JP5831045B2 - Brake control device for vehicle - Google Patents

Description

  The present invention relates to a braking control device for a vehicle that performs braking control during turning to apply a braking force to wheels on the inner side in the turning direction when the vehicle turns.

  Conventionally, for example, a control device described in Patent Document 1 has been proposed as a vehicle braking control device that performs braking control to reduce the turning radius when the vehicle turns. In this braking control device, the absolute value of the steering angle of the steering detected in a state where a switch (operation unit) mounted on the vehicle is on (hereinafter also referred to as “permitted state”) is set in advance. A braking control during turning (also referred to as “small turning control”) that applies braking force to the rear wheel on the inner side in the turning direction of the vehicle (or the right rear wheel if the vehicle is turning right) when the value is equal to or greater than the determination value. .)I do.

  In a vehicle that turns in a state where the small turn control is performed in this manner, compared with a vehicle that does not perform the small turn control when turning, the vehicle turns with a motion that rotates around the rear wheel inside the turning direction of the vehicle. The turning radius becomes small, that is, a small turn is effective.

  By the way, in recent years, development of a general passenger car equipped with a braking control device capable of executing a small turning control has been advanced. In such a general passenger car (hereinafter simply referred to as “vehicle”), for example, when an obstacle is found in the traveling direction of the vehicle by the driver, the absolute value of the steering angle is increased by the steering of the steering by the driver. Become. When the steering angle of the steering becomes equal to or larger than the steering angle determination value and the vehicle body speed of the vehicle becomes less than the vehicle body speed determination value (for example, 10 km / h), the small turn control is started. As a result, the vehicle can avoid the obstacle with a margin as much as the turning is effective as compared with the case where the vehicle turns without performing the turning control.

JP-A-8-207823

  However, in a vehicle equipped with the above braking control device, the absolute value of the steering angle of the steering wheel even when the driver forgets that the switch is turned on or when the switch is turned on contrary to the driver's intention. When the vehicle speed becomes equal to or greater than the steering angle determination value and the vehicle body speed of the vehicle becomes less than the vehicle body speed determination value, the small turn control is performed against the driver's intention. At this time, accompanying the execution of the small turning control, the driver is given a feeling of dragging due to the braking force applied to the rear wheels inside the turning direction of the vehicle, or the turning radius is reduced against the driver's intention. The driver may feel uncomfortable.

  The present invention has been made in view of such circumstances. An object of the present invention is to provide a braking control device for a vehicle that can suppress a braking control during turning that applies a braking force to a wheel on the inner side in the turning direction against the intention of the driver.

  In order to achieve the above-described object, the present invention executes the braking control during turning to apply a braking force to the wheel on the inner side in the turning direction when the vehicle turns when the operation state of the operation unit (55) is in a permitted state. In a vehicle braking control device that permits and prohibits execution of the braking control during turning when the operation state of the operation unit (55) is in a prohibited state, of the information based on the vehicle operation by the driver, Information acquisition means (51, S11, S12, S33, S33) for acquiring at least one of the traveling direction information (A, VS) for identifying the traveling direction and the environmental information for identifying the external environment in which the vehicle travels. S34, S52, S53, S54) and the information acquisition means (51, S11, S12, S33, S34, S52, S53, S54) when the operation state of the operation unit (55) is a permitted state. If the first condition is established that the vehicle is in a straight traveling state for a specified time (Tth) or a specified distance (K) based on the information acquired by The operation of the operation unit (55) is performed when a second condition is assumed that the vehicle travel state continues to be in a straight traveling state for a specified time (Tth) or a specified distance (K). The gist of the invention is to include change means (51, S20, S38, S57) for urging to change the state from the permitted state to the prohibited state or to change the operation state from the permitted state to the prohibited state.

  According to the above configuration, when the operation state of the operation unit is the permitted state, the traveling direction information that can identify the traveling direction of the vehicle among the information according to the vehicle operation by the occupant, and the external environment in which the vehicle travels At least one of the pieces of environmental information for specifying is acquired. Then, based on the acquired information, it is determined whether the first condition or the second condition is satisfied. The first condition is that the vehicle is in a straight traveling state for a specified time or specified distance, and the second condition is for a specified time or specified distance. In other words, it is estimated that the traveling state of the vehicle is a straight traveling state.

  When the first condition or the second condition is established, it is determined that there is a high possibility that the driver does not need the braking control during turning. Then, the driver of the vehicle is prompted to change the operation state of the operation unit from the permitted state to the prohibited state, or to change the operation state of the operation unit from the permitted state to the prohibited state. Therefore, it is possible to prevent the braking control during turning from being performed against the driver's intention when the vehicle is turning.

Furthermore, in the vehicle braking control device according to the present invention, the smaller the number of executions (N) of the braking control during turning after the operation state of the operation unit (55) is in the permitted state, the first condition or The apparatus further includes condition setting means (51, S13, S14, S15) for tightening the conditions for establishing the second condition, and the change means (51, S20, S38, S57) has an operation state of the operation unit (55). Information obtained by the information obtaining means (51, S11, S12, S33, S34, S52, S53, S54) in the permitted state and set by the condition setting means (51, S13, S14, S15) Based on the established condition, it is determined whether the first condition or the second condition is satisfied, and when it is determined that the first condition or the second condition is satisfied, The operation unit The operational state of 55) is changed from enabled state to disabled state, or a gist that prompts to change the prohibited state operation state from the enabled state.

  According to the above configuration, when the number of executions of the braking control during turning after the operation state of the operation unit is in the permitted state is smaller, the driver is more likely to desire to execute the braking control during turning after that. Conceivable. Therefore, the establishment condition is set strictly. As a result, the possibility that the execution of the braking control during turning is prohibited against the intention of the driver can be reduced because the operation state of the operation unit is less likely to be in the prohibited state.

  On the other hand, it is considered that as the number of executions of the braking control during turning after the operation state of the operation unit becomes the permitted state is increased, the driver is less likely to desire to execute the braking control during turning thereafter. Therefore, the establishment condition is set to be loose. As a result, it is possible to suppress execution of braking control during turning contrary to the driver's intention as the operation state of the operation unit is likely to be prohibited.

  In the vehicle braking control apparatus according to the present invention, the changing means (51, S20, S38, S57) has a duration (T) that the vehicle is in a straight traveling state that is not less than the specified time (Tth). The first condition is satisfied, and the second condition is satisfied when it is estimated that the traveling state of the vehicle continues for a predetermined time (Tth) or longer. The condition setting means (51, S13, S14, S15) determines the number of executions of the braking control during turning after the operation state of the operation unit (55) is permitted. It is preferable to have time setting means (51, S14, S15) for setting the specified time (Tth) longer as (N) is smaller.

