JP6905848B2 - Vehicle braking system - Google Patents

Description

The present invention relates to a highly reliable vehicle braking system equipped with an electric brake.

As an electric brake system for a vehicle, a system for electrically connecting one stroke simulator and one main ECU has been proposed (Patent Document 1). In this system, the main ECU calculates the piston thrust generated by each electric caliper from the detection result of the stroke simulator, that is, the operation amount of the brake pedal, the detection result of the wheel speed sensor, and the like. The motor ECU of each electric caliper controls the electric motor based on the actual piston position corresponding to the rotation position of the electric motor by the position detector, the current value of the electric motor, and the actual piston thrust by the thrust sensor. Therefore, control is performed so that the piston thrust becomes the target thrust.

Japanese Unexamined Patent Publication No. 2008-132906

An object of the present invention is to provide a highly reliable vehicle brake system, which is a vehicle brake system provided with an electric brake.

The present invention has been made to solve at least a part of the above-mentioned problems, and can be realized as the following aspects or application examples.

[Application example 1]
The vehicle braking system according to this application example is
A plurality of electric brake friction pad comprises at least one electric actuator for pressing the rotor side, and a plurality of drivers for driving a plurality of the electric actuator, and a control device comprising a plurality of controllers connected to each other, In a vehicle braking system equipped with
The plurality of controllers include at least one master controller and a plurality of sub-controllers.
The plurality of drivers include a first driver and a plurality of second drivers.
The master controller includes a driver control unit that controls the first driver, a braking force calculation unit that calculates the braking force of the electric brake, and a behavior control unit that controls the behavior of the vehicle.
Wherein the plurality of sub-controller includes a driver control section for controlling the second driver, a braking force calculating unit for calculating the braking force of the electric brake, respectively,
A sensor for detecting a brake operation amount is connected to the master controller and the sub controller.

According to the vehicle braking system according to the present application example, the master controller and the plurality of sub-controllers calculate the braking force based on the detection result of the sensor, so that the system can be made redundant.

[Application example 2]
In the vehicle brake system according to the above application example,
The sensor can include a first sensor connected to the master controller and a plurality of second sensors connected to the plurality of sub controllers.

According to the vehicle brake system according to this application example, the sensor can be made redundant by connecting a second sensor different from the first sensor connected to the master controller to the sub controller.

[Application example 3]
In the vehicle brake system according to the above application example,
The control device includes a first control device and a second control device.
The first control device includes the master controller and the sub controller for the front wheels that controls the second driver of the electric brake for the front wheels.
The second control device includes the sub-controller for the rear wheels that controls the second driver of the electric brake for the rear wheels.
The plurality of second sensors may include the second sensor connected to the sub controller for the front wheels and the second sensor connected to the sub controller for the rear wheels.

According to the vehicle braking system according to this application example, the system is made redundant by including a second sensor connected to the sub controller for the front wheels and a second sensor connected to the sub controller for the rear wheels. Can be planned.

It is an overall block diagram which shows the vehicle brake system which concerns on this embodiment. It is a block diagram which shows the master controller, the 1st and 2nd sub-controller and the slave controller of the vehicle brake system which concerns on this embodiment. It is an overall block diagram which shows the vehicle brake system which concerns on modification 1. It is a block diagram which shows the master controller and the 1st to 3rd sub-controller of the vehicle brake system which concerns on modification 1. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The drawings used in this description are for convenience of explanation. The embodiments described below do not unreasonably limit the content of the present invention described in the claims. Moreover, not all of the configurations described below are essential constituent requirements of the present invention.

Brake system for a vehicle according to the present embodiment includes a plurality of drivers for driving a plurality of electric brake comprising at least one electric actuator for pressing the friction pad on the rotor side, a plurality of the electric actuator, interconnected In a vehicle braking system including a control device including a plurality of controllers, the plurality of controllers include at least one master controller and a plurality of sub-controllers, and the plurality of drivers are first drivers. The master controller controls the behavior of the vehicle, the driver control unit that controls the first driver, the braking force calculation unit that calculates the braking force of the electric brake, and the master controller. includes a behavior control unit, wherein the plurality of sub-controller includes a driver control section for controlling the second driver, a braking force calculating unit for calculating the braking force of the electric brake, respectively, said master controller and A sensor for detecting the amount of brake operation is connected to the sub-controller.

