JP5966662B2 - Brake control device for vehicle - Google Patents

Description

  The present invention relates to a vehicle brake control device including a brake hydraulic pressure actuator having a pump motor and a differential pressure valve.

  As a conventional vehicle brake device, a driver input amount is detected based on a brake pedal stroke, a master cylinder pressure, or the like, and a driver required deceleration is calculated using a driver input amount and a driver required deceleration characteristic map. Then, in order to achieve the calculated driver required deceleration, it is known to generate an additional braking portion by feedforward control with respect to the negative pressure booster output (basic hydraulic pressure portion) from the master cylinder (for example, Patent Document 1).

JP 2006-96218 A

  However, in the conventional vehicle brake device, the additional braking amount is obtained by the differential pressure control and the pump-up pressure increase in the brake hydraulic pressure actuator interposed between the master cylinder and the wheel cylinder. That is, a wheel cylinder pressure higher than the master cylinder pressure is generated by pump-up pressure increase, and an additional braking amount is obtained by a differential pressure between the wheel cylinder pressure and the master cylinder pressure.

  For this reason, at the time of braking, it is necessary to always operate a pump motor that performs pump-up pressure increase of the brake hydraulic pressure actuator. Therefore, in order to ensure the durability of the pump motor, when the vehicle is stopped and the pump motor is stopped and the wheel cylinder pressure is maintained even during braking, the vehicle speed is gradually generated while releasing the brake pedal. There is a problem that when the brake pedal is maintained at the timing or when the brake pedal is depressed again, the brake fluid pressure actuator is activated, resulting in an uncomfortable feeling of pedal feel and uncomfortable deceleration.

  The present invention has been made paying attention to the above problems, and achieves a deceleration and pedal feel that suppresses a sense of incongruity when the vehicle speed is generated from the vehicle stop state while ensuring the durability of the pump motor in the vehicle stop state. It is an object of the present invention to provide a brake control device for a vehicle that can be used.

To achieve the above object, a vehicle brake control device according to the present invention includes a master cylinder,
A wheel cylinder, a brake hydraulic actuator, a motor-off control unit when the vehicle is stopped, and a step-up gradient limiting unit are provided.
The master cylinder generates a master cylinder pressure corresponding to the brake operation.
The wheel cylinder is provided on each of the front and rear wheels, and applies a hydraulic braking force to each wheel according to the wheel cylinder pressure.
The brake hydraulic actuator is interposed between the master cylinder and the wheel cylinder and includes a hydraulic pump that is driven by a pump motor, and a differential pressure valve that controls a differential pressure between the wheel cylinder pressure and the master cylinder pressure. Have.
The stop-time motor-off control unit stops the pump motor when the vehicle is stopped by a brake operation, and keeps the pump motor stopped while the vehicle is stopped. A release operation is performed, and when the wheel cylinder pressure decreases, the vehicle speed is generated, and thus the motor-off control at the time of stopping is terminated .
The boosting gradient limiting unit, before SL motor-off control is completed when the vehicle is stopped, when performing the pump-up boost by controlling the operation resumption of the pump motor of the differential pressure valve, and the target deceleration of the front brake pedal release operation by the driver, As the difference between the actual deceleration due to the wheel cylinder pressure at this time increases, the rising gradient of the wheel cylinder pressure accompanying the resumption of operation of the pump motor is reduced.

Accordingly, when the brake is increased and the operation is performed while the vehicle is stopped by the brake operation or during the stop-time motor-off control, the differential pressure by the differential pressure valve is reduced, and the master cylinder pressure increases while maintaining the wheel cylinder pressure. Thereafter, when a brake depressing operation (brake pedal release) is performed, the wheel cylinder pressure decreases as the master cylinder pressure decreases. And if vehicle speed generate | occur | produces by the fall of wheel cylinder pressure, motor-off control at the time of a stop will be complete | finished.
If the actual deceleration due to the wheel cylinder pressure is smaller than the target deceleration at the time when the motor-off control at the time of stopping is completed, a boost command for increasing the decreased wheel cylinder pressure by differential pressure control and pump-up boost is output.
In response to this pressure increase command, the pressure increase gradient limiter increases the difference between the target deceleration before the brake pedal release and the actual deceleration. At the same time, the occurrence of sudden deceleration and the suddenly decreasing pedal reaction force can be suppressed.
As a result, it is possible to achieve deceleration and pedal feel that suppresses a sense of incongruity when the vehicle speed is generated from the vehicle stop state while ensuring the durability of the pump motor in the vehicle stop state by the motor off control at the time of stop.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a brake system diagram illustrating a configuration of a hybrid vehicle by front wheel drive to which a brake control device according to a first embodiment is applied. It is a brake fluid pressure circuit diagram showing the VDC brake fluid pressure actuator in the brake control device of Example 1. It is a control block diagram which shows the regeneration cooperation brake control system in the brake control apparatus of Example 1. It is a flowchart which shows the flow of the regeneration cooperation brake control process performed with the integrated controller in the brake control apparatus of Example 1. FIG. FIG. 6 is a boosting characteristic diagram illustrating an example of limiting a boosting slope of a boosting characteristic when a vehicle speed is generated based on a depression amount before releasing a brake pedal in a regenerative cooperative brake control process executed by an integrated controller in the brake control device of the first embodiment. . An example of a deceleration sharing relationship with respect to driver input in regenerative cooperative brake control in which a target deceleration (= driver required deceleration) is achieved by the sum of the basic hydraulic pressure component, the regenerative component, and the boosted pressure by the regenerative cooperative brake system using VDC. It is control concept explanatory drawing which shows. In the brake control device of the comparative example, the problems when the pedal depressing operation is performed during the motor OFF control when the vehicle is stopped during the vehicle speed generation are the motor OFF control, vehicle speed, wheel cylinder pressure, target differential pressure, master cylinder pressure, reduction It is a time chart shown by each characteristic of speed and pedal reaction force. In the brake control device of the first embodiment, a time chart showing the pressure increase gradient limiting effect 1 when the vehicle speed is generated is shown by the characteristics of vehicle speed, motor OFF control, wheel cylinder pressure, target differential pressure, master cylinder pressure, deceleration, pedal reaction force. is there. In the brake control device of the first embodiment, the boosting gradient limiting effect 2 when the vehicle speed is generated is a time chart showing each characteristic of vehicle speed, motor OFF control, wheel cylinder pressure, target differential pressure, master cylinder pressure, deceleration, pedal reaction force. is there.

  Hereinafter, the best mode for realizing a vehicle brake control device of the present invention will be described based on a first embodiment shown in the drawings.

First, the configuration will be described.
The configuration of the vehicle brake control device according to the first embodiment will be described by being divided into “overall configuration”, “block configuration of regenerative cooperative brake control”, and “processing configuration of regenerative cooperative brake control”.