  According to the above configuration, the specified time is set according to the number of executions of the braking control during turning after the operation state of the operation unit is in the permitted state. For this reason, the smaller the number of executions, the longer the prescribed time is set, thereby making it difficult to satisfy the first condition and the second condition. As a result, it is possible to reduce the possibility that execution of braking control during turning is prohibited against the driver's intention. On the other hand, as the number of executions increases, the prescribed time is set shorter, so that the first condition and the second condition are more likely to be established. As a result, execution of braking control during turning contrary to the driver's intention can be suppressed.

  In the above configuration, when the number of executions (N) after the operation state of the operation unit (55) is in the permitted state is less than the reference number (Nth) set to an integer of “1” or more. It is conceivable that the specified time (Tth) is set longer than when the number of executions (N) is equal to or greater than the reference number (Nth).

  In this case, when the number of executions of the braking control during turning after the operation state of the operation unit is in the permitted state is less than the reference number, it is determined that the number of executions of the braking control during turning is small. Therefore, the specified time is set longer than when the number of executions is greater than or equal to the reference number, and as a result, the possibility that execution of braking control during turning is prohibited against the intention of the driver may be reduced. it can. On the other hand, when the number of executions of the braking control during turning after the operation state of the operation unit is in the permitted state is greater than or equal to the reference number, it is determined that the number of executions of the braking control during turning is large. Therefore, the specified time is set shorter than when the number of executions is less than the reference number, and as a result, execution of braking control during turning contrary to the driver's intention can be suppressed.

  In the vehicle braking control device of the present invention, the traveling direction information includes a steering angle (A) of a steering (30) operated to change a steering angle of the steered wheels (FR, FL) of the vehicle, The determination as to whether or not the traveling state of the vehicle is a straight traveling state includes whether or not the absolute value of the steering angle (A) of the steering (30) is equal to or less than a reference steering angle (Ath), and the condition setting The means (51, S13, S14, S15) is configured to reduce the reference steering angle (Ath) as the number of executions (N) of the braking control during turning after the operation state of the operation unit (55) is permitted. ) Is preferably provided with a small steering angle setting means (51, S14, S15).

  According to the above configuration, the determination of whether or not the traveling state of the vehicle is a straight traveling state includes the determination of whether or not the absolute value of the steering angle of the steering is equal to or less than the reference steering angle. The reference steering angle used for such determination is set to a value according to the number of times of execution of the braking control during turning after the operation state of the operation unit is in the permitted state. Therefore, as the number of executions is smaller, the reference steering angle is set to a smaller value, so that it is difficult to determine that the traveling state of the vehicle is the straight traveling state. As a result, it is possible to reduce the possibility that execution of braking control during turning is prohibited against the driver's intention. On the other hand, the greater the number of executions, the easier it is determined that the vehicle is in the straight traveling state because the reference steering angle is set to a larger value. As a result, execution of braking control during turning contrary to the driver's intention can be suppressed.

  In the vehicle braking control apparatus according to the present invention, the traveling direction information includes a vehicle body speed (VS), and whether or not the traveling state of the vehicle is a straight traveling state is determined by the vehicle body speed (VS). The condition setting means (51, S13, S14, S15) includes whether or not the operation speed of the operation unit (55) is permitted. It is preferable to have speed setting means (51, S14, S15) that sets the reference speed (VSth) to a larger value as the number of executions (N) of hourly braking control is smaller.

  According to the above configuration, the determination of whether or not the traveling state of the vehicle is the straight traveling state includes the determination of whether or not the vehicle body speed of the vehicle is equal to or higher than the reference speed. The reference speed used for such determination is set to a value corresponding to the number of times of execution of braking control during turning after the operation state of the operation unit is in the permitted state. For this reason, the smaller the number of executions, the more the reference speed is set to a larger value, and it becomes difficult to determine that the traveling state of the vehicle is a straight traveling state. As a result, it is possible to reduce the possibility that execution of braking control during turning is prohibited against the driver's intention. On the other hand, the greater the number of executions, the easier it is determined that the running state of the vehicle is the straight traveling state as the reference speed is set to a smaller value. As a result, execution of braking control during turning contrary to the driver's intention can be suppressed.

According to another aspect of the present invention, when the operation state of the operation unit (55) is in a permitted state, the execution of the braking control during turning for applying a braking force to the wheel on the inner side in the turning direction during turning of the vehicle is permitted. When the operation state of the operation unit (55) is in a prohibited state, the vehicle braking control device prohibits execution of the braking control during turning, and specifies the traveling direction of the vehicle from information based on the vehicle operation by the driver. Information acquisition means (51, S11, S12, S33, S34, S52, and the like) for acquiring at least one of possible traveling direction information (A, VS) and environmental information for specifying the external environment in which the vehicle travels S53, S54) and the information acquisition means (51, S11, S12, S33, S34, S52, S53, S54) when the operation state of the operation unit (55) is permitted. Based on the information, if the first condition that the vehicle is running straight for a specified time (Tth) or a specified distance (K) is satisfied, or a specified time ( The operation state of the operation unit (55) is permitted when the second condition is estimated that the vehicle travel state continues for a predetermined distance (Tth) or a specified distance (K). Change means (51, S20, S38, S57) that prompts the user to change from the state to the prohibited state, or to change the operation state from the permitted state to the prohibited state, and the changing means (51, S38) includes: When the number of executions (N) of the braking control during turning after the operation state of the operation unit (55) is in the permitted state is less than the reference number (Nth) set to an integer equal to or greater than “1” The operation state of the operation unit (55) is allowed. On the other hand, when the number of executions (N) is equal to or greater than the reference number of times (Nth), the operation of the operation unit (55) is triggered by the establishment of the first condition or the second condition. The gist is to prompt the user to change the state from the permitted state to the prohibited state, or to change the operation state from the permitted state to the prohibited state.

  According to the above configuration, when the number of executions of the braking control during turning after the operation state of the operation unit is in the permitted state is less than the reference number, the turn after the operation state of the operation unit is in the permitted state. It is determined that there is a high possibility that the number of executions of the hour braking control has not reached the number of executions intended by the driver. Therefore, when the number of executions is less than the reference number, the operation state of the operation unit is maintained in the permitted state unless the operation unit is operated by the vehicle occupant. Therefore, it is possible to reduce the possibility that execution of braking control during turning is prohibited against the driver's intention.

  On the other hand, if the number of executions of the braking control during turning after the operation state of the operation unit becomes permitted is greater than or equal to the reference number, braking during turning after the operation state of the operation unit becomes permitted It is determined that there is a high possibility that the number of executions of control has exceeded the number of executions intended by the driver. Therefore, when the first condition or the second condition is satisfied, the driver is prompted to change the operation state from the permitted state to the prohibited state, or to change the operation state of the operation unit from the permitted state to the prohibited state. . Therefore, when the number of executions is equal to or greater than the reference number, it is possible to suppress execution of the braking control during turning contrary to the driver's intention.

  In order to explain the present invention in an easy-to-understand manner, it has been described in association with the reference numerals of the drawings showing the embodiments, but it goes without saying that the present invention is not limited to the embodiments.

