit 64. The abnormality determination unit 64 compares the value of a combined vector obtained by combining the magnetic intensity in the X-axis direction and the magnetic intensity in the Y-axis direction detected by the X-axis magnetic detection element 58 with a predetermined threshold value, and compares the combined vector. If the value does not exceed the threshold, it is determined to be normal, and if the value of the combined vector M exceeds the threshold, it is determined to be abnormal, and a signal indicating these determination results is output.

  The abnormality determination performed by the abnormality determination unit 64 includes a method of comparing the value of the combined vector with a predetermined upper and lower threshold value, and a method of comparing the absolute value of the combined vector with a predetermined threshold value. Any comparison determination method may be selected according to the specification or the like. When comparing the value of the composite vector with a predetermined upper and lower threshold, the upper threshold and the lower threshold can be set to different values.

  When the disturbance magnetic field of the magnetic vector Me as shown in FIG. 4 acts on the sensor chip 56, the X-axis magnetic detection element 58 and the Y-axis magnetic detection element 60 have the magnetic strengths Mx and My due to the normal magnetic field of the magnet 54. Thus, the magnetic strength obtained by adding the magnetic strengths Mxe and Mye in the X-axis direction due to the disturbance magnetic field is detected, and the rotation angle calculation unit 62 calculates the rotation angle θe based on the X axis of the rotation shaft 52 by the following equation. become.

θe = arctan {(My + Mye) / (Mx + Mxe)}
θe and θ are not equal, and a rotation angle detection error occurs due to the difference between θe and θ.

  The combined vector when the disturbance magnetic field is acting on the sensor chip 56 is (M + Me), which is a different value from the combined vector M when the disturbance magnetic field is not acting on the sensor chip 56. Therefore, an abnormal state in which a correct rotation angle cannot be detected by a disturbance magnetic field by setting a threshold value obtained by adding a margin value in consideration of fluctuations due to temperature characteristics or the like to the composite vector M and comparing the threshold value with the composite vector value. Can be easily determined.

  In the setting of the threshold value of the combined vector, detection variation factors that occur even when the disturbance magnetic field is not acting normally (individual variation in the magnetic field intensity generated by the magnet 54 and the detection accuracy of the magnetic detection elements 58 and 60, Considering fluctuations due to their temperature characteristics, etc.), set values that do not cause false detections. At this time, the sensor chip 56 is provided with a function of storing the initial measurement value of the magnetic field strength, and the determination is made based on the change amount of the magnetic field strength from the stored value. The individual variation of the detection accuracy of the elements 58 and 60 can be excluded from the items to be integrated when setting the dark value, and higher abnormality detectability can be provided while avoiding erroneous abnormality detection.

  Further, even when the X-axis magnetic detection element 58 and the Y-axis magnetic detection element 60 are out of order, the value of the combined vector becomes a different value from the combined vector M in the normal state. In addition to abnormality determination due to disturbance, abnormality determination due to failure can also be performed.

  The abnormality determination unit 64 further calculates the amount of time change of the absolute value of the combined vector, the value of the combined vector exceeds the threshold value, and the amount of time change of the absolute value of the combined vector exceeds the predetermined threshold value. In such a case, it may be configured to determine abnormality.

  Magnetic field strength fluctuations due to disturbance magnetism occur more rapidly in a shorter time than fluctuations due to the temperature characteristics of the magnet 54. Thus, by increasing the conditions for abnormality determination, higher abnormality detection performance without erroneous determination is obtained. Be able to.

  In setting the threshold value of the time change rate of the absolute value of the combined vector, it is larger than the change rate that can occur at normal time without application of a disturbance magnetic field due to the temperature characteristics of the magnet 54, the magnetic detection elements 58, 60, etc. By setting it to a value, false detection can be prevented.

  In another embodiment, the abnormality determination unit 64 determines only whether the time change amount of the absolute value of the combined vector exceeds a predetermined threshold value, and the time change amount of the absolute value of the combined vector is the threshold value. When the value exceeds the value, it is possible to simplify the configuration to determine an abnormality.

  Next, one embodiment of a brake-by-wire type braking control device according to the present invention will be described with reference to FIG.

  Each wheel (not shown) of the vehicle is provided with a known disc brake 2 including a disc 2a integrated with the wheel and a caliper including a wheel cylinder 2b as a hydraulic friction braking device that performs friction braking. Yes. The wheel cylinder 2b is connected to the brake-by-wire type brake control device 8 by piping, supplied with brake fluid pressure from the brake-by-wire type brake control device 8, and generates a braking force according to the brake fluid pressure.