[overall structure]
FIG. 1 shows the configuration of a hybrid vehicle that is an example of a front-wheel drive electric vehicle to which the brake control device of the first embodiment is applied, and FIG. 2 shows a VDC brake hydraulic actuator that is an example of a brake hydraulic actuator. Hereinafter, based on FIG.1 and FIG.2, the whole structure of the regeneration cooperation brake system using VDC is demonstrated.

  As shown in FIG. 1, the brake deceleration generation system of the brake control device of the first embodiment includes a brake fluid pressure generating device 1, a VDC brake fluid pressure actuator 2 (brake fluid pressure actuator), a stroke sensor 3, and a left sensor. A front wheel wheel cylinder 4FL, a right front wheel wheel cylinder 4FR, a left rear wheel wheel cylinder 4RL, a right rear wheel wheel cylinder 4RR, and an electric motor 5 for traveling are provided.

  In other words, a regenerative cooperative brake system using an existing VDC system (VDC stands for “Vehicle Dynamics Control”) is used. The VDC system is a system that performs vehicle behavior control (= VDC control) that prevents skidding and exhibits excellent running stability when the vehicle posture is disturbed due to corner entry at high speed or sudden steering operation. In VDC control, for example, if the turning behavior is sensed as being oversteered, the front wheel outside the corner is braked, and conversely if the turning behavior is sensed as being understeered, the driving power is reduced and the corners of the rear wheels are reduced. Brake the inner tire.

  The brake fluid pressure generating device 1 is basic fluid pressure generating means for generating a basic fluid pressure corresponding to a brake operation by a driver. As shown in FIGS. 1 and 2, the brake fluid pressure generator 1 includes a brake pedal 11, a negative pressure booster 12, a master cylinder 13, and a reservoir 14. That is, the driver's brake pedal force applied to the brake pedal 11 is boosted by the negative pressure booster 12 to create a master cylinder pressure (primary hydraulic pressure, secondary hydraulic pressure) in the master cylinder 13. At this time, it is designed in advance that the deceleration generated by the master cylinder pressure is smaller than the target deceleration (= driver required deceleration).

  The VDC brake hydraulic pressure actuator 2 is interposed between the brake hydraulic pressure generating device 1 and the wheel cylinders 4FL, 4FR, 4RL, 4RR of each wheel, and controls the increase, maintenance and pressure reduction of the master cylinder pressure. The VDC brake hydraulic pressure actuator 2 and the brake hydraulic pressure generator 1 are connected by a primary hydraulic pipe 61 and a secondary hydraulic pipe 62. The VDC brake hydraulic actuator 2 and the wheel cylinders 4FL, 4FR, 4RL, 4RR of each wheel are connected by a left front wheel hydraulic pipe 63, a right front wheel hydraulic pipe 64, a left rear wheel hydraulic pipe 65, and a right rear wheel hydraulic pipe 66. ing. In other words, at the time of brake operation, the master cylinder pressure generated by the brake fluid pressure generator 1 is controlled by the VDC brake fluid pressure actuator 2 and applied to the wheel cylinders 4FL, 4FR, 4RL, 4RR of each wheel to provide the hydraulic braking force. Trying to get.

  As shown in FIG. 2, the specific configuration of the VDC brake hydraulic pressure actuator 2 includes a VDC motor 21, hydraulic pumps 22 and 22 driven by the VDC motor 21 (pump motor), reservoirs 23 and 23, and a master. A cylinder pressure sensor 24. As solenoid valves, a first M / C cut solenoid valve 25 (differential pressure valve), a second M / C cut solenoid valve 26 (differential pressure valve), holding solenoid valves 27, 27, 27, 27, a pressure reducing solenoid valve 28, 28, 28, 28. The first M / C cut solenoid valve 25 and the second M / C cut solenoid valve 26 control the differential pressure between the wheel cylinder pressure (downstream pressure) and the master cylinder pressure (upstream pressure).

  The stroke sensor 3 is means for detecting a brake pedal operation amount by a driver with a potentiometer or the like. This stroke sensor 3 is a component added to an existing VDC system as a configuration for detecting a target deceleration (= driver-requested deceleration) that is necessary information in regenerative cooperative brake control.

  The wheel cylinders 4FL, 4FR, 4RL, and 4RR are set to the brake discs of the front and rear wheels, and the hydraulic pressure from the VDC brake hydraulic actuator 2 is applied. Then, when hydraulic pressure is applied to each wheel cylinder 4FL, 4FR, 4RL, 4RR, a hydraulic braking force is applied to the front and rear wheels by clamping the brake disc with a brake pad.

  The travel electric motor 5 is provided as a travel drive source for the left and right front wheels (drive wheels) and has a drive motor function and a power generator function. The electric motor 5 for traveling transmits driving force to the left and right front wheels by driving the motor while consuming battery power during power running. During regeneration, the load is applied to the rotational drive of the left and right front wheels to convert it into electrical energy, and the generated power is charged to the battery. That is, the load applied to the rotational drive of the left and right front wheels is the regenerative braking force. The driving system for the left and right front wheels (drive wheels) provided with the traveling electric motor 5 is provided with an engine 10 as a traveling drive source in addition to the traveling electric motor 5, and is driven to the left and right front wheels via the transmission 11. Transmit power.

  As shown in FIG. 1, the brake deceleration control system of the brake control device according to the first embodiment includes a brake controller 7, a motor controller 8, an integrated controller 9, and an engine controller 12.

  The brake controller 7 receives a command from the integrated controller 9 and pressure information from the master cylinder pressure sensor 24 of the VDC brake hydraulic pressure actuator 2. Then, a drive command is output to the VDC motor 21 and the solenoid valves 25, 26, 27, 28 of the VDC brake hydraulic pressure actuator 2 according to a predetermined control law. The brake controller 7 controls the differential pressure between the wheel cylinder pressure (downstream pressure) and the master cylinder pressure (upstream pressure) when a pressure increase command is input from the integrated controller 9 during regenerative cooperative brake control. The differential pressure control is performed by differential pressure control based on operating current values to the first M / C cut solenoid valve 25 and the second M / C cut solenoid valve 26 with respect to the target differential pressure. Here, the differential pressure control is performed in combination with the pump-up pressure increase by the VDC motor 21 when the VDC motor 21 is operated, and is performed only by the differential pressure control when the VDC motor 21 is stopped. The brake controller 7 performs the VDC control, TCS control, ABS control, and the like in addition to the regenerative cooperative brake control.

  The motor controller 8 is connected to a traveling electric motor 5 connected to left and right front wheels, which are drive wheels, via an inverter 13. When the regenerative braking command is input from the integrated controller 9 during the regenerative cooperative brake control, the regenerative braking force control means controls the regenerative braking force generated by the traveling electric motor 5 according to the input regenerative braking command. The motor controller 8 also has a function of controlling the motor torque and the motor rotation speed generated by the traveling electric motor 5 according to the traveling state and the vehicle state during traveling.