The block diagram which shows an example of the vehicle carrying the ECU for brakes which is one Embodiment of the braking control apparatus of this invention. The flowchart explaining the small turn prohibition determination processing routine in 1st Embodiment. 5 is a timing chart showing how the operation state of the operation button, the vehicle body speed of the vehicle, the absolute value of the steering angle of the steering wheel, and the duration change in the first embodiment. The flowchart explaining the small turn prohibition determination processing routine in 2nd Embodiment. The flowchart explaining the small turn prohibition determination processing routine in 3rd Embodiment.

(First embodiment)
Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS. In the following description of the present specification, the traveling direction (forward direction) of the vehicle is assumed to be the front (front of the vehicle).

  As shown in FIG. 1, the vehicle according to the present embodiment includes a plurality of (four in the present embodiment) wheels (right front wheel FR, left front wheel FL, right rear wheel RR, and left rear wheel RL). The FL functions as a drive wheel (a so-called front wheel drive vehicle). Such a vehicle includes a driving force generation device 11 for driving the vehicle, a steering device 12 for turning the front wheels FR and FL as steered wheels (steering wheels), and the wheels FL, FR, RL, and RR. And a braking device 13 for applying a braking force. Further, the vehicle is provided with an imaging device 14 for imaging the front of the vehicle and a control device 15 for controlling the devices 11 to 14.

  The driving force generator 11 includes an engine 21 that generates a driving force based on an operation amount of the accelerator pedal 20 by the driver, that is, an accelerator opening, and an automatic transmission 22 connected to the output shaft of the engine 21. Is provided. Further, the driving force generator 11 is provided with an accelerator opening sensor SE1 that outputs a detection signal corresponding to the accelerator opening to the control device 15. When the engine 21 is driven, the driving force output from the automatic transmission 22 is distributed to the front wheels FR and FL via the differential gear 23, so that the vehicle moves forward or backward.

  The steering device 12 is provided with a steering shaft 31 to which a steering 30 that is steered (operated) by a driver is fixed, and a steering actuator 32 that is connected to the steering shaft 31. Further, the steering device 12 is provided with a link mechanism portion 33 including a tie rod that is movable in the left-right direction of the vehicle by a steering actuator 32 and a link that steers the front wheels FL and FR by the movement of the tie rod. ing. The steering device 12 is provided with a steering angle sensor SE2 that outputs a detection signal corresponding to the steering angle of the steering 30 to the control device 15.

  The braking device 13 includes a hydraulic pressure generating device 41 that generates a brake hydraulic pressure corresponding to the operating force of the brake pedal 40 by the driver, and a plurality of (this embodiment) provided individually for each of the wheels FR, FL, RR, and RL. There are four brake cylinders 43 connected to the wheel cylinders 42a, 42b, 42c, 42d. In addition, the brake device 13 is provided with a brake switch SW1 that outputs a detection signal to the control device 15 according to the operation state (on or off) of the brake pedal 40 by the driver.

  The brake actuator 43 is configured to apply a braking force to the wheels FR, FL, RR, RL even when the driver does not operate the brake pedal 40. For example, the brake actuator 43 is a differential pressure regulating valve (not shown) for generating a differential pressure between the brake hydraulic pressure on the hydraulic pressure generating device 41 side and the brake hydraulic pressure in the wheel cylinders 42a, 42b, 42c, 42d. And an electric pump (not shown) for supplying brake fluid pressure into the wheel cylinders 42a, 42b, 42c, 42d. The brake actuator 43 is provided with various valves for individually adjusting the brake fluid pressure in the wheel cylinders 42a, 42b, 42c, and 42d. That is, the brake actuator 43 of this embodiment can adjust the braking force with respect to each wheel FR, FL, RR, RL individually.

The imaging device 14 is disposed at a position where the front of the vehicle body can be imaged. Then, the imaging device 14 outputs image data based on the captured image to the control device 15.
In addition to the accelerator opening sensor SE1, the steering angle sensor SE2, and the brake switch SW1, the control device 15 includes wheel speed sensors SE3, SE4, SE5, SE6 for detecting the wheel speeds of the wheels FR, FL, RR, RL. And an acceleration sensor (also referred to as “G sensor”) SE7 for detecting acceleration in the longitudinal direction of the vehicle is electrically connected. In addition, the imaging device 14 is connected to the control device 15 in a state where image data and various commands can be transmitted and received.

  The control device 15 includes a plurality of ECUs (also referred to as “electronic control devices”) including a CPU, a ROM, a RAM, and the like. For example, the control device 15 analyzes the engine ECU 50 for controlling the driving force generation device 11, the brake ECU 51 as a braking control device for controlling the braking device 13, and the image data captured by the imaging device 14. And an image analysis ECU 52 for this purpose. And each of these ECU50-52 can transmit / receive various information.

  The image analysis ECU 52 analyzes the image data and determines whether or not there is an obstacle ahead of the traveling direction of the vehicle. Then, when there is an obstacle in front of the vehicle, the image analysis ECU 52 obtains an estimated distance between the current position of the vehicle and the obstacle. Here, the “obstacle” refers to an obstacle having a certain size that needs to be avoided by turning the vehicle.

  The brake ECU 51 of the present embodiment performs small turn control (braking control during turning) for reducing the turning radius of the vehicle when the vehicle turns. Specifically, the brake ECU 51 determines the absolute value of the steering angle of the steering wheel 30 when the operation button 55 as an operation unit operated by the driver to permit / prohibit the execution of the small turn control is on. Is greater than or equal to the steering angle determination value and the vehicle body speed of the vehicle is less than the vehicle speed determination value (for example, 10 km / h), the small turning control is performed. At this time, the brake ECU 51 controls the brake actuator 43 so that the braking force is applied to the rear wheel on the inner side in the turning direction of the vehicle (the right rear wheel when turning in the right direction).

  Then, the vehicle for which the small turn control is performed turns with a motion that rotates around the rear wheel inside the turning direction of the vehicle. As a result, the turning radius of the vehicle becomes smaller compared to the case where the turning control is not performed. In this embodiment, “the operation button 55 is in an on state” indicates that “the operation state is in a permitted state”, and “the operation button 55 is in an off state” indicates that “the operation state is in a prohibited state”. It is.

  However, the driver of the vehicle forgets that the operation button 55 is turned on and runs the vehicle, or runs the vehicle with the operation button 55 turned on contrary to the intention of the driver. Sometimes. In such a case, the turning control may be executed against the driver's intention when the vehicle turns. Therefore, in the brake ECU 51 of the present embodiment, a small turn prohibition determination processing routine is executed in order to suppress execution of the small turn control against the driver's intention.

Next, the small turn prohibition determination processing routine will be described with reference to the flowchart shown in FIG.
Now, the small turn prohibition determination processing routine is executed at predetermined intervals set in advance while the small turn control is not being executed. Then, in the small turn prohibition determination processing routine, the brake ECU 51 determines whether or not the operation button 55 is on (step S10). When the operation button 55 is in the off state (step S10: NO), the brake ECU 51 proceeds to step S17, which will be described later, because the operation state is prohibited.