1. 1. Vehicle Brake System The vehicle brake system 1 according to the present embodiment will be described in detail with reference to FIGS. 1 and 2. FIG. 1 is an overall configuration diagram showing the vehicle brake system 1 according to the present embodiment, and FIG. 2 shows the master controller 30, the first and second sub-controllers 40, 41 and the vehicle brake system 1 according to the present embodiment. It is a block diagram which shows the slave controller 50.

As shown in FIG. 1, the vehicle brake system 1 includes an electric brake 16a to 16d including at least one motor 80 to 85 which is an electric actuator for pressing a friction pad (not shown) toward a rotor side (not shown), and a motor 80. It includes drivers 60 to 65 for driving ~ 85, and control devices (10, 11) including a plurality of interconnected controllers. The plurality of controllers includes at least one master controller 30 and a plurality of sub-controllers. In the present embodiment, the master controller 30, the first sub-controller 40, the second sub-controller 41, and the slave controller 50 are provided as a plurality of controllers.

A rotor (not shown) is provided on each wheel Wa to Wd of the vehicle VB which is a four-wheeled vehicle, and rotates integrally with the wheels Wa to Wd. The vehicle VB is not limited to a four-wheeled vehicle. Further, a plurality of motors may be provided for one electric brake, or a plurality of electric brakes may be provided for one wheel.

1-1. The electric brake 16a provided on the wheel Wa on the left side (FL) of the electric brake front wheel is a friction not shown by the brake caliper 5a, the motors 80 and 81 fixed to the brake caliper 5a via the reduction gear 4a, and the motors 80 and 81. A load sensor 6a for detecting the load applied to the pad is provided. The motor 80 includes a rotation angle sensor 90 that detects the relative position of the rotation axis with respect to its own stator. Since the motor 81 is coaxial with the motor 80, a rotation angle sensor is unnecessary. The detection signal of the load sensor 6a is input to the first sub-controller 40, and the detection signal of the rotation angle sensor 90 is input to the drivers 60 and 61.

The electric brake 16b provided on the wheel Wb on the right side (FR) of the front wheel is attached to the brake caliper 5b, the motors 82 and 83 fixed to the brake caliper 5b via the reduction gear 4b, and the friction pad (not shown) by the motors 82 and 83. A load sensor 6b for detecting an applied load is provided. The motor 82 includes a rotation angle sensor 92 that detects the relative position of the rotation axis with respect to its own stator. Since the motor 83 is coaxial with the motor 82, a rotation angle sensor is unnecessary. The detection signal of the load sensor 6b is input to the slave controller 50, and the detection signal of the rotation angle sensor 92 is input to the drivers 62 and 63.

The electric brake 16c provided on the wheel Wc on the left side (RL) of the rear wheel is a load applied to the brake caliper 5c, the motor 84 fixed to the brake caliper 5c via the reduction gear 4c, and the friction pad (not shown) by the motor 84. A load sensor 6c for detecting the above is provided. The motor 84 includes a rotation angle sensor 94 that detects the relative position of the rotation axis with respect to its own stator. The detection signal of the load sensor 6c is input to the second sub-controller 41, and the detection signal of the rotation angle sensor 94 is input to the driver 64.

The electric brake 16d provided on the wheel Wd on the right side (RR) of the rear wheel is a load applied to a brake caliper 5d, a motor 85 fixed to the brake caliper 5d via a reduction gear 4d, and a friction pad (not shown) by the motor 85. A load sensor 6d for detecting the above is provided. The motor 85 includes a rotation angle sensor 95 that detects the relative position of the rotation axis with respect to its own stator. The detection signal of the load sensor 6d is input to the second sub-controller 41, and the detection signal of the rotation angle sensor 95 is input to the driver 65.

The brake calipers 5a to 5d are integrally provided with claws that are formed in a substantially C shape and extend to the opposite side across a rotor (not shown).

The speed reducers 4a to 4d are fixed to the brake calipers 5a to 5d, and the torque generated by the rotation of the motors 80 to 85 is transmitted to a linear motion mechanism (not shown) built in the brake calipers 5a to 5d.

