WO2013115166A1 - 車両用ブレーキ装置及びその制御方法 - Google Patents
車両用ブレーキ装置及びその制御方法 Download PDFInfo
- Publication number
- WO2013115166A1 WO2013115166A1 PCT/JP2013/051868 JP2013051868W WO2013115166A1 WO 2013115166 A1 WO2013115166 A1 WO 2013115166A1 JP 2013051868 W JP2013051868 W JP 2013051868W WO 2013115166 A1 WO2013115166 A1 WO 2013115166A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- brake
- hydraulic
- hydraulic brake
- pressure
- valve
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- 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
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60T15/00—Construction arrangement, or operation of valves incorporated in power brake systems and not covered by groups B60T11/00 or B60T13/00
- B60T15/02—Application and release valves
- B60T15/025—Electrically controlled valves
- B60T15/028—Electrically controlled valves in hydraulic 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
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
- B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
- B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
- B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
- B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
- B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
Definitions
- the present invention relates to a vehicle brake device and a control method therefor, and in particular, includes a hydraulic brake and a regenerative brake that generates a regenerative brake force, and can distribute the brake force between the hydraulic brake force and the regenerative brake force.
- a hydraulic brake and a regenerative brake that generates a regenerative brake force, and can distribute the brake force between the hydraulic brake force and the regenerative brake force.
- a hydraulic brake that generates a hydraulic brake force using a hydraulic pressure generated according to a driver's brake operation and a regenerative brake that generates a regenerative brake force are provided.
- a vehicle brake device that performs regenerative cooperation by distributing braking force to braking force and regenerative braking force is known.
- the purpose of the regenerative brake used in this type of vehicle brake device is to convert the kinetic energy of the wheels during braking into electrical energy and to make effective use of the energy.
- the force is limited depending on the vehicle speed during braking of the vehicle, the state of charge of the battery, and the like. For this reason, even during braking of the hydraulic brake, the ratio of the braking force by the hydraulic brake and the braking force by the regenerative brake can be varied according to the maximum regenerative braking force to increase the ratio of the regenerative brake. It is also preferable from the viewpoint of effective use of energy.
- the above-described vehicle brake device is intended to realize a comfortable brake feel by opening the pressure reducing valve when the regenerative brake is used and allowing the brake fluid to escape to the low pressure accumulator.
- the pressure reducing valve is opened, a pressure of several bar is applied to the wheel by the reaction force of the accumulator. For this reason, even when the braking force can be provided only by the regenerative braking force, the regenerative braking force may not be fully utilized.
- the pressure reducing valve can only be fully opened or fully closed. It is carried out. At this time, pulsation is generated in the brake fluid, and if there is a large difference in the fluid pressure between the brake fluid before and after the pressure reducing valve, there is a possibility that noise due to a water hammer or the like may occur.
- an object of the present invention is to fully utilize the regenerative braking force by suppressing the influence of the accumulator reaction force when the pressure reducing valve is opened.
- an object of the present invention is to eliminate the above-described problems of the prior art and prevent noise from being generated when the brake fluid supplied to the brake caliper is decompressed.
- the first hydraulic brake and the second hydraulic brake that generate the hydraulic brake force, and the regenerative brake that generates the regenerative brake force the driver's required brake force.
- the first pressure increasing valve capable of increasing the brake fluid supplied to the first hydraulic brake, and the first A first pressure reducing valve capable of depressurizing the brake fluid supplied to the hydraulic brake; a second pressure increasing valve capable of increasing the brake fluid supplied to the second hydraulic brake; and the second fluid.
- a second pressure-reducing valve capable of depressurizing the brake fluid supplied to the pressure brake, and the first pressure-reducing valve and the second pressure-reducing valve are in communication with an accumulator, and the driver's request
- the braking force is the regenerative braking force.
- a vehicular brake device wherein the first pressure increasing valve and the first pressure reducing valve are opened while the second pressure increasing valve and the second pressure reducing valve are closed. Provided.
- the first pressure increasing valve and the first pressure reducing valve are opened and the second pressure increasing valve and the second pressure reducing valve are closed while the driver's required braking force is covered only by the regenerative braking force. That is, while the driver's required braking force is provided only by the regenerative braking force, the brake fluid can be released to the accumulator by opening both the pressure reducing valve and the pressure increasing valve for the first hydraulic brake, As for the hydraulic brake, it is possible to prevent the reaction force of the accumulator from acting on the wheel by closing both the pressure reducing valve and the pressure increasing valve. Therefore, the influence of the accumulator reaction force can be suppressed while ensuring a comfortable brake feel, and the regenerative braking force can be fully utilized.