  On the other hand, when the operation button 55 is in the on state (step S10: YES), the brake ECU 51 uses the wheel speed sensors SE3 to SE6 to acquire the vehicle body speed VS because the operation state is the permitted state. (Step S11). That is, the brake ECU 51 calculates the wheel speeds of the wheels FR, FL, RR, and RL based on the detection signals from the wheel speed sensors SE3 to SE6. Then, the brake ECU 51 acquires the vehicle body speed VS based on the wheel speed of at least one of the calculated wheel speeds of the wheels FR, FL, RR, and RL. In general, when the vehicle travels straight, the accelerator opening is adjusted by the driver so that the vehicle body speed VS is higher than when the vehicle is turned. That is, the vehicle body speed VS is one of the traveling direction information that can specify the traveling direction of the vehicle among the information based on the vehicle operation by the driver. Therefore, in the present embodiment, the brake ECU 51 also functions as an information acquisition unit.

  Subsequently, the brake ECU 51 acquires (calculates) the steering angle A of the steering wheel 30 based on the detection signal from the steering angle sensor SE2 (step S12). The traveling direction of the vehicle is a direction determined by the steering angle A of the steering 30. That is, the steering angle A is one of the traveling direction information that can specify the traveling direction of the vehicle among the information based on the vehicle operation by the driver. Also from this point, in this embodiment, the brake ECU 51 also functions as an information acquisition unit.

  Then, the brake ECU 51 acquires the number N of executions of the small turn control after the operation button 55 is turned on, and determines whether or not the number N of executions is equal to or greater than a preset reference number Nth ( Step S13). The reference number Nth is a value set as a criterion for determining whether the establishment condition for automatically changing the state of the operation button 55 is set strictly or loosely, and “1”. The above value is set (once in this embodiment). When the number of executions N is equal to or greater than the reference number Nth (step S13: YES), the brake ECU 51 sets the reference steering angle Ath and the reference so that the condition for automatically changing the state of the operation button 55 is easily established. A speed VSth and a specified time Tth are set (step S14). Specifically, the brake ECU 51 sets the reference steering angle Ath to the first steering angle Ath1, which is a value larger than “0 (zero)”, and sets the reference speed VSth as the vehicle speed (the end condition for the small turn control). For example, the first vehicle speed VSth1 is set to a value equal to or greater than 10 km / h), and the specified time Tth is set to the first specified time Tth1 (for example, 0 (zero) comma number of seconds). Thereafter, the brake ECU 51 proceeds to step S16, which will be described later.

  On the other hand, when the number of executions N is less than the reference number Nth (step S13: NO), the brake ECU 51 makes the reference steering angle Ath difficult to satisfy the condition for automatically changing the state of the operation button 55. The reference speed VSth and the specified time Tth are set (step S15). Specifically, the brake ECU 51 sets the reference steering angle Ath to a second steering angle Ath2 that is greater than “0 (zero)” and less than the first steering angle Ath1, and the reference speed VSth is the first vehicle speed VSth1. The second vehicle speed VSth2 is set at a higher speed, and the specified time Tth is set to a second specified time Tth2 (for example, several seconds to several tens of seconds) longer than the first specified time Tth1. Therefore, in the present embodiment, the brake ECU 51 also functions as a condition setting unit that tightens the establishment condition as the number of executions N of the small turn control after the operation button 55 is turned on is smaller. In addition, in the present embodiment, the brake ECU 51 that functions as the condition setting unit functions as a time setting unit, and also functions as a rudder angle setting unit, and further functions as a speed setting unit. Thereafter, the brake ECU 51 proceeds to step S16, which will be described later.

  In step S16, the brake ECU 51 determines whether or not the absolute value of the steering angle A acquired in step S12 is less than or equal to the reference steering angle Ath and the vehicle body speed VS acquired in step S11 is greater than or equal to the reference speed VSth. judge. The reference steering angle Ath and the reference speed VSth are determination criteria for determining whether or not the traveling state of the vehicle is a straight traveling state. That is, in step S16, it is determined whether or not the traveling state of the vehicle is a straight traveling state. If at least one of the absolute value of the steering angle A is greater than the reference steering angle Ath and the vehicle body speed VS is less than the reference speed VSth (step S16: NO), the brake ECU 51 It is determined that the traveling state is not the straight traveling state, and the process proceeds to the next step S17.

  In step S17, the brake ECU 51 resets the duration T to “0 (zero)”. Thereafter, the brake ECU 51 once ends the small turn prohibition determination processing routine.

  On the other hand, when the absolute value of the steering angle A is equal to or smaller than the reference steering angle Ath and the vehicle body speed VS is equal to or higher than the reference speed VSth (step S16: YES), the brake ECU 51 determines that the vehicle traveling state is straight ahead at this time. It is determined that it is in a state. Then, the brake ECU 51 updates the continuation time T that the vehicle is running straight (step S18). Then, the brake ECU 51 determines whether or not the updated duration T is equal to or longer than the specified time Tth set in step S14 or step S15 (step S19). When the duration time T is less than the specified time Tth (step S19: NO), the brake ECU 51 once ends the small turn prohibition determination processing routine.

  On the other hand, when the duration T is equal to or longer than the specified time Tth (step S19: YES), the brake ECU 51 automatically changes the operation button 55 from the on state to the off state (step S20). Therefore, in the present embodiment, the brake ECU 51 turns on the operation button 55 when the first condition that the duration T that the vehicle is running straight is longer than the specified time Tth is satisfied. It also functions as a changing means for changing from the off state to the off state.

  Subsequently, the brake ECU 51 performs a notification process for notifying the vehicle occupant (especially the driver) that the operation button 55 has been automatically changed from the on state to the off state (step S21). For example, the brake ECU 51 may transmit a command for displaying a message to the effect that the operation button 55 is turned off on the display of the navigation device mounted on the vehicle to the navigation device. Further, the brake ECU 51 may sound an alarm sound. Further, when the vehicle has a display unit (for example, a lamp) for indicating whether or not the small turn control is being performed, the brake ECU 51 may cause the display unit to blink. Thereafter, the brake ECU 51 once ends the small turn prohibition determination processing routine.

  Next, the operation of the vehicle equipped with the brake ECU 51 of this embodiment will be described with reference to the timing chart shown in FIG. It is assumed that the operation button 55 is on.

  First, an operation when the small turn control is executed for the reference number Nth or more after the operation button 55 is turned on will be described. In this case, the reference steering angle Ath is set to the first steering angle Ath1, the reference speed VSth is set to the first vehicle speed VSth1, and the specified time Tth is set to the first specified time Tth1.