As the linear motion mechanism, a mechanism known for the electric brake can be adopted. The linear motion mechanism converts the rotation of the motors 80 to 85 into a linear motion of the friction pad via the speed reducers 4a to 4d. The linear motion mechanism presses the friction pad against the rotor to suppress the rotation of the wheels Wa to Wd.

As the motors 80 to 85, known electric motors can be adopted, for example, brushless DC motors. By driving the motors 80 to 85, the friction pad is moved via the speed reducers 4a to 4d and the linear motion mechanism. An example in which a motor is used as the electric actuator will be described, but the present invention is not limited to this, and other known actuators may be used.

1-2. Input device The vehicle brake system 1 includes a brake pedal 2 which is an input device and a stroke simulator 3 connected to the brake pedal 2.

The vehicle brake system 1 includes sensors (20 to 22) that detect the amount of brake operation. The brake operation amount is the operation amount of the brake by the driver, and is the operation amount of the brake pedal 2 in the present embodiment.

Sensors (20 to 22) for detecting the amount of brake operation are connected to the master controller 30 and the first and second sub-controllers 40 and 41. The master controller 30 and the plurality of sub-controllers (40, 41) calculate the braking force based on the detection results of the sensors (20 to 22), respectively, so that the vehicle braking system 1 can be made redundant. Here, the connection between the sensor (20 to 22) and the controller (30, 40, 41) is an electrical connection.

The sensors (20 to 22) include a first sensor connected to the master controller 30 and a second sensor connected to the first and second sub-controllers 40 and 41. By having the second sensor (21, 22) different from the first sensor connected to the master controller 30, it is possible to make the sensors (20 to 22) redundant.

The sensors (20 to 22) that detect the brake operation amount include a first stroke sensor 20 as a first sensor, a second stroke sensor 21 as a second sensor, and a third stroke sensor 22.

The brake pedal 2 includes a second stroke sensor 21 and a third stroke sensor 22 that detect the amount of operation of the driver's brake pedal 2. The fixed points of the second stroke sensor 21 and the brake pedal 2 and the fixed points of the third stroke sensor 22 and the brake pedal 2 are provided at different positions. This is to ensure the redundancy of the second sensor (21, 22). The stroke simulator 3 includes a first stroke sensor 20 that detects the amount of operation of the brake pedal 2. By providing the first stroke sensor 20, which is the first sensor, in the stroke simulator 3 instead of the brake pedal 2 to which the second sensor (21, 22) is fixed, the redundancy of the sensors (20 to 22) can be achieved. .. The second stroke sensor 21 and the third stroke sensor 22 may be housed in the same housing, or may be housed in separate housings and the housings may be mounted at different positions.

Each stroke sensor 20 to 22 independently generates an electric detection signal corresponding to a stepping stroke and / or a stepping force, which is a kind of operating amount of the brake pedal 2. The first stroke sensor 20 transmits a detection signal to the master controller 30 described later, the second stroke sensor 21 transmits a detection signal to the first sub controller 40 described later, and the third stroke sensor 22 transmits a detection signal to the second sub controller described later. A detection signal is transmitted to 41.

The vehicle VB includes a plurality of control devices (hereinafter referred to as “other control devices 1000”) provided in a system other than the vehicle brake system 1 as an input device to the vehicle brake system 1. The other control device 1000 is connected to the master controller 30 of the first control device 10 and the second sub controller 41 of the second control device 11 by CAN (Control Area Network), and communicates information about the brake operation with each other. ..

1-3. Control device The control device includes a first control device 10 and a second control device 11. The first control device 10 is arranged at a predetermined position on the vehicle VB independently of the second control device 11. The first control device 10 and the second control device 11 are electronic control units (ECUs). Each of the first control device 10 and the second control device 11 is housed in a housing made of synthetic resin. Therefore, it is made redundant by two control devices, a first control device 10 and a second control device 11. An example in which two control devices are used will be described, but the number may be one in consideration of the arrangement in the vehicle VB, or three or more in order to further enhance the redundancy.

The first control device 10 and the second control device 11 are connected by a CAN and communication is performed. In CAN communication, information is transmitted in one direction and in both directions. Communication between ECUs is not limited to CAN.