  When the brake is operated, the integrated controller 9 sets the target deceleration to at least one of the basic hydraulic pressure by the master cylinder pressure and the additional braking (regeneration by the regenerative braking force and the boost by the VDC brake hydraulic actuator 2). ) Regenerative cooperative brake control achieved with the sum of At this time, the target deceleration is determined based on the pedal stroke sensor value from the stroke sensor 3 and the set target deceleration characteristic map. The integrated controller 9 includes battery charge capacity information from the battery controller 91, wheel speed information from the wheel speed sensor 92, brake operation information from the brake switch 93, brake pedal stroke information from the stroke sensor 3, a master cylinder pressure sensor. The master cylinder pressure information from 24 is input.

[Block configuration of regenerative cooperative brake control]
FIG. 3 shows a regenerative cooperative brake control system in the brake control device of the first embodiment. Hereinafter, the block configuration of the regenerative cooperative brake control will be described with reference to FIG.
As shown in FIG. 3, the regenerative cooperative brake control system according to the first embodiment includes a brake controller 7, a motor controller 8, and an integrated controller 9.

  The brake controller 7 receives a boost command from the integrated controller 9 and outputs a drive command to the VDC motor 21 of the VDC brake hydraulic actuator 2, both cut solenoid valves 25 and 26, and the solenoid valves 27 and 28. .

  The motor controller 8 receives a regeneration command from the integrated controller 9 and outputs the regeneration command to the inverter 13 that controls the electric motor 5 for traveling.

  The integrated controller 9 inputs the pedal stroke sensor value from the stroke sensor 3, the MC pressure sensor value from the master cylinder pressure sensor 24, and the wheel speed sensor value from the wheel speed sensor 92. In addition, road surface gradient information from the road surface gradient sensor 94, shift information indicating the range position (D range, N range, R range, etc.) selected from the shift position sensor 95, and wheel cylinder pressure sensor 96 Enter the WC pressure sensor value. And as a calculation processing part based on these information, it has the target deceleration calculation part 9a and the regenerative cooperation brake control part 9b.

  The target deceleration calculation unit 9a calculates a target deceleration (= driver required deceleration) based on the target deceleration characteristic based on the target deceleration characteristic map and the pedal stroke sensor value from the stroke sensor 3.

  The regenerative cooperative brake control unit 9b receives the target deceleration calculated by the target deceleration calculation unit 9a, the MC pressure sensor value from the master cylinder pressure sensor 24, and the wheel speed sensor value from the wheel speed sensor 92. To do. Then, the basic hydraulic pressure is determined based on the MC pressure sensor value, the regeneration is determined based on the wheel speed sensor value, and the target deceleration is achieved as much as possible by the basic hydraulic pressure plus the sum of the regeneration, When the shortage occurs, regenerative cooperative brake control calculation is performed to compensate the shortage by the boosting amount. According to this calculation result, a regeneration command corresponding to the regeneration is output to the motor controller 8 and a boost command corresponding to the boost is output to the brake controller 7.

[Regenerative cooperative brake control processing configuration]
FIG. 4 is a flowchart illustrating a flow of regenerative cooperative brake control processing executed by the integrated controller 8 in the brake control device of the first embodiment. Hereinafter, based on FIG. 4, each step representing the processing configuration of the regenerative cooperative brake control will be described. The regenerative cooperative brake control process starts from the time when the brake operation start is determined and ends when the brake operation is released.

  In step S1, the VDC motor 21 in a stopped state is set in a motor driving state before starting the brake operation, and the process proceeds to step S2.

  In step S2, following the determination that the motor is driven in step S1 or the vehicle is not stopped in step S7, the master cylinder pressure information from the master cylinder pressure sensor 24 and the pedal stroke amount from the stroke sensor 3 are determined. The information, the wheel speed information from the wheel speed sensor 92, and the target deceleration characteristic map are read, and the process proceeds to step S3.

In step S3, following the reading of the necessary information and the target deceleration characteristic map in step S2, the brake pedal depression speed is calculated, the target deceleration characteristic map is corrected based on the pedal depression speed, and the process proceeds to step S4.
Here, the target deceleration characteristics map is corrected so that, for example, as the calculated brake pedal depression speed becomes faster than the pedal depression speed information, the loss stroke to the actual master cylinder pressure generation start point is shortened. Perform offset correction to shift in the stroke direction. If the pedal depression speed information in the target deceleration characteristics map matches the calculated pedal depression speed, or if both speed differences are within the allowable range, the target deceleration characteristics map that has been set is corrected. Is not required.

  In step S4, following the correction of the target deceleration characteristic map based on the pedal depression speed in step S3, the brake pedal stroke position corresponding to the driver input is determined based on the brake pedal stroke sensor value and the corrected target deceleration characteristic map. The target deceleration is calculated and the process proceeds to step S5.

  In step S5, following the calculation of the target deceleration in step S4, the basic hydraulic pressure is determined based on the MC pressure sensor value at that time, and is maximized as much as possible based on the wheel speed sensor value and battery SOC at that time. Determine the regenerative portion to be. Then, the remaining deceleration amount obtained by subtracting the basic hydraulic pressure component and the regenerative component from the target deceleration is determined to be shared by the increased pressure component. That is, regenerative cooperative brake control calculation is performed to achieve the target deceleration by the sum of basic hydraulic pressure + regeneration + pressure increase, and the process proceeds to step S6.

In step S6, following the regeneration cooperative brake control calculation in step S5, the regeneration command value corresponding to the regeneration component is determined from the additional target braking force with respect to the basic hydraulic pressure component, and the regeneration component command (including the zero command) is determined. Is output to the motor controller 8. At the same time, of the additional target braking force for the basic hydraulic pressure, a boost command value corresponding to the boost is determined, the boost command (including zero command) is output to the brake controller 7, and the process proceeds to step S7.
Here, when the regenerative command is input, the motor controller 8 uses the regenerative component as a target regenerative braking force, and performs regenerative torque control by feedforward control that determines a regenerative current value to the traveling electric motor 5. When the pressure increase command is input, the brake controller 7 uses the pressure increase as the target differential pressure and performs differential pressure control by feedforward control that determines the operating current value to both the M / C cut solenoid valves 25 and 26.

  In step S7, it is determined whether the vehicle has stopped based on the wheel speed sensor value from the wheel speed sensor 92 following the output of the regeneration command and the boost command in step S6. If YES (vehicle stop state), the process proceeds to step S8, and if NO (vehicle non-stop state), the process returns to step S2.

  In step S8, following the determination that the vehicle is stopped in step S7, the motor drive of the VDC motor 21 is stopped, and the process proceeds to step S9.

  In step S9, it is determined that the motor drive is not stopped in step S8, or the master cylinder pressure is not decreased in step S12. Alternatively, the stroke amount in step S13 is also stored in the memory, and the motor OFF control is executed when the vehicle is stopped. The process proceeds to step S10.