  The brake-by-wire braking control device 8 is configured by the magnetic rotation angle detection device 50 described above as a rotation angle detection device that detects a rotation angle that correlates with the depression amount of the brake pedal 11, and is correlated with the depression amount of the brake pedal 11. A brake pedal sensor 11 </ b> A for detecting a rotation angle is provided.

  The brake-by-wire brake control device 8 includes a motor-driven cylinder device 13 as an electric hydraulic pressure generator. The motor drive cylinder device 13 generates a brake fluid pressure to be supplied to the wheel cylinder 2b based on the depression amount (rotation angle) of the brake pedal 11 detected by the brake pedal sensor 11A.

  The motor drive cylinder device 13 is integrally provided with an electric servo motor 12 and a gear box 18 connected to the electric servo motor 12, and torque is transmitted to the gear box 18 via a ball screw mechanism. Thus, there are provided a threaded rod 19 which is displaced in the axial direction, and a first piston 21a and a second piston 21b which are coaxially arranged in series with the threaded rod 19 and in series with each other.

  As a result, the electric servo motor 12 rotates according to the depression amount of the brake pedal 11, and the rotational force is converted into the axial force of the threaded rod 19 via the gear box 18, so that the first piston 21a moves linearly. . In this way, the operation of the brake pedal 11 is not mechanically transmitted to the brake fluid pressure generating cylinder to generate the brake fluid pressure, but the brake fluid is generated by the motor drive cylinder device 13 according to the depression amount of the brake pedal 11. A so-called brake-by-wire that generates pressure is constructed.

  One end of the arm portion of the brake pedal 11 is rotatably supported by the vehicle body, and one end of the rod 14 that converts the arc motion of the brake pedal 11 into a substantially linear motion is in the middle portion of the arm portion of the brake pedal 11. It is connected. The other end of the rod 14 is engaged so as to push in the first piston 15a of the master cylinder device 15 arranged in series. In the master cylinder device 15, a second piston 15b is arranged in series on the side opposite to the rod 14 with respect to the first piston 15a, and the pistons 15a and 15b are respectively connected to the rod 14 by return springs 41a and 41b. The spring is biased to the side. The brake pedal 11 is spring-biased in a direction to return to the standby position shown in FIG. 2 by a return spring (not shown), and is stopped by a stopper (not shown) at the standby position.

  The master cylinder device 15 is provided with a reservoir tank 16 for exchanging brake fluid according to the displacement of the pistons 15a and 15b. The pistons 15a and 15b are provided with seal members having a known structure for sealing between the oil passages 16a and 16b communicating with the reservoir tank 16, respectively. In the cylinder of the master cylinder device 15, a first liquid chamber 17a is formed between the first piston 15a and the second piston 15b, and the second piston 15b is arranged on the side opposite to the first piston 15a. A two-liquid chamber 17b is formed.

  In this way, the master cylinder device 15 is mechanically connected to the brake pedal 11 to form a mechanical fluid pressure generating device that generates brake fluid pressure supplied to the wheel cylinder 2b in response to depression of the brake pedal 11. Yes.

  In the motor-driven cylinder device 13 described above, the connecting member 27 whose one end is fixed to the second piston 21b extends to the first piston 21a side, and the other end in the extending direction of the connecting member 20 is the first piston 21a. Is supported so as to be displaceable by a predetermined amount in the axial direction. As a result, the first piston 21a can be displaced by a predetermined amount relative to the second piston 21b during forward movement (displacement on the second piston 21b side), but from the forward movement state of the first piston 21a to the initial state of FIG. At the time of retreating back to the second position, the second piston 21b is also pulled back to the initial position via the connecting member 20. In addition, each piston 21a, 21b is spring-biased to the rod 19 side by each return spring 27a, 27b provided corresponding to each.

  Further, the motor drive cylinder device 13 is provided with respective oil passages 22a and 22b communicating with the reservoir tank 16 via the communication passages 22, respectively. Each piston 21a, 21b is provided with a sealing member having a known structure for sealing between the oil passages 22a, 22b at appropriate positions. In the cylinder of the motor drive cylinder device 13, a first liquid chamber 23a is formed between the first piston 21a and the second piston 21b, and the second piston 21b has a second side opposite to the first piston 21a. A liquid chamber 23b is formed.

  The first liquid chamber 17a and the second liquid chamber 17b of the master cylinder device 15 communicate with a plurality of (four in the illustrated example) wheel cylinders 2b via pipes (oil passages) 42a and 42b and the VSA device 26. It is connected to the.