The first control device 10 and the second control device 11 are electrically connected to three batteries 100, 101, and 102 that are independent of each other. The batteries 100, 101, 102 supply electric power to the electronic components included in the first control device 10 and the second control device 11. The batteries 100, 101, 102 of the vehicle brake system 1 are arranged at predetermined positions of the vehicle VB.

The first control device 10 controls the master controller 30 that controls the drivers 61 and 63 of the electric brakes 16a and 16b for the wheels Wa and Wb (front wheels) and the driver 60 of the electric brakes 16a for the wheels Wa (front wheels). A first sub-controller 40 for wheels Wa (front wheels) is provided. The second control device 11 includes a second sub-controller 41 for the wheels Wc and Wd (rear wheels) that controls the drivers 64 and 65 of the electric brakes 16c and 16d for the wheels Wc and Wd (rear wheels). The first sensor includes a first stroke sensor 20 connected to a master controller 30 for wheels Wa and Wb (front wheels). The second sensor is connected to a second stroke sensor 21 which is a second sensor connected to a first subcontroller 40 for wheels Wa (front wheels) and a second subcontroller 41 for wheels Wc and Wd (rear wheels). A third stroke sensor 22, which is a second sensor, is included. By including a second sensor connected to the first sub-controller 40 for the wheel Wa (front wheel) and a second sensor connected to the second sub-controller 41 for the wheels Wc and Wd (rear wheel), the vehicle is used. The brake system 1 can be made redundant.

The first control device 10 includes at least one master controller 30 and one first sub controller 40, and the second control device 11 includes at least one sub controller (second sub controller 41). By mounting the master controller 30 and the first sub-controller 40 on the first control device 10, the redundancy and reliability of the first control device 10 are improved.

Further, the first control device 10 further includes a slave controller 50 that controls the driver 62 of the electric brake 16b for the wheels Wb (front wheels). Inexpensive slave controller 5
Cost reduction can be realized by using 0. It is also possible to provide a sub controller instead of the slave controller 50.

The master controller 30, the first and second sub-controllers 40 and 41, and the slave controller 50 are microcomputers, respectively.

The first control device 10 includes a master controller 30, a first sub controller 41, and a slave controller 50. While achieving redundancy by using multiple controllers, cost reduction can be achieved because multiple relatively expensive master controllers are not installed. The master controller 30 requires high performance in order to provide the behavior control unit 303 (the behavior control unit 303 will be described later), and is a relatively expensive controller as compared with the first and second sub-controllers 40 and 41.

As shown in FIGS. 1 and 2, the master controller 30 includes a driver control unit 301 that controls the drivers 61 and 63, a braking force calculation unit 302 that calculates the braking force of the electric brakes 16a to 16d, and the behavior of the vehicle VB. The behavior control unit 303 that controls the above is included.

The first sub-controller 40 includes a driver control unit 400 that controls the driver 60, and a braking force calculation unit 402 that calculates the braking force of the electric brakes 16a to 16d. The second sub-controller 41 includes a driver control unit 410 that controls the drivers 64 and 65, and a braking force calculation unit 412 that calculates the braking force of the electric brakes 16a to 16d. Since the first and second sub-controllers 40 and 41 do not have a behavior control unit, a microcomputer that is cheaper than the master controller 30 can be adopted, which contributes to cost reduction.

The slave controller 50 does not have a braking force calculation unit, and is a driver control that controls the driver 62 based on the braking force calculation result of at least one controller of the master controller 30 and the first and second sub-controllers 40 and 41. Including part 500. Since the slave controller 50 does not have a braking force calculation unit, a microcomputer that is relatively inexpensive as compared with the first and second sub-controllers 40 and 41 can be adopted.

The drivers 60 to 65 control the drive of the motors 80 to 85. Specifically, the driver 60 controls the drive of the motor 80, the driver 61 controls the drive of the motor 81, the driver 62 controls the drive of the motor 82, the driver 63 controls the drive of the motor 83, and the driver. 64 controls the drive of the motor 84, and the driver 65 controls the drive of the motor 85. The drivers 60 to 65 control the motors 80 to 85 by, for example, a sinusoidal drive method. Further, the drivers 60 to 65 are not limited to the sine wave drive system, and may be controlled by, for example, a rectangular wave current.