  In step S10, it is determined whether or not a wheel speed has been generated based on the wheel speed sensor value from the wheel speed sensor 92 following the execution of the motor OFF control at the time of stopping in step S9. If YES (wheel speed is generated), the process proceeds to step S14. If NO (wheel speed is not generated), the process proceeds to step S11.

  In step S11, following the determination that the wheel speed is not generated (stopped) in step S10, the master cylinder pressure information from the master cylinder pressure sensor 24 is read, and the process proceeds to step S12.

  In step S12, following the reading of the master cylinder pressure in step S11, it is determined whether or not the master cylinder pressure has started to decrease. If YES (start of lowering the master cylinder pressure), the process proceeds to step S13, and if NO (main cylinder pressure is maintained or increased), the process proceeds to step S9.

  In step S13, following the start determination of the decrease in master cylinder pressure in step S12, the pedal stroke amount information from the stroke sensor 3 at that time is read, and the read stroke amount is stored as the depression amount before brake release. Proceed to

  In step S14, following the determination that the wheel speed is generated (= vehicle speed is generated) in step S10, the stop-time motor OFF control continued during the stop is terminated, and the process proceeds to step S15.

In step S15, following the end of the stop-time motor OFF control in step S14, the wheel cylinder pressure command value output from the brake controller 7 to the VDC brake hydraulic pressure actuator 2 and the WC pressure sensor value from the wheel cylinder pressure sensor 96 are displayed. It is determined whether or not the difference between the actual value of wheel cylinder pressure based on the value exceeds zero. If YES (w / cyl pressure command value> w / cyl pressure actual value), the process proceeds to step S16. If NO (w / cyl pressure command value ≦ w / cyl pressure actual value), the process proceeds to step S20.
Here, the wheel cylinder pressure command value is a command value output based on the pedal stroke, and corresponds to a target deceleration. On the other hand, the wheel cylinder pressure actual value is a brake fluid pressure sensor value that generates a deceleration of the vehicle, and corresponds to the actual deceleration.

  In step S16, following the determination that w / cyl pressure command value> w / cyl pressure actual value in step S15, the depression amount before brake release stored in step S13 and the shift position sensor 95 are used. And the road surface gradient from the road surface gradient sensor 94 are read, and the process proceeds to step S17.

In step S17, following the reading of the stepping amount, the shift information, and the road surface gradient before the brake release in step S16, a stepping gradient that is the inclination of the pressure increasing characteristic of the wheel cylinder pressure is calculated based on the stepping amount before the brake release, Proceed to S18.
Here, the step-up gradient based on the depression amount before the brake release is a gradient limited with respect to the step-up gradient without any limitation (the step-up characteristic C in FIG. 5), but the limit degree is changed as follows: To do.
As the amount of depression before the brake release increases, the amount of pressure increase when the vehicle speed is generated increases, so that the pedal feel is given priority. For example, as shown in the pressure increase characteristic A in FIG. 5, the pressure increase gradient based on the amount of depression before the brake release Let Ka be a gentle slope (large slope limit).
On the other hand, as the amount of depression before the brake release is smaller, the amount of pressure increase when the vehicle speed is generated becomes smaller, giving priority to the driver's deceleration request. For example, as shown in the step-up characteristic B of FIG. The step-up gradient Kb based on is steep (the gradient limit is small).

In step S18, following the calculation of the pressure increase gradient based on the depression amount before brake release in step S17, the pressure increase gradient which is the gradient of the pressure increase characteristic of the wheel cylinder pressure is calculated based on the road surface gradient, and the process proceeds to step S19.
Here, the step-up gradient based on the road surface gradient is limited to a step-up step gradient (step-up characteristic C in FIG. 5) that is not limited at all, but the degree of restriction is changed and calculated as follows.
As the road surface slope is an uphill slope or a downhill slope and shows a large slope, it is determined that the driver's braking request is quicker, and the boosting characteristic is made steep (the slope limit is small).
On the other hand, as the road surface gradient is closer to a flat road, it is determined that the driver's braking request is not quicker, the pedal feel is prioritized, and the pressure increase gradient is made gentle (the gradient limit is large).
In the step-up gradient calculation based on the road surface gradient, for example, the step-up gradient based on the depression amount before brake release determined in FIG. 5 is corrected to the steep slope side or the gentle slope side.

In step S19, following the calculation of the pressure increase gradient based on the road surface gradient in step S18, the pressure increase gradient which is the gradient of the pressure increase characteristic of the wheel cylinder pressure is calculated based on the shift information, and the process proceeds to step S20.
Here, the step-up gradient based on the shift information is a gradient limited with respect to a step-up gradient without any limitation (step-up characteristic C in FIG. 5), but the restriction degree is changed and calculated as follows.
When climbing in the D range, it is determined that the driver's braking request is not urgent, and the slope is gentle (the slope limit is large). On the other hand, when climbing in the N range or R range, it is judged that the acute is higher than the D range, and the slope is steep (the slope limit is small).
When descending in the R range, it is determined that the driver's braking request is not urgent, and the slope is gentle (the slope limit is large). On the other hand, when going downhill in the N range or D range, it is judged that the acute is higher than the R range, and the slope is steep (the slope limit is small).
In the step-up gradient calculation based on the shift information, for example, the step-up gradient corrected to the steep slope side or the gentle slope side based on the road surface gradient in step S18 is further corrected to the steep slope side or the gentle slope side based on the shift information. To do.

In step S20, the wheel cylinder pressure is increased following the calculation of the pressure increase gradient based on the shift information in step S19 or the determination that w / cyl pressure command value ≦ w / cyl pressure actual value in step S15. Implement and proceed to return.
Here, when the w / cyl pressure command value> w / cyl pressure actual value is satisfied, the wheel cylinder pressure is increased by following the pressure increase gradient limited by the calculation.

Next, the operation will be described.
The functions of the hybrid vehicle brake control device of the first embodiment are as follows: “regenerative cooperative brake control action”, “stop motor OFF control action”, “problem at the time of stop motor OFF control end”, “stop motor OFF control end" This will be described separately in the “pressure-increasing gradient suppression action”.

[Regenerative cooperative brake control action]
In the case of a hybrid vehicle, not all of the braking energy is consumed as thermal energy during braking, but rather as much energy as possible in the braking energy is recovered as regenerative energy to improve fuel efficiency. is necessary. Hereinafter, the regenerative cooperative brake control action reflecting this will be described.

  In the case of an existing conventional VDC, a target deceleration requested by the driver is obtained by a basic hydraulic pressure component by a negative pressure booster during brake operation. On the other hand, the basic hydraulic pressure component by the negative pressure booster during braking operation is offset from the target deceleration requested by the driver so as not to reach the target deceleration, and the regeneration gap for the target deceleration is set. Thus, by setting the regenerative gap by the maximum regenerative torque, the regenerative gap of the target deceleration becomes insufficient with respect to the target deceleration requested by the driver. Therefore, when the maximum regenerative torque is generated, the target deceleration requested by the driver is achieved by the negative pressure booster (basic hydraulic pressure) and the regenerative brake (regenerative component) to maximize the regenerative function.