- the first hydraulic brake is a rear wheel hydraulic brake
- the second hydraulic brake is a front wheel hydraulic brake. is there.
- the first hydraulic brake is the rear wheel hydraulic brake
- the second hydraulic brake is the front wheel hydraulic brake. That is, while the driver's required braking force is provided only by the regenerative braking force, the rear wheel hydraulic brake can release the brake fluid to the accumulator by opening both the pressure reducing valve and the pressure increasing valve, while the front wheel hydraulic pressure Regarding the brake, the reaction force of the accumulator can be prevented from acting on the front wheels by closing both the pressure reducing valve and the pressure increasing valve. Therefore, the influence of the accumulator reaction force can be suppressed while ensuring a comfortable brake feel, and the regenerative braking force can be fully utilized. Also, since the braking force on the front wheel side is dominant as the braking force, the brake drag due to the accumulator reaction force can be remarkably reduced by preventing the reaction force of the accumulator from acting on the front wheels. The power can be fully utilized.
- the vehicle brake device includes a plurality of brake systems, wherein the first hydraulic brake and the second hydraulic brake are 1 It is provided in one brake system.
- the first hydraulic brake and the second hydraulic brake are provided in one brake system. For this reason, compared with the case where the 1st hydraulic brake and the 2nd hydraulic brake are each provided in a different brake system, the quantity of the brake fluid released to an accumulator can be decreased. Thereby, the rotation speed of a pump motor can be made small and the noise and vibration at the time of a pump motor operation
- the first pressure increasing valve is provided between the first hydraulic brake and the second hydraulic brake.
- An adjustment valve capable of continuously adjusting the flow rate of the brake fluid from the second hydraulic brake side to the first hydraulic brake side, and reducing the hydraulic brake force of the second hydraulic brake In this case, the opening of the adjustment valve is continuously increased and the first pressure reducing valve is opened.
- the first hydraulic brake may not generate a braking force when reducing the hydraulic braking force of the second hydraulic brake.
- the first pressure reducing valve is a solenoid valve that can be opened and closed intermittently, and may be kept open when the hydraulic brake force of the second hydraulic brake is reduced.
- the second pressure reducing valve may maintain a closed state when the regenerative braking force is increased.
- the vehicle brake device is capable of increasing the brake fluid supplied to the first hydraulic brake.
- a second pressure reducing valve capable of reducing the pressure of the brake fluid supplied to the second hydraulic brake, wherein the first pressure reducing valve and the second pressure reducing valve are accumulators.
- a control method for a vehicle brake device comprising: a step of closing the second pressure reducing valve; and a step of closing the second pressure increasing valve.
- the first hydraulic brake is a rear wheel hydraulic brake
- the second hydraulic brake is a front wheel liquid. It is a pressure brake.
- the vehicular brake device in the control method for a vehicle brake device according to the eighth or ninth aspect, includes a plurality of brake systems, and the first hydraulic brake and the The second hydraulic brake is provided in one brake system.
- the first pressure increasing valve includes the first hydraulic brake and the second hydraulic brake. And an adjustment valve that can continuously adjust the flow rate of the brake fluid from the second hydraulic brake side to the first hydraulic brake side,
- the method includes a step of continuously increasing the opening of the adjustment valve and a step of opening the first pressure reducing valve.
- the first hydraulic brake may not generate a braking force when reducing the hydraulic braking force of the second hydraulic brake.
- the first pressure reducing valve is a solenoid valve that can be opened and closed intermittently, and may be kept open when the hydraulic brake force of the second hydraulic brake is reduced.
- the second pressure reducing valve may maintain a closed state when the regenerative braking force is increased.
- the braking force when the braking force can be provided only by the regenerative braking force, the influence of the accumulator reaction force when the pressure reducing valve is opened is suppressed, and the regenerative braking force is fully utilized while ensuring a comfortable brake feel. be able to.
- FIG. 1 shows an example of a hydraulic circuit 10 constituting a hydraulic brake in a vehicle brake device to which the present invention is applied.
- this embodiment includes two brake systems, and each system brakes one front wheel and a rear wheel that is diagonally positioned as a pair, so-called X-type piping hydraulic pressure.
- the hydraulic circuit to which the present invention is applied is not limited to the X-type piping system, and may be, for example, a so-called II-type piping system that performs braking separately on the front wheel side and the rear wheel side.
- the present invention can be widely applied to vehicles including not only four-wheeled vehicles but also two-wheeled vehicles.