  VSA device 26 stabilizes vehicle behavior by adding ABS to prevent wheel lock during braking, TCS (traction control system) to prevent wheel slipping during acceleration, etc., and suppressing slipping when turning, and total control of all three functions It may be a known control system, and the description thereof is omitted. The VSA device 26 includes brake actuators using various hydraulic elements that respectively constitute a first system corresponding to each wheel cylinder 2b of the front wheel and a second system corresponding to each wheel cylinder 2b of the rear wheel. 26b and a VSA control unit 26a for controlling them. In other embodiments, the VSA device 26 may be omitted.

  An opening / closing valve 24a, which is a normally open solenoid valve that forms a switching portion, is provided in the middle of the pipe 42a, and an opening / closing valve 24b, which is a normally open solenoid valve that forms a switching portion, is also provided in the middle of the piping 42b. Yes. A portion of the pipe 42a between the on-off valve 24a and the VSA device 26 is connected to communicate with the first liquid chamber 23a through the pipe 43a. A portion of the pipe 42b between the on-off valve 24b and the VSA device 26 is connected to communicate with the first liquid chamber 23a through the pipe 43b.

  The first liquid chamber 23a communicates with the first liquid chamber 17a of the master cylinder device 15 via the pipe 42a, the normally open on-off valve 24a, and the pipe 43a, and the second liquid chamber 23b communicates with the pipe 42b. The second liquid chamber 17b of the master cylinder device 15 communicates with the open mold opening / closing valve 24b and the pipe 43b. A master cylinder side brake pressure sensor 25a is connected between the first fluid chamber 17a and the on-off valve 24a, and a motor-driven cylinder side brake pressure sensor 25b is connected between the on-off valve 24b and the second fluid chamber 23b. It is connected.

  A cylinder type reaction force simulator 28 is connected between the second liquid chamber 17b and the on-off valve 24b via a simulator valve 24c which is a normally closed electromagnetic valve. The reaction force simulator 28 is provided with a piston 28a that divides the inside of the cylinder, a liquid storage chamber 28b is formed on the simulator valve 24c side of the piston 28a, and on the side opposite to the liquid storage chamber 28b side of the piston 28a. A compression coil spring 28c is received. When both the on-off valves 24a and 24b are closed and the simulator valve 24c is opened, the second liquid chamber 17b and the liquid storage chamber 28b communicate with each other. When the brake pedal 11 is depressed in this state, the brake in the second liquid chamber 17b is The liquid enters the liquid storage chamber 28b. As a result, the urging force of the compression coil spring 28c to be compressed is transmitted to the brake pedal 11, so that a reaction force against the depression similar to that of a brake device in which a known master cylinder and wheel cylinder are directly connected is obtained.

  The brake-by-wire type brake control device 8 configured as described above is comprehensively controlled by the control unit 6. The control unit 6 receives detection signals from the brake pedal sensor 11a and the brake pressure sensors 25a and 25b, and also receives detection signals from various sensors (not shown) for detecting the behavior of the vehicle. Further, a motor rotation angle signal from a motor rotation angle sensor 44 provided in the electric servo motor 12 is also input.

  The control unit 6 inputs an abnormality determination signal from the abnormality determination unit 64 (see FIG. 2) of the sensor chip 56, and when the abnormality is not determined, the on-off valves 24a and 24b are closed, and the simulator valve 24c is Control to open the valve. Thereby, when abnormality is not determined, only the brake fluid pressure generated by the motor drive cylinder device 13 is supplied to the wheel cylinder 2b, and braking is performed by a brake-by-wire system.

  On the other hand, when the abnormality determination unit 64 determines an abnormality, the control unit 6 stops the control of the motor-driven cylinder device 13 and opens the on-off valves 24a and 24b and closes the simulator valve 24c. Control. Thereby, when abnormality is determined, only the brake fluid pressure generated by the master cylinder device 15 is supplied to the wheel cylinder 2b, and braking is performed by a mechanical method.

  As described above, when no disturbance magnetic field is applied to the brake pedal sensor 11a by the magnetic rotation angle detection device 50 and the depression amount of the brake pedal 11 can be accurately detected, the brake generated by the motor-driven cylinder device 13 is generated. In a state where braking is performed by a hydraulic pressure by a brake-by-wire system and a disturbance magnetic field acts on the brake pedal sensor 11a by the magnetic rotation angle detection device 50 and the depression amount of the brake pedal 11 cannot be accurately detected, the master cylinder device 15 Fail-safe braking is performed mechanically by the brake fluid pressure generated.