  As shown in FIG. 3, at the first timing t1, even if the vehicle body speed VS is equal to or higher than the reference speed VSth (= VSth1), the absolute value of the steering angle A of the steering wheel 30 is the reference steering angle Ath ( = Ath1). Therefore, it is determined that the traveling state of the vehicle is not a straight traveling state, and the duration T remains “0 (zero)”. Thereafter, the absolute value of the steering angle A of the steering 30 gradually decreases, and at the second timing t2 when the absolute value of the steering angle A of the steering 30 becomes equal to or less than the reference steering angle Ath, the vehicle is in a straight traveling state. It is determined that there is.

  Then, as shown by the solid line in FIG. 3, the measurement of the duration T is started. The duration T is a length of a period in which both the vehicle body speed VS of the vehicle is equal to or higher than the reference speed VSth and the absolute value of the steering angle A of the steering 30 is equal to or less than the reference steering angle Ath. . If the vehicle body speed VS of the vehicle becomes less than the reference speed VSth or the absolute value of the steering angle A of the steering wheel 30 exceeds the reference steering angle Ath during the measurement of the duration T, the duration T is “0”. (Zero) ".

  At the third timing t3 when the duration T becomes equal to or longer than the specified time Tth (= Tth1), the first condition that the duration T that the vehicle is traveling straight is equal to or longer than the specified time Tth is satisfied. To do. Then, the operation button 55 is automatically changed from the on state to the off state. Then, in the vehicle, the passenger is notified that the operation button 55 has been turned off. As a result, execution of the small turn control is prohibited. When the driver feels that the small turn control is to be performed during the subsequent vehicle travel, the driver may operate the operation button 55 so that the operation button 55 is turned on.

  Next, an operation when the small turn control is not executed “once” after the operation button 55 is turned on will be described. In this case, the reference steering angle Ath is set to the second steering angle Ath2 (<Ath1), the reference speed VSth is set to the second vehicle speed VSth2 (> VSth1), and the specified time Tth is set to the second specified time Tth2. (> Tth1).

  At the first timing t1, the vehicle body speed VS of the vehicle is less than the reference speed VSth (= VSth2), and the absolute value of the steering angle A of the steering 30 is larger than the reference steering angle Ath (= Ath2). is there. Therefore, it is determined that the traveling state of the vehicle is not a straight traveling state, and the duration T remains “0 (zero)”. At the second timing t2, the absolute value of the steering angle A of the steering wheel 30 is still larger than the reference steering angle Ath even if the vehicle body speed VS is equal to or higher than the reference speed VSth. Remains “0 (zero)”. That is, when the small turn control is not executed “once” after the operation button 55 is turned on, the vehicle traveling state is straight ahead as compared to the case where the small turn control is executed “once” or more. It is difficult to determine that it is in a state.

  Thereafter, when the absolute value of the steering angle A of the steering wheel 30 becomes equal to or smaller than the reference steering angle Ath at the fourth timing t4, it is determined that the traveling state of the vehicle is the straight traveling state. Then, as shown by a broken line in FIG. 3, measurement of the duration T is started. Then, at the subsequent third timing t3, since the duration T is less than the specified time Tth (= Tth2), the ON state of the operation button 55 is maintained. Further, the first condition is satisfied at the fifth timing t5 when the time T elapses and the duration T becomes the specified time Tth or more. Then, the operation button 55 is automatically changed from the on state to the off state, and the passenger is notified that the operation button 55 has been turned off in the vehicle.

As described above, in the present embodiment, the following effects can be obtained.
(1) In this embodiment, when the turn button control is not performed when the operation button 55 is in the on state, the continuation time T that the vehicle traveling state is the straight traveling state is equal to or longer than the specified time Tth. It is determined whether or not the condition 1 is satisfied. When the first condition is satisfied, the vehicle does not turn so that the small turn control is required for a while, or the operation button 55 is turned on against the driver's intention. It is determined that As a result, the operation button 55 is automatically changed from the on state to the off state. Therefore, it is possible to suppress the small turn control from being performed against the driver's intention when the vehicle is turning. Accordingly, it is possible to reduce the possibility of giving the driver a drag feeling associated with the execution of the small turn control contrary to the driver's intention, and to suppress a decrease in the turning radius of the vehicle against the driver's intention. .

  (2) It is considered that the possibility that the driver desires to execute the small turn control after that is smaller as the number N of the small turn control after the operation button 55 is turned on is smaller. Therefore, in the present embodiment, when the number of executions N is less than the reference number Nth, the condition for establishing the first condition is set more severely than when the number of executions N is equal to or greater than the reference number Nth. The Therefore, as compared with the case where the number of executions N is equal to or greater than the reference number Nth, the possibility that the first condition is less likely to be satisfied is less likely to be prohibited against the driver's intention. it can.

  (3) On the other hand, it is considered that the possibility that the driver desires to execute the small turn control after that becomes smaller as the number of executions N of the small turn control after the operation button 55 is turned on is larger. Therefore, in this embodiment, when the number of executions N is equal to or greater than the reference number Nth, the condition for establishing the first condition is set to be relaxed compared to the case where the number of executions N is less than the reference number Nth. The Therefore, as compared with the case where the number of executions N is less than the reference number Nth, the execution of the small turn control contrary to the driver's intention can be suppressed as much as the first condition is easily satisfied.

  (4) Specifically, when the number of executions N is equal to or greater than the reference number Nth, the specified time Tth is set to the first specified time Tth1, while when the number of executions N is less than the reference number Nth, it is specified. The time Tth is set to a second specified time Tth2 that is longer than the first specified time Tth1. Therefore, when the number of executions N is large, the first condition is more easily established than when the number of executions N is small. Therefore, it is possible to suppress the execution of the small turn control contrary to the driver's intention.

  (5) When the number N of executions is equal to or greater than the reference number Nth, the reference steering angle Ath is set to the first steering angle Ath1, while when the number N of executions is less than the reference number Nth, the reference steering angle. Ath is set to a second steering angle Ath2 that is smaller than the first steering angle Ath1. Therefore, when the number of executions N is large, it is easier to determine that the traveling state of the vehicle is a straight traveling state than when the number of executions N is small. Therefore, the execution of the small turn control against the driver's intention can be suppressed as much as the first condition is easily satisfied.

  (6) Further, when the number of executions N is equal to or greater than the reference number Nth, the reference speed VSth is set to the first vehicle speed VSth1, while when the number of executions N is less than the reference number Nth, the reference speed VSth is The second vehicle speed VSth2 is set to be higher than the first vehicle speed VSth1. Therefore, when the number of executions N is large, it is easier to determine that the traveling state of the vehicle is a straight traveling state than when the number of executions N is small. Therefore, the execution of the small turn control against the driver's intention can be suppressed as much as the first condition is easily satisfied.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIG. In the second embodiment, the operation button 55 is not automatically turned off when the number of executions N of the small turn control after the operation button 55 is turned on is less than the reference number Nth. Is different from the first embodiment. Therefore, in the following description, parts different from those of the first embodiment will be mainly described, and the same or corresponding member configurations as those of the first embodiment are denoted by the same reference numerals, and redundant description will be omitted. Shall.