  However, for example, due to wheel speed conditions or battery charge capacity conditions, if the target deceleration that is insufficient for the basic hydraulic pressure is compensated for by the regenerative component, the target deceleration requested by the driver cannot be compensated. There is. Therefore, as shown in FIG. 6, the target deceleration requested by the driver is achieved by the sum of the negative pressure booster (basic hydraulic pressure) and the regenerative brake (regenerative), and the shortage is determined by the VDC brake hydraulic pressure actuator ( The regenerative cooperative brake system using VDC compensates for the pressure increase).

Therefore, an inexpensive regenerative cooperative brake system using VDC can be configured by simply changing the characteristics of the negative pressure booster, the characteristics of the VDC brake hydraulic actuator, and adding a stroke sensor to the existing conventional VDC. Can do.
That is, in the regenerative cooperative brake control system using VDC, when a scene that cannot be compensated for only by the basic hydraulic pressure and the regenerative component occurs with respect to the target deceleration, the amount that cannot be compensated by the VDC brake hydraulic actuator 2. This is a control system that increases the hydraulic pressure and achieves the driver's required deceleration. In other words, it is a control system in which the safety function of the conventional VDC is expanded (safety function + regenerative cooperation function).

  When a brake operation is performed during traveling on a hybrid vehicle equipped with this regenerative cooperative brake control system, the flow proceeds to step S1, step S2, step S3, step S4, step S5, step S6, and step S7 in the flowchart of FIG. While it is determined in step S7 that the vehicle is not stopped, the flow of step S2, step S3, step S4, step S5, step S6, and step S7 is repeated to perform regenerative cooperative brake control. Run. If it is determined in step S7 that the vehicle is in a stopped state, the process proceeds from step S7 to step S8, and the regenerative cooperative brake control is terminated.

  That is, in step S4, the target deceleration corresponding to the brake pedal stroke position by the driver input is calculated based on the brake pedal stroke sensor value and the set or corrected target deceleration characteristic map. In step S5, the basic hydraulic pressure is determined based on the MC pressure sensor value at that time, and the maximum regenerative component is determined based on the wheel speed sensor value and the battery SOC at that time. Then, the remaining deceleration amount obtained by subtracting the basic hydraulic pressure component and the regenerative component from the target deceleration is determined to be shared by the increased pressure component. In step S <b> 6, the regeneration command value corresponding to the regeneration component is determined from the additional target braking force with respect to the basic hydraulic pressure component, and the regeneration command (including the zero command) is output to the motor controller 8. At the same time, of the additional target braking force with respect to the basic hydraulic pressure, a boost command value corresponding to the boost is determined, and the boost command (including zero command) is output to the brake controller 7.

  Therefore, at the time of regenerative cooperative brake control, the regenerative torque control is performed by feedforward control in which the regenerative component is set as the target regenerative braking force and the regenerative current value to the traveling electric motor 5 is determined in the motor controller 8 that inputs the regenerative command. Is called. Then, in the brake controller 7 that inputs the pressure increase command, feed forward is used to determine the rotation increase command to the VDC motor 21 and the operating current value to both the M / C cut solenoid valves 25 and 26 with the pressure increase as the target differential pressure. Control differential pressure control. As a result, of the braking energy, the maximum possible regenerative energy can be collected in the in-vehicle battery.

[Motor OFF control action when stopped]
In the regenerative cooperative brake control, the durability of the VDC motor 21 becomes a problem because it is necessary to always operate the VDC motor 21 for boosting the pump-up at the time of braking by the brake operation. Therefore, it is necessary to ensure the durability of the VDC motor 21 by stopping the VDC motor 21 under certain conditions even during braking by a brake operation. Hereinafter, the stop motor OFF control action reflecting this will be described.

  The stop-time motor OFF control is started by stopping the driving of the VDC motor 21 when it is determined that the vehicle is stopped in step S7 of FIG. 4, and is ended when the wheel speed is generated in step S10 of FIG. That is, this is control for continuing to stop driving the VDC motor 21 while the vehicle is stopped.

  An example of stop-time motor OFF control will be described. When the vehicle speed becomes 0 km / h, the motor stop flag is switched from OFF to ON, and the motor speed of the VDC motor 21 starts to decrease. Then, if the motor speed of the VDC motor 21 is zero (motor stop) and the brake pedal depression amount is maintained, the wheel cylinder pressure obtained by adding a certain valve differential pressure to the master cylinder pressure is obtained during that time. Is maintained.

  When the brake pedal depressing operation is started, the master cylinder pressure rises following the depressing operation. However, the wheel cylinder pressure cannot be pumped up due to the stop of the VDC motor 21, and the step increasing operation is started. Maintain the wheel cylinder pressure as it is. That is, when the pedal is stepped on, the command pressure (target differential pressure) to the cut valves 25 and 26 is decreased, the valve differential pressure is decreased in inverse proportion to the increase of the master cylinder pressure, and the valve differential pressure is decreased to the increasing master cylinder pressure. To maintain the wheel cylinder pressure. When the pedal depression amount is maintained at the stepped-on position, the wheel cylinder pressure is maintained by applying a constant master cylinder pressure at the raised position and a constant valve differential pressure at the lowered position. Further, when the brake pedal depressing operation is started, the master cylinder pressure and the wheel cylinder pressure are lowered following the depressing operation by maintaining the valve differential pressure as it is. Therefore, when the pedal depression amount (master cylinder pressure) is maintained, the wheel cylinder pressure and the valve differential pressure are reduced.

  When the brake pedal release operation is started, the valve differential pressure is maintained as it is, and the master cylinder pressure and the wheel cylinder pressure decrease following the release operation, and when the pedal depression amount is maintained at the release position, it decreases. The wheel cylinder pressure is maintained by applying a constant master cylinder pressure and a constant valve differential pressure at the position. Furthermore, when the operation of pulling back the brake pedal is started, the master cylinder pressure increases and the valve differential pressure decreases, thereby maintaining the wheel cylinder pressure. Therefore, when the pedal depression amount (master cylinder pressure) is maintained, the wheel cylinder pressure and the valve differential pressure are reduced.

  When the brake pedal depressing operation is started again, the master cylinder pressure rises following the depressing operation, and the valve differential pressure decreases to zero, so that the master cylinder pressure matches the wheel cylinder pressure. . In other words, the differential pressure between the master cylinder pressure and the wheel cylinder pressure disappears, the wheel cylinder pressure increases following the increase in the master cylinder pressure, and thereafter the wheel cylinder pressure follows the maintenance and decrease of the master cylinder pressure. Maintain and decline. Thereafter, all the valve differential pressures of the master cylinder pressure and the wheel cylinder pressure become zero.

