JP5752668B2 - 車両用ブレーキ液圧制御装置 - Google Patents
車両用ブレーキ液圧制御装置 Download PDFInfo
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- JP5752668B2 JP5752668B2 JP2012252023A JP2012252023A JP5752668B2 JP 5752668 B2 JP5752668 B2 JP 5752668B2 JP 2012252023 A JP2012252023 A JP 2012252023A JP 2012252023 A JP2012252023 A JP 2012252023A JP 5752668 B2 JP5752668 B2 JP 5752668B2
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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
- B60T8/17—Using electrical or electronic regulation means to control braking
-
- 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/122—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger for locking of reverse movement
-
- 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
- B60T13/12—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 the fluid being liquid
- B60T13/14—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 the fluid being liquid using accumulators or reservoirs fed by pumps
- B60T13/142—Systems with master cylinder
- B60T13/145—Master cylinder integrated or hydraulically coupled with booster
- B60T13/146—Part of the system directly actuated by booster pressure
-
- 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
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- 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
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18118—Hill holding
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/06—Hill holder; Start aid systems on inclined road
-
- 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
- B60T8/36—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 including a pilot valve responding to an electromagnetic force
- B60T8/3615—Electromagnetic valves specially adapted for anti-lock brake and traction control systems
- B60T8/3655—Continuously controlled electromagnetic valves
-
- 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
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- 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
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
Description
次に、本発明の第1の実施形態について、適宜図面を参照しながら詳細に説明する。
図1に示すように、車両用ブレーキ液圧制御装置100は、車両CRの各車輪Wに付与する制動力(ブレーキ液圧)を適宜制御するためのものであり、油路(液圧路)や各種部品が設けられた液圧ユニット10と、液圧ユニット10内の各種部品を適宜制御するための制御部20とを主に備えている。
なお、ポンプ4によるブレーキ液の吐出量は、モータ9の回転数(デューティ比)に依存している。すなわち、モータ9の回転数(デューティ比)が大きくなると、ポンプ4によるブレーキ液の吐出量も大きくなる。
図3に示すように、制御部20は、各センサ91〜95,8から入力された信号に基づき、液圧ユニット10内の制御弁手段V、調圧弁R(切換弁6)および吸入弁7の開閉動作ならびにモータ9の動作を制御して、各車輪ブレーキFL,RR,RL,FRの動作を制御するものである。制御部20は、挙動判定手段21、操作判定手段22、液圧制御手段23、弁駆動部24、モータ駆動部25および記憶部26を備えている。
制御部20は、常時、図4に示すスキッド判定フラグの設定処理と、図5に示す停車時保持制御を開始または解除するための処理を繰り返し実行する。
図7(a),(b),(f)に示すように、車両CRが車体速度V2で走行している際に、運転者がブレーキペダルBPを踏むと(時刻t11)、ブレーキ液圧が上がっていき、車体速度が下がっていく。この際、車体速度が所定値V1まで下がる前(時刻t14の前)、つまり、停車時保持制御が実行される前に、車両CRにヨーレートYが発生することがある。
ステアリングSTの操舵角θが第2閾値θth以上か否かを判定することで、ステアリング操作が行われたか否かを判定するので、僅かな操舵角(第2閾値θth未満の操舵角)では、ブレーキ液圧が低下しない。そのため、停車中にドライバーがステアリングSTに誤って触れてステアリングSTが僅かに動いてしまうことによる誤ったブレーキ液圧の低下を抑えることができる。
次に、本発明の第2の実施形態について、適宜図面を参照しながら詳細に説明する。なお、本実施形態は、前記した第1の実施形態に係るスキッド判定フラグの設定処理(図4の処理)を変更したものであるため、第1の実施形態と同様の構成や処理については、同一符号を付し、その説明を省略することとする。
図8に示す処理では、制御部20は、ステップS1においてヨーレートYが第1閾値Yth以上であると判断すると(Yes)、前後加速度Gが第3閾値Gth以上であるか否かを判断する(S21)。ステップS21において、制御部20は、前後加速度Gが第3閾値Gth以上である場合には(Yes)、ステップS2の処理に進み、第3閾値Gth未満である場合には(No)、ステップS5の処理に進んで、スキッド判定フラグFを0にする。
21 挙動判定手段
22 操作判定手段
23 液圧制御手段
23a スキッド判定手段
92 操舵角センサ
94 ヨーレートセンサ
100 車両用ブレーキ液圧制御装置
CR 車両
Yth 第1閾値
θth 第2閾値
Claims (5)
- 車両が停止した際にブレーキ液圧を保持する停車時保持制御を実行可能であり、前記停車時保持制御の実行中において、保持制御選択スイッチがOFF状態であることと、ブレーキペダルが踏まれていることを満たした場合に前記停車時保持制御を解除する車両用ブレーキ液圧制御装置であって、
車両の横方向の挙動量が第1閾値以上か否かを判定する挙動判定手段と、
前記保持制御選択スイッチがOFF状態であるという判定条件、前記ブレーキペダルが踏まれたという判定条件、および、ステアリングの操作が行われたという判定条件を判定する操作判定手段と、を備え、