The small turn prohibition determination processing routine of the present embodiment will be described with reference to the flowchart shown in FIG.
In the small turn prohibition determination process routine, the brake ECU 51 performs the determination process in step S30 equivalent to step S10. When the operation button 55 is in the OFF state (step S30: NO), the brake ECU 51 resets the duration T to “0 (zero)” (step S31), and once ends the small turn prohibition determination processing routine. On the other hand, when the operation button 55 is in the on state (step S30: YES), the brake ECU 51 performs the determination process of step S32 equivalent to the above step S13, and when the number of executions N is less than the reference number Nth (steps). In S32: NO), the process proceeds to the above-described step S31.

  On the other hand, when the execution number N is equal to or greater than the reference number Nth (step S32: YES), the brake ECU 51 sequentially performs the processes of steps S33, S34, and S35 corresponding to steps S11, S12, and S16. The reference steering angle Ath used in the determination process in step S35 is set to the first steering angle Ath1, and the reference speed VSth is set to the first vehicle speed VSth1.

  If at least one of the absolute value of the steering angle A is larger than the reference steering angle Ath and the vehicle body speed VS is less than the reference speed VSth (step S35: NO), the brake ECU 51 The process proceeds to step S31 described above. On the other hand, when the absolute value of the steering angle A is equal to or smaller than the reference steering angle Ath and the vehicle body speed VS is equal to or higher than the reference speed VSth (step S35: YES), the brake ECU 51 determines that the vehicle traveling state is straight ahead at this time. It is determined that it is in a state. Subsequently, the brake ECU 51 sequentially performs the processes of steps S36 and S37 corresponding to steps S18 and S19.

  If the duration T is less than the specified time Tth (step S37: NO), the brake ECU 51 once ends the small turn prohibition determination processing routine. On the other hand, when the duration T is equal to or longer than the specified time Tth (step S37: YES), the brake ECU 51 sequentially performs the processes of steps S38 and S39 corresponding to the steps S20 and S21 because the first condition is satisfied. After that, the small turn prohibition determination processing routine is once ended.

As described above, in this embodiment, in addition to the same effect as the effect (1) in the first embodiment, the following effects can be further obtained.
(7) When the number of executions N of the small turn control after the operation button 55 is turned on is less than the reference number Nth, the small turn control after the operation button 55 is turned on by the driver's intention It is determined that there is a high possibility that the number of executions N has not reached the number of executions intended by the driver. That is, it is determined that the number N of executions of the small turning control is small. Therefore, when the number of executions N is less than the reference number Nth, the operation button 55 is maintained in the on state unless the driver operates the operation button 55 so as to be in the off state. Therefore, it is possible to suppress the activation button 55 from being automatically changed from the on state to the off state against the driver's intention.

  On the other hand, when the number of executions N is equal to or greater than the reference number Nth, the number of executions N of the turning control after the operation button 55 is turned on by the driver's intention is greater than or equal to the number of executions intended by the driver. It is judged that there is a high possibility that That is, it is determined that the number of executions N of the small turning control is large. Therefore, when the first condition is satisfied, the operation button 55 is automatically changed from the on state to the off state. Therefore, when the number of executions N is large, it is possible to suppress the execution of the small turn control against the driver's intention.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIG. The third embodiment differs from the first and second embodiments in part of the contents of the small turn prohibition determination processing routine. Therefore, in the following description, parts different from the first and second embodiments will be mainly described, and the same reference numerals are given to the same or corresponding member configurations as those of the first and second embodiments. A duplicate description will be omitted.

The small turn prohibition determination processing routine of the present embodiment will be described with reference to the flowchart shown in FIG.
In the small turn prohibition determination process routine, the brake ECU 51 performs the determination process in step S50 equivalent to step S10. When the operation button 55 is in the OFF state (step S50: NO), the brake ECU 51 resets the duration T to “0 (zero)” (step S51), and once ends the small turn prohibition determination processing routine. On the other hand, when the operation button 55 is in the ON state (step S50: YES), the brake ECU 51 performs the processes of steps S52 and S53 equivalent to the steps S11 and S12.

  Subsequently, the brake ECU 51 obtains the specified distance K (= VS × Tth) by multiplying the vehicle speed VS acquired in step S52 by the specified time Tth (in this case, the first specified time Tth1) ( Step S54). Then, the brake ECU 51 requests the image analysis ECU 52 for the analysis result of the image data captured by the imaging device 14, and receives the analysis result of the image data from the image analysis ECU 52 (step S55). The analysis result of the image data is an example of environment information for specifying the external environment in which the vehicle travels. Also in this respect, in the present embodiment, the brake ECU 51 also functions as an information acquisition unit. The analysis result of the image data includes, for example, whether there is an obstacle in the traveling direction of the vehicle, and the estimated distance between the obstacle and the vehicle when there is an obstacle.

  Then, the brake ECU 51 determines whether or not there is an obstacle between the current position of the vehicle and the specified distance K in the traveling direction of the vehicle based on the analysis result of the received image data (step S56). If it is determined that there are no obstacles beyond the specified distance K (step S56: YES), the brake ECU 51 estimates that the traveling state of the vehicle continues for a specified distance K. It is determined that the second condition is satisfied. Then, the brake ECU 51 sequentially performs the processes of steps S57 and S58 corresponding to the processes of steps S20 and S21, and then temporarily ends the small turn prohibition determination process routine.

  On the other hand, when it is determined that there is an obstacle or a possibility that there is an obstacle between the current position of the vehicle and the specified distance K (step S56: NO), the brake ECU 51 satisfies the second condition. Therefore, the determination process in step S59 corresponding to step S16 is performed. If at least one of the absolute value of the steering angle A is greater than the reference steering angle Ath and the vehicle body speed VS is less than the reference speed VSth (step S59: NO), the brake ECU 51 The process proceeds to step S51 described above. On the other hand, when the absolute value of the steering angle A is equal to or smaller than the reference steering angle Ath and the vehicle body speed VS is equal to or higher than the reference speed VSth (step S59: YES), the brake ECU 51 indicates that the vehicle is currently traveling straight ahead. It is determined that it is in a state.

  Then, the brake ECU 51 sequentially performs steps S60 and S61 corresponding to steps S18 and S19. If the duration T is less than the specified time Tth (step S61: NO), the brake ECU 51 temporarily ends the small turn prohibition determination processing routine because not only the second condition but also the first condition is not satisfied. . On the other hand, when the duration T is equal to or longer than the specified time Tth (step S61: YES), the brake ECU 51 shifts the process to the above-described step S57 because the first condition is satisfied.

  As an example of the case where the second condition is satisfied in the present embodiment, when the vehicle travels in an external environment where there is no obstacle around the vehicle, such as a vast desert or grassland, a road that extends substantially in a straight line For example, when driving.

