JP6842551B2 - 制動制御装置 - Google Patents
制動制御装置 Download PDFInfo
- Publication number
- JP6842551B2 JP6842551B2 JP2019535025A JP2019535025A JP6842551B2 JP 6842551 B2 JP6842551 B2 JP 6842551B2 JP 2019535025 A JP2019535025 A JP 2019535025A JP 2019535025 A JP2019535025 A JP 2019535025A JP 6842551 B2 JP6842551 B2 JP 6842551B2
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- Prior art keywords
- vehicle
- coefficient
- braking
- acceleration
- hydraulic pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000001133 acceleration Effects 0.000 claims description 60
- 239000012530 fluid Substances 0.000 description 15
- 238000000034 method Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 5
- 230000006399 behavior Effects 0.000 description 4
- 230000006866 deterioration Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/174—Using electrical or electronic regulation means to control braking characterised by using special control logic, e.g. fuzzy logic, neural computing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/10—ABS control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/30—ESP control system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/88—Pressure measurement in brake systems
Description
条件1:車両1の速度が所定値以下であること。
条件2:車両1の加速度(車体加速度、推定加速度)が所定値以下であること。
条件3:マスター圧が所定値以下であること。
条件4:車体加速度と、推定加速度との差が所定値以下であること。
Claims (8)
- 供給される液圧に応じて制動力を調整可能な制動装置を有し、前記制動装置へフィードバック制御を行う車両の制動制御装置であって、
前記車両は、
前記制動装置に供給される液圧を測定する液圧センサと、
前記車両の加速度を検出可能な加速度情報を測定する加速度情報センサと、
を有し、
予め設定された係数に基づいて、前記車両の減速時に前記制動装置に供給する液圧を決
定し、前記液圧を前記制動装置に供給させる液圧供給制御部と、
前記液圧と、前記加速度情報に基づく前記加速度との関係に基づいて、前記係数を変更
する候補となる係数候補を学習し、前記係数を前記係数候補に変更する係数変更部とを備え、
前記係数変更部は、前記車両が所定の走行条件を満たす場合における、前記液圧と、前
記加速度情報に基づく前記加速度との関係に基づいて、前記係数候補を学習するものであって、
前記走行条件とは、前記車両を所定の速度域以下の走行速度で継続して走行させる場合であって、
前記係数変更部は前記フィードバック制御による制動を実施する前に係数変更を行うことを特徴とする制動制御装置。 - 前記所定の走行条件は、前記車両が所定の加速度以下であること、前記車両が傾斜面を走行していないこと、又は前記車両が低摩擦路面を走行していないことの少なくとも1つ以上を含む請求項1に記載の制動制御装置。
- 前記車両は、
前記加速度情報センサとして、前記車両の加速度を検出する加速度センサと、前記車両
の車輪速を検出する車輪速センサとを備え、
前記所定の走行条件は、前記車両が傾斜面を走行していないこと、又は前記車両が低摩
擦路面を走行していないことを含み、
前記係数変更部は、前記車両が傾斜面を走行していないこと、又は前記車両が低摩擦路
面を走行していないことを、前記加速度センサにより検出される第1加速度と、前記車輪
速センサの前記車輪速に基づいて検出される第2加速度との差が所定値以下であることに
基づいて判定する
請求項2に記載の制動制御装置。 - 前記係数変更部は、前記所定の走行条件を満たした複数回の制動時における、前記液圧
と前記加速度との関係に基づいて、複数の係数候補を算出し、前記複数の係数候補に基づ
いて、前記係数を変更すべき係数候補を決定する
請求項1から請求項3のいずれか一項に記載の制動制御装置。 - 前記係数変更部は、前記複数の係数候補に基づいて、前記係数を変更するか否かを判定
する請求項4に記載の制動制御装置。 - 前記係数変更部は、前記複数の係数候補の値が所定の範囲となる確率が所定以上である
場合に、前記係数を変更すると判定する
請求項5に記載の制動制御装置。 - 前記液圧供給制御部は、前記車両を自動駐車させる際における前記液圧を決定し、
前記走行条件は、前記車両を自動駐車させる際に想定される所定速度以下であることを
含む
請求項1に記載の制動制御装置。 - 前記車両における前記制動装置の摩擦部材が初期状態の場合における係数である初期係
数を記憶する記憶部をさらに有し、
前記係数変更部は、前記制動装置の前記摩擦部材を交換した場合には、前記係数を前記
記憶部に記憶されている前記初期係数に変更する