The drivers 60 to 65 include a power supply circuit and an inverter that supply electric power according to commands of the driver control units 301, 400, 410, and 500 to the motors 80 to 85.

The braking force calculation unit 302 is connected to the first stroke sensor 20, the braking force calculation unit 402 is connected to the second stroke sensor 21, and the braking force calculation unit 412 is connected to the third stroke sensor 22. The braking force calculation units 302, 402, and 412 calculate the braking force (required value) based on the detection signals of the stroke sensors 20 to 22 according to the operation amount of the brake pedal 2. Further, the braking force calculation units 302, 402, and 412 can calculate the braking force (required value) based on the signals from the other control devices 1000.

The driver control units 301, 400, 410, 500 control the drivers 60 to 65 based on the braking force (required value) calculated by the braking force calculation units 302, 402, 412 and the detection signals of the load sensors 6a to 6d. do. The drivers 60 to 65 are the driver control units 301, 400, 4.
A sine wave current for driving is supplied to the motors 80 to 85 according to a command from 10,500. The current supplied to the motors 80 to 85 is detected by the current sensors 70 to 75.

The behavior control unit 303 outputs a signal for controlling the behavior of the vehicle VB to the driver control units 301, 400, 410, 500. Behaviors other than simple braking in response to normal operation of the brake pedal 2, for example, ABS (Antilock Brake System), which is a control to prevent wheel lock, and TCS (TCS), which is a control to suppress idling of wheels Wa to Wd. Traction Control System), a behavior stabilization control that suppresses skidding of the vehicle VB.

The master controller 30 and the first and second sub-controllers 40 and 41 include determination units 304, 404 and 414 that determine the braking force by comparing the braking force calculation results of other controllers. Since the master controller 30 and the first and second sub-controllers 40 and 41 have the determination units 304, 404 and 414, the controller (30, 40, 41) is used properly according to the braking force calculation result, thereby braking the vehicle. The redundancy of the system 1 can be realized.

The determination units 304, 404, 414 determine the braking force by comparing the braking force calculation results of other controllers. The other controllers are the first sub-controller 40 and the second sub-controller 41 for the determination unit 304, the master controller 30 and the second sub-controller 41 for the determination unit 404, and the master controller 30 for the determination unit 414. And the first sub-controller 40. For example, the determination units 304, 404, 414 calculate the calculation result of the braking force calculation unit 302 of the master controller 30, the calculation result of the braking force calculation unit 402 of the first sub-controller 40, and the braking force calculation of the second sub-controller 41. The calculation result in the unit 412 is compared, and which calculation result is adopted as the braking force is determined by a majority decision. For example, if only the calculation result of the braking force calculation unit 402 is different from the other calculation results, the master controller 30 controls the driver 61 and the driver 63 based on the calculation results of the braking force calculation unit 302 and the braking force calculation unit 412. That is, the determination units 304, 404, and 414 make the vehicle brake system 1 redundant.

According to the vehicle brake system 1 according to the present embodiment, the front and rear wheels can be individually controlled by the first control device 10 and the second control device 11, and the controllability can be improved.

2. Modification 1
The vehicle brake system 1a according to the first modification will be described with reference to FIGS. 3 and 4. FIG. 3 is an overall configuration diagram showing the vehicle brake system 1a according to the modified example 1, and FIG. 4 shows the master controller 30 and the first to third subcontrollers 40 to 42 of the vehicle brake system 1a according to the modified example 1. It is a block diagram which shows. In the following description, the same configurations as those of the vehicle brake system 1 of FIGS. 1 and 2 are designated by the same reference numerals in FIGS. 3 and 4, and detailed description thereof will be omitted.

As shown in FIGS. 3 and 4, in the vehicle braking system 1a, the control device includes a first control device 10 and a second control device 11.

The first control device 10 includes a master controller 30 and at least two sub-controllers (first sub-controller 40 and third sub-controller 42). That is, a third sub controller 42 is provided instead of the slave controller 50 in the vehicle brake system 1 of FIG. The third sub-controller 42 is a microcomputer, which includes a driver control unit 420, a braking force calculation unit 422, and a determination unit 424 having the same configuration as the first sub-controller 40, and controls the electric brake 16b. The driver control unit 420 controls the driver 62. The second control device 11 includes at least one sub-controller (second sub-controller 41). The third stroke sensor 22 transmits a detection signal to the second sub controller 41 and the third sub controller 42. The braking force calculation unit 302 is connected to the first stroke sensor 20, the braking force calculation unit 402 is connected to the second stroke sensor 21, and the braking force calculation units 421 and 422 are connected to the third stroke sensor 22. ..