As described above, in the present embodiment, the following effects can be further obtained in addition to the effects equivalent to the effects (1) in the first and second embodiments.
(8) The vehicle is provided with an imaging device 14 that can image the front of the vehicle. Therefore, in the present embodiment, it is determined whether there is an obstacle in the traveling direction of the vehicle based on the analysis result of the image data indicating the image captured by the imaging device 14. If it is determined that the vehicle does not contact the obstacle even if the vehicle travels more than the specified distance K, it is determined that the small turn control is not necessary because the second condition is satisfied. As a result, the operation button 55 is automatically changed from the on state to the off state. Therefore, it is possible to suppress the small turn control from being performed against the driver's intention when the vehicle does not need the small turn control.

  (9) Further, in the present embodiment, when the second condition is satisfied, the operation button 55 is automatically changed from the on state to the off state before the straight traveling state of the vehicle is continued for the specified time Tth or longer. Changed to That is, compared with the case where it is not determined whether or not the second condition is satisfied, the operation button 55 can be quickly changed from the on state to the off state. As a result, the possibility that the turning control is performed against the driver's intention can be further reduced.

Each embodiment may be changed to another embodiment as described below.
In each embodiment, in the determination process of steps S16, S35, and S59, the absolute value of the steering angle A of the steering wheel 30 is not more than the reference steering angle Ath and the vehicle body speed VS is not less than the reference speed VSth. When at least one of them is established, it may be determined that the traveling state of the vehicle is a straight traveling state. Further, in the determination processing in steps S16, S35, and S59, it may be determined only whether or not the absolute value of the steering angle A of the steering wheel 30 is equal to or less than the reference steering angle Ath, and the vehicle body speed VS is equal to or higher than the reference speed VSth. It may be determined only whether or not.

  Some vehicles are equipped with a sensor for detecting acceleration in the width direction of the vehicle (hereinafter also referred to as “lateral G”), that is, a lateral G sensor. In such a vehicle, whether or not the lateral G detected based on the detection signal from the lateral G sensor is equal to or less than the reference lateral G is included in the determination of whether or not the traveling state of the vehicle is the straight traveling state. Good.

  Some vehicles are equipped with a yaw rate sensor for detecting the yaw rate of the vehicle. In such a vehicle, whether or not the vehicle yaw rate detected based on the detection signal from the yaw rate sensor is equal to or less than the reference yaw rate may be included in the determination of whether or not the vehicle traveling state is the straight traveling state. .

  The vehicle body speed VS is a speed corresponding to the accelerator opening, which is also the amount of operation of the accelerator pedal 20 by the driver. Therefore, whether or not the accelerator opening detected using the accelerator opening sensor SE1 is greater than or equal to the reference accelerator opening may be included in the determination of whether or not the vehicle is traveling straight.

  Some steering devices are equipped with a torque sensor for detecting steering torque instead of the steering angle sensor SE2. In such a vehicle, an estimated value of the steering angle is calculated based on the steering torque detected based on the detection signal from the torque sensor, and it is determined whether the estimated value of the steering angle is equal to or less than the reference steering angle Ath. It may be included in the determination of whether or not the state is a straight traveling state.

In each of the first and second embodiments, the reference number Nth may be set to any number other than “1” (for example, three times) as long as it is an integer equal to or greater than “1”.
Further, the reference number Nth may be arbitrarily changed by an operation by the driver.

  In each embodiment, the reference steering angle Ath may be set to a larger value as the number N of times of turning control after the operation button 55 is turned on is increased. In this case, the reference steering angle Ath may be set according to the number of executions N using a linear function or a quadratic function with the number of executions N as a variable. Similarly, the reference speed VSth may be set to a lower speed as the number of times N of turning control after the operation button 55 is turned on is larger. Similarly, the prescribed time Tth may be set to a shorter time as the number N of turning operations after the operation button 55 is turned on is larger.

  In each of the first and second embodiments, when the number of executions N of the small turn control after the operation button 55 is turned on becomes the reference number Nth or more, the reference steering angle Ath, the reference speed VSth, and the specified time At least one of Tth may be set to a value corresponding to the number of executions N. When the number of executions N becomes the number determination value set to a value larger than the reference number Nth, the operation button 55 may be automatically changed to the off state regardless of the traveling state of the vehicle. Good. The number determination value is preferably, for example, a value that is M times the reference number Nth (an integer of 2 or more, for example, 5 times).

  In each embodiment, at least one of the reference steering angle Ath, the reference speed VSth, and the specified time Tth may be a constant value regardless of the number of executions N of the small turning control after the operation button 55 is turned on. .

  -In 3rd Embodiment, you may abbreviate | omit each process of step S58, S59, S60. In such a configuration, when the second condition is satisfied, the operation button 55 in the on state is automatically changed to the off state. On the other hand, when the second condition is not satisfied, the operation button 55 in the on state is not automatically changed to the off state.

  In each embodiment, when it is determined that the traveling state of the vehicle is the straight traveling state, the traveling distance traveled by the vehicle in the straight traveling state may be acquired instead of the duration T. Then, it may be determined that the first condition is satisfied when the travel distance is equal to or greater than the specified distance.

  The specified distance may be set to a larger value as the vehicle body speed VS of the traveling vehicle is higher. In such a case, in the first embodiment, the specified distance is set based on the number of executions N and the vehicle body speed VS. Incidentally, when the specified distance is set to a value according to the number of executions N, the specified distance is shorter when the number of executions N is the reference number Nth or more than when the number of executions N is less than the reference number Nth. Set to

  In the third embodiment, the specified distance K may be a constant value regardless of the vehicle body speed VS. Even if configured in this way, it is determined that the second condition is satisfied when it is estimated that the straight traveling state of the vehicle continues for the specified distance K.

  In the third embodiment, in step S56, it may be determined whether or not the vehicle does not touch the obstacle for a specified time Tth or longer even when the vehicle is traveling straight at the current vehicle speed VS. If the determination result is affirmative (YES), it is determined that the second condition is estimated that it is estimated that the traveling state of the vehicle continues in the straight traveling state for a specified time.

  The vehicle may be provided with a detection device that outputs environmental information for specifying the external environment in which the vehicle travels, for example, a millimeter wave radar, instead of the imaging device 14. In this case, the brake ECU 51 determines whether or not the second condition is satisfied based on the measurement result of the millimeter wave radar.

  In the third embodiment, the environment information for specifying the external environment in which the vehicle travels is arbitrary as long as it is information that can determine whether or not the vehicle is traveling in an environment that requires turning control. It may be information. For example, road information relating to a road on which the vehicle travels may be acquired from a navigation device mounted on the vehicle as environmental information. Then, the road on which the vehicle is traveling may be identified based on the road information, and it may be determined whether the second condition is satisfied based on the identification result. For example, when the vehicle travels on a road (for example, an expressway) that does not require the turning control, and when the vehicle travels on a road where a U-turn is prohibited, the second condition is satisfied. You may judge. Note that the map information acquisition method is not limited to a vehicle-mounted navigation device, but includes a method of acquiring from a mobile information device such as a mobile phone.