請求項1から請求項7のいずれか一項に記載の制動制御装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017155417 | 2017-08-10 | ||
JP2017155417 | 2017-08-10 | ||
PCT/JP2018/025142 WO2019031106A1 (ja) | 2017-08-10 | 2018-07-03 | 制動制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2019031106A1 JPWO2019031106A1 (ja) | 2019-11-21 |
JP6842551B2 true JP6842551B2 (ja) | 2021-03-17 |
Family
ID=65271167
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019535025A Active JP6842551B2 (ja) | 2017-08-10 | 2018-07-03 | 制動制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210146894A1 (ja) |
JP (1) | JP6842551B2 (ja) |
DE (1) | DE112018003161T5 (ja) |
WO (1) | WO2019031106A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019202360A1 (de) * | 2019-02-21 | 2020-08-27 | Robert Bosch Gmbh | Betriebsverfahren zum Regeln des Bremsdruckerzeugers des Hauptsystems |
KR20220153746A (ko) | 2021-05-12 | 2022-11-21 | 현대자동차주식회사 | 브레이크 패드 마찰계수 예측용 메타모델 고도화를 위한 시스템 및 방법, 마찰계수 예측용 메타모델을 이용한 제동 제어 시스템 |
FR3124779B1 (fr) * | 2021-07-01 | 2023-05-19 | Psa Automobiles Sa | Procédé de conduite par robot d’un groupe motopropulseur de véhicule avec optimisation des fonctions de décollage et d’arrêt |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002333334A (ja) * | 2001-05-08 | 2002-11-22 | Pioneer Electronic Corp | カーナビゲーション装置 |
JP4415959B2 (ja) * | 2006-03-15 | 2010-02-17 | トヨタ自動車株式会社 | ブレーキ制御装置 |
JP2007283882A (ja) * | 2006-04-14 | 2007-11-01 | Toyota Motor Corp | 道路勾配推定装置 |
JP4709804B2 (ja) * | 2007-06-01 | 2011-06-29 | 本田技研工業株式会社 | 車輪径のばらつき検出装置 |
US8326509B2 (en) * | 2009-03-13 | 2012-12-04 | GM Global Technology Operations LLC | Method for operating a vehicle brake system using brake temperature |
US8467929B2 (en) * | 2009-08-24 | 2013-06-18 | Robert Bosch Gmbh | Good checking for vehicle wheel speed sensors |
CN104221066B (zh) * | 2012-03-30 | 2016-08-31 | 丰田自动车株式会社 | 驾驶辅助装置 |
US10293816B2 (en) * | 2014-09-10 | 2019-05-21 | Ford Global Technologies, Llc | Automatic park and reminder system and method of use |
ITUA20161336A1 (it) * | 2016-03-03 | 2017-09-03 | Itt Italia Srl | Dispositivo e metodo per il miglioramento delle prestazioni di un sistema antibloccaggio e antiscivolamento di un veicolo |
-
2018
- 2018-07-03 WO PCT/JP2018/025142 patent/WO2019031106A1/ja active Application Filing
- 2018-07-03 US US16/636,975 patent/US20210146894A1/en active Pending
- 2018-07-03 DE DE112018003161.6T patent/DE112018003161T5/de active Pending
- 2018-07-03 JP JP2019535025A patent/JP6842551B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
WO2019031106A1 (ja) | 2019-02-14 |
JPWO2019031106A1 (ja) | 2019-11-21 |
US20210146894A1 (en) | 2021-05-20 |
DE112018003161T5 (de) | 2020-03-19 |
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