As described above, in the motor OFF control when the vehicle is stopped, when the driver operates the brake pedal in an increasing direction, the target differential pressure is reduced without maintaining the target differential pressure between the master cylinder pressure and the wheel cylinder pressure. I do.
Because, firstly, when operating in the direction of increasing pedal depression, if the target differential pressure between the master cylinder pressure and the wheel cylinder pressure is maintained, the VDC motor 21 is operated, and the wheel cylinder pressure is made to follow the master cylinder pressure to pump up. It is necessary to boost the voltage. Secondly, when the pedal is depressed with the cut valves 25 and 26 closed so as to maintain the target differential pressure between the master cylinder pressure and the wheel cylinder pressure, a high pedal reaction force results in a so-called feeling of stepping on the plate. End up.
Therefore, when the driver operates the brake pedal in an increasing direction during the motor OFF control when the vehicle is stopped, the target differential pressure is changed from a state with a target differential pressure between the master cylinder pressure and the wheel cylinder pressure. It will transition to a state where it disappears.

[Problems at the end of motor OFF control when stopped]
The problem of the comparative example in which the target differential pressure is in a low state during the above-mentioned motor OFF control at the time of stopping, the motor OFF control at the time of stopping is terminated when the vehicle speed is generated, and the wheel cylinder pressure is raised by differential pressure control and pump-up pressure increase 7 will be described.

  In FIG. 7, time t1 is the time when the vehicle speed and deceleration become zero and the motor OFF control at the time of stopping is started. Time t2 is the end time of the pedal depressing operation during stop-time motor OFF control from time t1. Time t3 is a time at which the vehicle speed is generated by the pedal return operation (pedal release operation) from time t2 and the motor OFF control at the time of stopping ends.

  From time t1 to time t2, the master cylinder pressure increases with the pedal depressing operation during the motor OFF control when the vehicle is stopped, but the target differential pressure decreases, and a constant wheel cylinder pressure is maintained. Note that the pedal reaction force from time t1 to time t2 increases as the master cylinder pressure increases.

  On the other hand, from time t2 to time t3, the master cylinder pressure and the wheel cylinder pressure are reduced due to the pedal returning operation during the stop-time motor OFF control, and the target differential pressure is kept at the reduced differential pressure. Note that the pedal reaction force from time t2 to time t3 decreases as the master cylinder pressure decreases.

  When the stop-time motor OFF control is terminated due to the generation of the vehicle speed at time t3, the differential pressure valve control for raising the reduced target differential pressure at once and the pump-up pressure increase by resuming the operation of the pump motor are performed. Therefore, immediately after resuming operation of the pump motor, as shown by an arrow D in FIG. 7, the wheel cylinder pressure rises with a steep slope, and as shown by an arrow E in FIG. In addition, the master cylinder pressure drops steeply.

Thus, since the wheel cylinder pressure rises with a steep slope, the vehicle speed changes from acceleration to deceleration from time t3 as shown by arrow F in FIG. 7, and decreases as shown by arrow G in FIG. The speed fluctuates from the acceleration side to the deceleration side from time t3, giving the driver an uncomfortable feeling of deceleration.
In addition, since the master cylinder pressure decreases with a steep slope, as shown by an arrow H in FIG. 7, the pedal reaction force rapidly decreases from time t3, giving the driver a feeling of discomfort in the pedal feel.

[Pressure gradient suppression action at the end of motor OFF control when stopped]
As described above, when the stepping-in operation is performed during the motor OFF control when the vehicle is stopped, an uncomfortable feeling of deceleration or an uncomfortable feeling of pedal feel occurs when the vehicle speed is generated. It is necessary to alleviate such an uncomfortable feeling of deceleration and uncomfortable pedal feel. Hereinafter, based on FIG.8 and FIG.9, the pressure | voltage rise gradient suppression effect | action at the time of the motor OFF control at the time of a stop reflecting this is demonstrated.

  First, when the stop-time motor OFF control is started and the master cylinder pressure is maintained or increased, the flow from step S9 to step S10 to step S11 to step S12 is repeated in the flowchart of FIG. . When the master cylinder pressure starts to decrease by depressing the brake pedal, the process proceeds from step S12 to step S13. In step S13, pedal stroke amount information from the stroke sensor 3 is read, and the read stroke amount is stored as a stepping amount before brake release.

  Thereafter, if it is determined in step S10 that the wheel speed has occurred, in the flowchart of FIG. In step S 15, whether or not the w / cyl pressure command value output from the brake controller 7 to the VDC brake hydraulic pressure actuator 2 exceeds the actual w / cyl pressure value based on the WC pressure sensor value from the wheel cylinder pressure sensor 96. Is determined. If w / cyl pressure command value ≤ w / cyl pressure actual value, the target deceleration matches the actual deceleration, or the actual deceleration is larger than the target deceleration and the wheel cylinder pressure does not need to be increased. Therefore, the process proceeds to step S20. On the other hand, if w / cyl pressure command value> w / cyl pressure actual value, the actual deceleration is smaller than the target deceleration and the wheel cylinder pressure needs to be increased so that the actual deceleration matches the target deceleration. Therefore, the process proceeds to step S16 and subsequent steps.

  If it is determined in step S15 that w / cyl pressure command value> w / cyl pressure actual value, in the flowchart of FIG. 4, from step S15 to step S16 → step S17 → step S18 → step S19 → step S20 → return. Proceed with In step S16, the stepping amount before the brake release, the shift information, and the road surface gradient, which are information for changing the pressure increase gradient restriction, are read. In step S17, a pressure increase gradient that is the inclination of the pressure increase characteristic of the wheel cylinder pressure is calculated based on the depression amount before the brake release. In step S18, a pressure increase gradient that is the gradient of the pressure increase characteristic of the wheel cylinder pressure is calculated based on the road surface gradient. In step S19, a pressure increase gradient that is the gradient of the pressure increase characteristic of the wheel cylinder pressure is calculated based on the shift information.

  In other words, when it is determined that w / cyl pressure command value> w / cyl pressure actual value due to a decrease in wheel cylinder pressure at the end of the stop-time motor OFF control, in step S15 to step S19, which is a step-up gradient limiting unit, The greater the difference between the / cyl pressure command value and the w / cyl pressure actual value, the smaller the pressure increase gradient is limited. The limitation of the pressure increase gradient is that the pressure increase gradient (characteristic slope, gain) of the pressure increase characteristic is compared to the pressure increase gradient when there is no limit in response to the pressure increase command to the VDC brake hydraulic pressure actuator 2 that increases the wheel cylinder pressure. It means limiting to a gentle slope.