By mounting at least two sub-controllers (first sub-controller 40 and third sub-controller 42) in addition to the master controller 30, the first control device 10 makes the first control device 10 redundant and reliable. improves. That is, in the first control device 10, any calculation result is adopted by majority voting by the determination unit 304 of the master controller 30, the determination unit 404 of the first sub controller 40, and the determination unit 424 of the third sub controller 42. It is possible to determine whether to do so. From the viewpoint of redundancy, the first control device 10 may include three or more sub-controllers, and the second control device 11 may include two or more sub-controllers.

Further, by providing two or more sub-controllers (first sub-controller 40 and third sub-controller 42), the burden on the master controller 30 can be reduced. This is because the third sub-controller 42 can independently control the electric brake 16b.

The present invention is not limited to the above-described embodiment, and various modifications are possible. For example, the present invention includes substantially the same configurations as those described in the embodiments (eg, configurations with the same function, method, and result, or configurations with the same purpose and effect). The present invention also includes a configuration in which a non-essential part of the configuration described in the embodiment is replaced. The present invention also includes a configuration that exhibits the same effects as the configuration described in the embodiment or a configuration that can achieve the same object. Further, the present invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

1,1a ... Vehicle brake system, 2 ... Brake pedal, 3 ... Stroke simulator, 4a-4d ... Reducer, 5a-5d ... Brake caliper, 6a-6d ... Load sensor, 10 ... First controller, 11 ... 2nd controller, 16a-16d ... Electric brake, 20 ... 1st stroke sensor, 21 ... 2nd stroke sensor, 22 ... 3rd stroke sensor, 30 ... Master controller, 301 ... Driver control unit, 302 ... Braking force calculation Unit, 303 ... Behavior control unit, 304 ... Judgment unit, 40 ... First sub-controller, 400 ... Driver control unit, 402 ... Braking force calculation unit, 404 ... Judgment unit, 41 ... Second sub-controller, 410 ... Driver control unit 412 ... Braking force calculation unit, 414 ... Judgment unit, 42 ... Third sub controller, 420 ... Driver control unit, 422 ... Braking force calculation unit, 424 ... Judgment unit, 50 ... Slave controller, 500 ... Driver control unit, 60 ~ 65 ... Driver, 70 ~ 75 ... Current sensor, 80 ~ 85 ... Motor, 90, 92, 94, 95 ... Rotation angle sensor, 100 to 102 ... Battery, 1000 ... Other controller, VB ... Vehicle, Wa ~ Wd …Wheel

Claims (3)

A plurality of electric brake friction pad comprises at least one electric actuator for pressing the rotor side, and a plurality of drivers for driving a plurality of the electric actuator, and a control device comprising a plurality of controllers connected to each other, In a vehicle braking system equipped with
The plurality of controllers include at least one master controller and a plurality of sub-controllers.
The plurality of drivers include a first driver and a plurality of second drivers.
The master controller includes a driver control unit that controls the first driver, a braking force calculation unit that calculates the braking force of the electric brake, and a behavior control unit that controls the behavior of the vehicle.
Wherein the plurality of sub-controller includes a driver control section for controlling the second driver, a braking force calculating unit for calculating the braking force of the electric brake, respectively,
A vehicle braking system, characterized in that a sensor for detecting a brake operation amount is connected to the master controller and the sub controller. In claim 1,
A vehicle braking system, wherein the sensor includes a first sensor connected to the master controller and a plurality of second sensors connected to the plurality of sub controllers. In claim 2,
The control device includes a first control device and a second control device.
The first control device includes the master controller and the sub controller for the front wheels that controls the second driver of the electric brake for the front wheels.
The second control device includes the sub-controller for the rear wheels that controls the second driver of the electric brake for the rear wheels.
The plurality of second sensors include the second sensor connected to the sub controller for the front wheels and the second sensor connected to the sub controller for the rear wheels. , Vehicle braking system.

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