  In each embodiment, when the first condition or the second condition is satisfied, the occupant of the vehicle may be prompted to change the operation button 55 from the on state to the off state. Examples of the prompting method include a method of displaying a message on a display of an in-vehicle navigation device, a method of prompting by voice, and the like. When the driver who is prompted to change the operation button 55 to the off state determines that the small turn control is not necessary for the subsequent driving of the vehicle, the driver operates the operation button 55 to turn it off. As a result, it is possible to suppress the small turn control from being executed against the driver's intention when the vehicle is turning. On the other hand, if there is a possibility of performing the turning control while the vehicle is traveling, the driver maintains the operation button 55 in the ON state based on his / her own judgment. Therefore, when turning the vehicle, it is possible to perform the small turn control in accordance with the driver's intention.

  In each embodiment, when the small turn control is executed, a braking force may be applied to the front wheel inside the turning direction of the vehicle (the right front wheel when turning right).

  DESCRIPTION OF SYMBOLS 30 ... Steering, 51 ... Brake ECU (information acquisition means, change means, condition setting means, time setting means, rudder angle setting means, speed setting means) as a braking control device, 55 ... operation button as an operation unit, A ... Steering angle as an example of turning information, Ath ... Reference steering angle, FR, FL ... Front wheel as steered wheel, K ... Specified distance, N ... Number of executions, Nth ... Reference number, T ... Duration, Tth ... Specified time VS ... body speed as an example of turning information, VSth ... reference speed.

Claims (5)

When the operation state of the operation unit (55) is in the permitted state, execution of braking control during turning that applies a braking force to the wheels on the inner side in the turning direction during turning of the vehicle is permitted, and the operation state of the operation unit (55) When the vehicle is in a prohibited state, in the vehicle braking control device for prohibiting execution of the turning braking control,
Acquire at least one of the direction information (A, VS) that can identify the traveling direction of the vehicle and the environmental information that identifies the external environment in which the vehicle travels among the information based on the vehicle operation by the driver. Information acquisition means (51, S11, S12, S33, S34, S52, S53, S54);
Based on the information acquired by the information acquisition means (51, S11, S12, S33, S34, S52, S53, S54) when the operation state of the operation unit (55) is in the permitted state, the specified time (Tth) Alternatively, when the first condition that the vehicle is in a straight traveling state continues for a specified distance (K), or for a specified time (Tth) or a specified distance (K) The operation state of the operation unit (55) is changed from the permitted state to the prohibited state when the second condition presumed that the traveling state of the vehicle continues to be a straight traveling state is satisfied, or Change means (51, S20, S38, S57) for urging to change the state from the permitted state to the prohibited state ,
Condition setting that makes the establishment condition of the first condition or the second condition stricter as the number (N) of executions of the braking control during turning after the operation state of the operation unit (55) becomes the permitted state Means (51, S13, S14, S15),
The changing means (51, S20, S38, S57)
Information acquired by the information acquisition means (51, S11, S12, S33, S34, S52, S53, S54) when the operation state of the operation unit (55) is a permission state, and the condition setting means (51 , S13, S14, S15) based on the satisfaction condition set by whether or not the first condition or the second condition is satisfied,
When it is determined that the first condition or the second condition is satisfied, the operation state of the operation unit (55) is changed from the permitted state to the prohibited state, or the operation state is changed from the permitted state to the prohibited state. A braking control device for a vehicle characterized by prompting to change to The changing means (51, S20, S38, S57)
It is determined that the first condition is satisfied when the duration (T) of the vehicle traveling state being a straight traveling state is equal to or longer than the specified time (Tth);
It is determined that the second condition is satisfied when it is estimated that the vehicle traveling state is a straight traveling state that continues for the specified time (Tth) or longer.
The condition setting means (51, S13, S14, S15) is configured to reduce the specified time as the number of executions (N) of the braking control during turning after the operation state of the operation unit (55) is permitted. The vehicle braking control apparatus according to claim 1 , further comprising time setting means (51, S14, S15) for setting (Tth) to be long. The traveling direction information includes the steering angle (A) of the steering (30) operated to change the steering angle of the steered wheels (FR, FL) of the vehicle,
The determination as to whether or not the traveling state of the vehicle is a straight traveling state includes whether or not the absolute value of the steering angle (A) of the steering (30) is equal to or less than a reference steering angle (Ath),
The condition setting means (51, S13, S14, S15) is configured such that the reference steering becomes smaller as the number of execution times (N) of the braking control during turning after the operation state of the operation unit (55) becomes permitted is smaller. The braking control device for a vehicle according to claim 1 or 2 , further comprising steering angle setting means (51, S14, S15) for setting the angle (Ath) to a small value. The traveling direction information includes a vehicle body speed (VS) of the vehicle,
The determination of whether or not the vehicle is in a straight traveling state includes whether or not the vehicle body speed (VS) is equal to or higher than the reference speed (VSth).
The condition setting means (51, S13, S14, S15) is configured to reduce the reference speed as the number of times of execution (N) of the braking control during turning after the operation state of the operation unit (55) is permitted. brake control apparatus for a vehicle according to any one of claims 1 to 3, characterized in that it comprises a speed setting means for setting (Vsth) to a large value (51, S14, S15). When the operation state of the operation unit (55) is in the permitted state, execution of braking control during turning that applies a braking force to the wheels on the inner side in the turning direction during turning of the vehicle is permitted, and the operation state of the operation unit (55) When the vehicle is in a prohibited state, in the vehicle braking control device for prohibiting execution of the turning braking control,
Acquire at least one of the direction information (A, VS) that can identify the traveling direction of the vehicle and the environmental information that identifies the external environment in which the vehicle travels among the information based on the vehicle operation by the driver. Information acquisition means (51, S11, S12, S33, S34, S52, S53, S54);
Based on the information acquired by the information acquisition means (51, S11, S12, S33, S34, S52, S53, S54) when the operation state of the operation unit (55) is in the permitted state, the specified time (Tth) Alternatively, when the first condition that the vehicle is in a straight traveling state continues for a specified distance (K), or for a specified time (Tth) or a specified distance (K) The operation state of the operation unit (55) is changed from the permitted state to the prohibited state when the second condition presumed that the traveling state of the vehicle continues to be a straight traveling state is satisfied, or Change means (51, S20, S38, S57) for urging to change the state from the permitted state to the prohibited state ,
The changing means (51, S38)
When the number of executions (N) of the braking control during turning after the operation state of the operation unit (55) is in the permitted state is less than the reference number (Nth) set to an integer of “1” or more. While maintaining the operation state of the operation unit (55) in a permitted state,
When the number of executions (N) is equal to or greater than the reference number of times (Nth), the operation state of the operation unit (55) is prohibited from the permitted state when the first condition or the second condition is satisfied. A braking control device for a vehicle, characterized by prompting to change to a state or to change an operation state from a permitted state to a prohibited state .

Images