  Therefore, when the stop-time motor OFF control is terminated due to the generation of the vehicle speed at time t3 in FIG. 8 and FIG. 9, the differential pressure valve control for gradually raising the reduced target differential pressure and the rotational speed of the VDC motor 21 are gradually increased. The pump-up pressure is increased to Immediately after the resumption of the operation of the VDC motor 21, the wheel cylinder pressure rises at a gentle gradient as indicated by arrows D ′ and D ″ in FIGS. Suction is suppressed, and the master cylinder pressure decreases with a gentle gradient as shown by arrows E ′ and E ″ in FIGS.

  Thus, since the wheel cylinder pressure rises with a gentle gradient, the vehicle speed fluctuates from acceleration to deceleration with a gradual decrease gradient from time t3 as indicated by arrows F ′ and F ″ in FIGS. 8 and 9, the deceleration changes from the acceleration side to the deceleration side with a gradual decrease gradient from time t3. As a result, the uncomfortable feeling of deceleration given to the driver can be suppressed. In addition, since the master cylinder pressure decreases with a gentle gradient, the pedal reaction force decreases with a smooth gradient from time t3 and is given to the driver as shown by arrows H ′ and H ″ in FIGS. Pedal feel discomfort is suppressed.

  Next, the step-up gradient changing action for changing the degree of restriction of the step-up gradient is performed by (a) a step-up gradient changing action based on the depression amount before the brake release, (b) a step-up gradient changing action based on the road surface gradient, and (c). The description will be divided into the step-up gradient changing action based on the shift information.

(a) Step-up gradient changing action based on stepping amount before brake release The stepping-up gradient based on the stepping amount before brake release is set to a gentler slope with a larger gradient limit as the stepping amount before brake release is larger. For example, when the amount of depression before the brake release is large, the step-up gradient Ka is made small as shown by the step-up characteristic A in FIG. When the amount of depression before the brake release is small, the step-up gradient Kb (> Ka) is increased as shown by the step-up characteristic B in FIG.
As shown in FIG. 8, when the depression amount before the brake release is large, the amount by which the target differential pressure is reduced is large, and the pressure increase amount when the vehicle speed is generated is large. On the other hand, when the depression amount before the brake release is small, as shown in FIG. 9, the amount by which the target differential pressure is reduced is small, and the pressure increase amount when the vehicle speed is generated is small.
Therefore, when the stepping amount before the brake release is large, the pressure increase gradient Ka is reduced, so that the pedal feel is prioritized, and the uncomfortable feeling of deceleration and the uncomfortable feeling of the pedal are kept small.
On the other hand, when the amount of depression before the brake release is small, increasing the step-up gradient Kb gives priority to the driver's deceleration request, and the required deceleration is generated early while suppressing the uncomfortable feeling of deceleration and the feeling of pedal feel. Secured.

(b) Step-up gradient change action based on road surface gradient The step-up gradient based on the road surface gradient is made steeper with a smaller gradient restriction as the road surface gradient becomes larger. On the other hand, the closer the road surface gradient is to a flat road, the greater the gradient restriction is set to a gentler gradient.
That is, in the case of a stop on an uphill road, the vehicle slips due to a decrease in braking force, but if the wheel cylinder pressure increase is delayed when the vehicle speed is generated by this slipping, the vehicle is allowed to slip. In the case of a downhill road, the vehicle is pushed out due to a decrease in the braking force. However, if the wheel cylinder pressure is increased when the vehicle speed is generated by pushing the vehicle, the vehicle is allowed to be pushed out.
Therefore, when the slope is stopped on an uphill road or downhill road and the road surface gradient shows a large gradient, the boost gradient based on the road surface gradient is made steep based on the determination that the driver's braking request is urgent. . This prevents the vehicle from sliding down when stopping on an uphill road, and prevents the vehicle from being pushed out when stopping on a downhill road. In other words, when the vehicle stops on a slope, the wheel cylinder pressure is not delayed in response to an immediate driver's braking request.
On the other hand, when the vehicle is stopped on a flat road and the road surface gradient is close to a flat road, the driver's braking request is not urgent and the pedal pressure feel is given priority. By doing so, the uncomfortable feeling of deceleration and the unpleasant feeling of the pedal feel can be reduced.

(c) The step-up gradient change action based on the shift information The step-up gradient based on the shift information is set separately for uphill and downhill.
First, when climbing in the D range, it is determined that the driver's braking request is not urgent, and the slope limit is set to a large value to make the slope gentle. On the other hand, when climbing in the N range or R range, it is judged that the acute is higher than the D range, and the slope limit is made smaller to make it steep.
Also, when descending in the R range, it is determined that the driver's braking request is not urgent, and the slope limit is set to a gentle slope. On the other hand, when going downhill in the N range or D range, it is judged that the early acute is higher than the R range, and the slope limit is made small to make it steep.
In this way, by determining the step-up gradient based on the shift information, when detecting that the vehicle has moved and the vehicle speed has been generated, the braking force is provided in accordance with the driver's braking request based on the combination of the road surface gradient and the shift. can do.
For example, if the shift position selected when stopping on an uphill road is the D range, a driving force is generated in the forward direction of the vehicle, which is the opposite direction to the forward movement direction (reverse direction) of the vehicle. For this reason, it is judged that the early acute is not higher than in the N range or R range in that state. In the N range and R range, there is no reaction force against the vehicle's sliding down, so it is judged that the early acute is higher than in the D range, and the driver's braking force request is quickened by making the boost gradient steep. It is possible to provide a deceleration in accordance with
On the contrary, if the shift position selected when stopping on the downhill road is the R range, driving force is generated in the backward direction of the vehicle, which is the opposite direction to the traveling direction (forward direction) of the vehicle sliding down. . For this reason, it is judged that the early acute is not high like the D range when stopping on the uphill road. During N range and D range, there is no reaction force against the vehicle sliding down, so it is judged that the acute is higher than in the R range, and the pressure increase gradient is made steep.
Further, in consideration of the depression amount before the brake release, it is determined whether the scene has a pedal feel priority or a scene in which deceleration is generated quickly. In the case of a scene in which deceleration is generated quickly, even if the amount of depression before release is large, the climbing gradient of the VDC brake hydraulic actuator 2 is made steep so that the braking request by the driver can be made early and acute. Combined deceleration can be provided.

Next, the effect will be described.
In the hybrid vehicle brake control device of the first embodiment, the following effects can be obtained.