前記停車時保持制御中において、少なくとも前記挙動判定手段により前記挙動量が第1閾値以上であると判定された場合には、前記操作判定手段により前記複数の判定条件の1つが満たされたと判定されたときに、前記停車時保持制御を解除することを特徴とする車両用ブレーキ液圧制御装置。 - 前記操作判定手段は、前記ステアリングの操作量が第2閾値以上か否かを判定することで、前記ステアリングの操作が行われたか否かを判定することを特徴とする請求項1に記載の車両用ブレーキ液圧制御装置。
- 前記ステアリングの操作量は、操舵角センサから出力されてくるステアリングの操舵角であることを特徴とする請求項2に記載の車両用ブレーキ液圧制御装置。
- 前記挙動量は、ヨーレートセンサから出力されてくるヨーレートであることを特徴とする請求項1〜請求項3のいずれか1項に記載の車両用ブレーキ液圧制御装置。
- 前記停車時保持制御を開始する前に、前記挙動判定手段により前記挙動量が第1閾値以上であると判定された場合には、前記停車時保持制御の開始を禁止することを特徴とする請求項1〜請求項4のいずれか1項に記載の車両用ブレーキ液圧制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012252023A JP5752668B2 (ja) | 2012-11-16 | 2012-11-16 | 車両用ブレーキ液圧制御装置 |
US14/080,413 US9610926B2 (en) | 2012-11-16 | 2013-11-14 | Vehicle brake hydraulic pressure control apparatus |
EP13193099.2A EP2733028B1 (en) | 2012-11-16 | 2013-11-15 | Vehicle brake hydraulic pressure control apparatus |
CN201310576509.6A CN103818366B (zh) | 2012-11-16 | 2013-11-18 | 车辆用制动液压控制装置 |
Applications Claiming Priority (1)
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JP2012252023A JP5752668B2 (ja) | 2012-11-16 | 2012-11-16 | 車両用ブレーキ液圧制御装置 |
Publications (2)
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JP2014100923A JP2014100923A (ja) | 2014-06-05 |
JP5752668B2 true JP5752668B2 (ja) | 2015-07-22 |
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Country Status (4)
Country | Link |
---|---|
US (1) | US9610926B2 (ja) |
EP (1) | EP2733028B1 (ja) |
JP (1) | JP5752668B2 (ja) |
CN (1) | CN103818366B (ja) |
Families Citing this family (8)
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DE102015223273A1 (de) * | 2015-11-25 | 2017-06-01 | Continental Teves Ag & Co. Ohg | Verfahren zur Erkennung eines Rutschvorgangs eines Kraftfahrzeugs und Steuergerät |
DE102018222164A1 (de) * | 2018-12-18 | 2020-06-18 | Robert Bosch Gmbh | Verfahren zur Steuerung eines hydraulischen Bremssystems sowie entsprechende Vorrichtung |
CN110877613B (zh) * | 2019-10-13 | 2022-01-07 | 格至控智能动力科技(上海)有限公司 | 基于转子角和观测器的电动汽车驻坡方法 |
JP7310642B2 (ja) * | 2020-02-20 | 2023-07-19 | 株式会社オートネットワーク技術研究所 | 車載ecu、プログラム及び情報処理方法 |
JP7515589B2 (ja) | 2020-06-30 | 2024-07-12 | 日立Astemo上田株式会社 | 車両用ブレーキ液圧制御装置 |
JP7370940B2 (ja) * | 2020-06-30 | 2023-10-30 | 日立Astemo上田株式会社 | 車両用ブレーキ液圧制御装置 |
WO2022004442A1 (ja) * | 2020-06-30 | 2022-01-06 | 日立Astemo上田株式会社 | 車両用ブレーキ液圧制御装置 |
US12005876B2 (en) | 2021-02-04 | 2024-06-11 | Subaru Corporation | Braking control device |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE10322125A1 (de) * | 2003-05-16 | 2004-12-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Deaktivierung einer Hillholderfunktion |
JP4728085B2 (ja) * | 2005-10-20 | 2011-07-20 | 株式会社アドヴィックス | 車両の制動力保持装置、及び車両の制動力保持方法 |
JP5338132B2 (ja) * | 2008-05-13 | 2013-11-13 | 日産自動車株式会社 | 車両停止保持装置 |
US8649948B2 (en) | 2009-10-07 | 2014-02-11 | Honda Motor Co., Ltd. | Vehicle hill start assist system |
US9031754B2 (en) * | 2011-10-04 | 2015-05-12 | Bendix Commercial Vehicle Systems Llc | Towing vehicle controller providing brake control to a towed vehicle and method |
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2012
- 2012-11-16 JP JP2012252023A patent/JP5752668B2/ja active Active
-
2013
- 2013-11-14 US US14/080,413 patent/US9610926B2/en active Active
- 2013-11-15 EP EP13193099.2A patent/EP2733028B1/en active Active
- 2013-11-18 CN CN201310576509.6A patent/CN103818366B/zh active Active
Also Published As
Publication number | Publication date |
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CN103818366A (zh) | 2014-05-28 |
US20140142825A1 (en) | 2014-05-22 |
JP2014100923A (ja) | 2014-06-05 |
CN103818366B (zh) | 2017-06-06 |
EP2733028B1 (en) | 2017-11-08 |
EP2733028A1 (en) | 2014-05-21 |
US9610926B2 (en) | 2017-04-04 |
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