The description of the specific embodiment is finished as above, but the aspect of the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the gist of the present invention. For example, in the above-described embodiment, the magnetic intensity of the magnet 54 is detected by the X- axis magnetic detection element 58 and the Y-axis magnetic detection element 60 with a rotation phase of 90 degrees with each other. The element may be disposed along a plane parallel to the rotation surface of the magnet 54, and each magnetic detection element may detect the magnetic strength of the magnet 54 in a different direction. In addition, all the components shown in the above embodiment are not necessarily essential, and can be appropriately selected without departing from the gist of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Brake device, 2b ... Wheel cylinder, 6 ... Control unit (control means), 8 ... Brake-by-wire type brake control device, 11 ... Brake pedal, 11a ... Brake pedal sensor, 12 ... Electric servo motor, 13 ... Motor drive cylinder Device (electric hydraulic pressure generator), 15 ... master cylinder device (mechanical hydraulic pressure generator), 17a ... first liquid chamber, 17b ... second liquid chamber, 23a ... first liquid chamber, 23b ... second liquid 24a, 24b ... Open / close valve (switching unit), 24c ... Simulator valve, 25a ... Master cylinder side brake pressure sensor, 25b ... Motor drive cylinder side brake pressure sensor, 26 ... VSA device, 28 ... Reaction force simulator, 42a 42b ... pipe, 43a / 43b ... pipe, 44 ... motor rotation angle sensor, 50 ... magnetic rotation angle detector, 52 ... rotary shaft, 54 ... magnetic , 56 ... sensor chip, 58 ... X-axis magnetic sensor, 60 ... Y-axis magnetic sensor, 62 ... rotation angle calculator, 64 ... abnormality determining unit

Claims (5)

A magnet that is rotationally displaced in accordance with rotation of the rotation shaft, a plurality of magnetic detection elements that are arranged along a plane parallel to the rotation surface of the magnet, and that detect the magnetic strength of the magnet in different directions, and A magnetic rotation angle detection device comprising: a rotation angle calculation unit that calculates a rotation angle of the rotation axis based on a combined vector obtained by combining magnetic intensities detected by a plurality of magnetic detection elements;
The value of the composite vector is compared with a predetermined threshold, the value of the composite vector exceeds the threshold , and the time change amount of the absolute value of the composite vector is calculated, and the time change amount is determined in advance. A magnetic rotation angle detection device having an abnormality determination unit for determining an abnormality when the threshold is exceeded . The magnetic rotation angle detection device according to claim 1 , wherein the abnormality determination unit compares the value of the combined vector with a predetermined upper and lower threshold. The magnetic rotation angle detection device according to claim 1 , wherein the abnormality determination unit compares the absolute value of the combined vector with a predetermined threshold value. A magnet that is rotationally displaced in accordance with rotation of the rotation shaft, a plurality of magnetic detection elements that are arranged along a plane parallel to the rotation surface of the magnet, and that detect the magnetic strength of the magnet in different directions, and A magnetic rotation angle detection device comprising: a rotation angle calculation unit that calculates a rotation angle of the rotation axis based on a combined vector obtained by combining magnetic intensities detected by a plurality of magnetic detection elements;
Abnormality determination that calculates an amount of time change of an absolute value of a combined vector of magnetic intensities detected by the plurality of magnetic detection elements and determines an abnormality if the amount of time change exceeds a predetermined threshold value Magnetic rotation angle detection device having a section. 5. A rotation angle detection device that detects a rotation angle that correlates with a depression amount of a brake pedal, is configured by the magnetic rotation angle detection device according to any one of claims 1 to 4 , and is correlated with the depression amount of the brake pedal. A brake pedal sensor for detecting the rotation angle to be
An electric hydraulic pressure generator for generating hydraulic pressure to be supplied to a hydraulic brake device of a vehicle based on a rotation angle detected by the brake pedal sensor;
A mechanical hydraulic pressure generator that is mechanically coupled to the brake pedal and generates hydraulic pressure to be supplied to the braking device in response to depression of the brake pedal;
When the abnormality determination unit does not determine abnormality, only the hydraulic pressure generated by the electric hydraulic pressure generator is supplied to the braking device, and when the abnormality determination unit determines abnormality, A switching unit that supplies only the hydraulic pressure generated by the mechanical hydraulic pressure generator to the braking device;
Brake-by-wire type braking control device.

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