(1) a master cylinder 13 that generates a master cylinder pressure corresponding to the brake operation;
Wheel cylinders 4FL, 4FR, 4RL, 4RR which are provided on each of the front and rear wheels and apply a hydraulic braking force to each wheel according to the wheel cylinder pressure;
The hydraulic pumps 22 and 22 are interposed between the master cylinder 13 and the wheel cylinders 4FL, 4FR, 4RL and 4RR and driven by a pump motor (VDC motor 21), and the difference between the wheel cylinder pressure and the master cylinder pressure. A brake fluid pressure actuator (VDC brake fluid pressure actuator 2) having differential pressure valves (first M / C cut solenoid valve 25, second M / C cut solenoid valve 26) for controlling pressure;
When the vehicle is stopped by a brake operation, the pump motor (VDC motor 21) is stopped, and when the vehicle is stopped, the stop motor off control unit (step S9) keeps the stop state of the pump motor (VDC motor 21). )When,
When the motor-off control at the time of stopping is terminated due to the generation of the vehicle speed from the vehicle stop state, the actual deceleration (w / cyl pressure command value) before the brake pedal release of the driver and the actual wheel cylinder pressure (w The pressure increase gradient limiting unit (steps S15 to S19) reduces the increase gradient of the wheel cylinder pressure when the operation of the VDC motor 21 is resumed,
Is provided.
For this reason, while ensuring the durability of the pump motor (VDC motor 21) when the vehicle is stopped, it is possible to achieve deceleration and pedal feel that suppresses a sense of discomfort when the vehicle speed is generated from the vehicle stopped state.

(2) The step-up gradient limiting unit (steps S15 to S19) restricts and changes the step-up gradient to the gentle gradient side as the amount of depression before the driver releases the brake pedal is increased (step S17).
For this reason, in addition to the effect of (1) above, when the amount of depression before the brake release is large, the pedal feel is prioritized, and the uncomfortable feeling of deceleration and the uncomfortable feeling of the pedal can be kept small. In addition, when the amount of depression before the brake release is small, the driver's deceleration request is given priority, and it is possible to ensure the early occurrence of the required deceleration while suppressing the uncomfortable feeling of deceleration and the uncomfortable feeling of pedal feel.

(3) The step-up gradient limiting unit (steps S15 to S19) changes the step-up gradient to a steep side as the road surface gradient increases (step S18).
For this reason, in addition to the effect (1) or (2) described above, when the road surface gradient shows a large gradient, it is possible to prevent the vehicle from sliding down or being pushed out.

  The vehicle brake control device according to the present invention has been described based on the first embodiment. However, the specific configuration is not limited to the first embodiment, and the invention according to each claim of the claims. Design changes and additions are permitted without departing from the gist of the present invention.

  In the first embodiment, when the motor OFF control at the time of stopping is terminated due to the generation of the vehicle speed, the pressure increase gradient based on the depression amount before the brake release, the pressure increase gradient based on the road surface gradient, and the pressure increase gradient based on the shift information are obtained by calculation. An example is shown. However, these road surface gradients (= gain) may be an example of changing the ascending rate limiter, or may be substituted with a map set for each scene. It should be noted that the scene-specific classification is not limited to two or three stages, but may be performed in a stepless manner by map complementation, for example.

  In the first embodiment, when the w / cyl pressure command value is determined to be smaller than the actual w / cyl pressure value as the pressure increase gradient limiting unit, the example is limited based on the stepping amount, road gradient, and shift information before the brake release. Indicated. However, when there is a difference between the target deceleration and the actual deceleration when the vehicle speed is generated, and the brake hydraulic pressure actuator needs to be boosted, as an example of giving a certain limit to the boost gradient regardless of this information Also good. Furthermore, it is good also as an example which changes a pressure | voltage rise gradient by one information among the depression amount before a brake release, road surface gradient, and shift information, or the combination of two information.

  In Example 1, the example using the VDC brake hydraulic pressure actuator 2 shown in FIG. 2 as a brake hydraulic pressure actuator was shown. However, any brake hydraulic pressure actuator may be used as long as it has a hydraulic pump driven by a pump motor and a differential pressure valve that controls the differential pressure between the wheel cylinder pressure and the master cylinder pressure.

  In the first embodiment, the brake control device of the present invention is applied to a front-wheel drive hybrid vehicle. However, if the vehicle is an electric vehicle such as a rear-wheel drive hybrid vehicle, an electric vehicle, a fuel cell vehicle, etc. and performs regenerative cooperative brake control using a hydraulic braking force and a regenerative braking force, the brake control device of the present invention is applied. can do. Furthermore, the brake control device of the present invention can be applied even to an engine vehicle that uses a brake hydraulic pressure actuator that employs a motor OFF control when the vehicle is stopped and performs brake control only by a hydraulic braking force.

1 Brake fluid pressure generator 13 Master cylinder 2 VDC brake fluid pressure actuator (brake fluid pressure actuator)
21 VDC motor (pump motor)
22 Hydraulic pump 24 Master cylinder pressure sensor 25 1st M / C cut solenoid valve (differential pressure valve)
26 2nd M / C cut solenoid valve (Differential pressure valve)
3 Stroke sensor 4FL Left front wheel wheel cylinder 4FR Right front wheel wheel cylinder 4RL Left rear wheel wheel cylinder 4RR Right rear wheel wheel cylinder 5 Driving electric motor 61 Primary hydraulic pipe 62 Secondary hydraulic pipe 63 Left front wheel hydraulic pipe 64 Right front wheel hydraulic pipe 65 Left Rear wheel hydraulic pipe 66 Right rear wheel hydraulic pipe 7 Brake controller 8 Motor controller 9 Integrated controller 9a Target deceleration calculation unit 9b Regenerative cooperative brake control unit 91 Battery controller 92 Wheel speed sensor 93 Brake switch 94 Road surface gradient sensor 95 Shift position sensor 96 Wheel cylinder pressure sensor

Claims (3)

A master cylinder that generates a master cylinder pressure according to the brake operation;
A wheel cylinder that is provided on each of the front and rear wheels and applies a hydraulic braking force to each wheel according to the wheel cylinder pressure;
A brake hydraulic pressure actuator having a hydraulic pump interposed between the master cylinder and the wheel cylinder and driven by a pump motor; and a differential pressure valve for controlling a differential pressure between the wheel cylinder pressure and the master cylinder pressure;
When the vehicle is stopped by a brake operation, the pump motor is stopped, and the stop state of the pump motor is maintained while the vehicle is stopped, and the brake pedal release operation of the driver is performed in the vehicle stop state, and the wheel A stop-time motor-off control unit that terminates the stop-time motor-off control when a vehicle speed is generated with a decrease in cylinder pressure ; and
Quit before Symbol standstill motor-off control, when performing the pump-up boost by controlling the operation resumption of the pump motor of the differential pressure valve, and the target deceleration of the front brake pedal release operation by the driver, by the wheel cylinder pressure at that time As the difference between the actual deceleration and the increase in pressure increases, a pressure increase gradient limiting unit that reduces the increase gradient of the wheel cylinder pressure accompanying the resumption of operation of the pump motor;
A brake control device for a vehicle, comprising: In the vehicle brake control device according to claim 1,
The vehicle boost control device is characterized in that the step-up gradient limiting unit changes the step-up gradient to a gentler gradient side as the amount of depression before the brake pedal release operation of the driver is larger. In the brake control device for a vehicle according to claim 1 or 2,
The vehicle brake control device according to claim 1, wherein the step-up gradient restriction unit restricts and changes the step-up gradient to a steep side as the road surface gradient increases.