- the present invention is applied to a vehicle brake device that includes a regenerative brake and a hydraulic brake and distributes the braking force to the hydraulic brake force and the regenerative brake force with respect to the driver's required brake force. Therefore, although not shown, the vehicle to be controlled is equipped with a wheel drive motor that functions as a wheel drive source during traveling and functions as a generator during braking to generate regenerative braking force as a regenerative brake.
- the power train ECU for controlling the motor and the brake ECU are electrically connected.
- the brake ECU controls the regenerative brake force by giving a regenerative brake command value to the power train ECU, and the power train ECU outputs the maximum value of the regenerative brake force that can be output at that time to the brake ECU.
- the brake ECU further includes a stroke sensor 2 attached to the brake pedal 1 and a master cylinder hydraulic pressure sensor 5 for detecting the hydraulic pressure in the master cylinder 4, and the speed of each wheel (RF, LR, LF, RR). An input from a wheel speed sensor (not shown) or the like is given.
- the pedaling force applied to the brake pedal 1 is amplified by the booster 3 and transmitted to the master cylinder 4 as a hydraulic pressure generation source.
- the master cylinder 4 two pressurizing chambers defined by a primary piston and a secondary piston (not shown) are formed. Each piston is pressed in accordance with the operation of the brake pedal, and the brake fluid is moved into the hydraulic circuit 10 via the hydraulic ports P1 and P2 communicating with the pressurizing chambers.
- the booster 3 is a conventional pneumatic booster, which is connected to the brake pedal 1 via an input rod (not shown), and the amplified pedaling force is a push rod connected to the primary piston. (Not shown) is transmitted to the master cylinder 4.
- the booster 3 has a so-called jump-in characteristic until the input rod of the booster 3 is mechanically connected to the push rod of the master cylinder 4.
- a predetermined gap (in other words, a jump-in region) is provided between the input rod and the reaction disk attached to the push rod so as to form a region where the reaction force becomes extremely small.
- Brake lines MC1 and MC2 extend from the hydraulic ports P1 and P2 of the master cylinder 4 toward the wheel cylinders of the respective wheels (RF, LR, LF, and RR).
- the hydraulic circuit in the brake device of the present embodiment is an X-type piping system.
- the wheel cylinder of the right front wheel (RF) hydraulic brake (second hydraulic brake) 19 is used.
- the hydraulic circuit 10 is configured so that the brake fluid is supplied to the wheel cylinder of the brake) 20 and the wheel cylinder of the right rear wheel (RR) hydraulic brake (first hydraulic brake) 21 through the brake line MC1.
- the brakes 18, 19, 20, and 21 can generate braking force on the wheels by operating the wheel cylinders with hydraulic pressure.
- the hydraulic circuit of each system includes a normally open type linearly controllable circuit control valve 11, a normally closed type on / off controlled intake valve 12, and a normally open type linearly controllable pressure increase valve 13 f as electromagnetic valves. , 13r and pressure reducing valves 14f, 14r that are normally closed and on-off controlled, and further include a pump 16 driven by a pump motor 15 and a low-pressure accumulator 17.
- the pressure increasing valve 13 f and the pressure reducing valve 14 f provided adjacent to the right front wheel hydraulic brake 19 are used for ABS control of the right front wheel hydraulic brake 19 and are provided adjacent to the left rear wheel hydraulic brake 18.
- the pressure valve (regulating valve) 13r and the pressure reducing valve 14r are used for ABS control of the left rear wheel hydraulic brake 18.
- the right front wheel side pressure increasing valve 13 f (second pressure increasing valve) is provided between the master cylinder 4 and the circuit control valve 11 and the right front wheel hydraulic brake 19.
- the linearly controllable pressure increasing valve 13f can continuously adjust the flow rate of the brake fluid from the master cylinder 4 and the circuit control valve 11 side to the wheel cylinder side of the right front wheel hydraulic brake 19.
- the pressure increasing valve 13f includes a check valve in which the brake fluid flows from the right front wheel hydraulic brake 19 side to the master cylinder 4 and the circuit control valve 11 side in the closed state, but does not flow in the opposite direction.
- a bypass channel is provided.
- the right front wheel side pressure reducing valve 14f (second pressure reducing valve) is a solenoid valve that can be fully opened or closed, and is provided between the wheel cylinder of the right front wheel hydraulic brake 19 and the low pressure accumulator 17. ing.
- the pressure reducing valve 14f can depressurize the brake fluid supplied to the wheel cylinder of the right front wheel hydraulic brake 19 when opened.
- the pressure reducing valve 14f can adjust the flow rate of the brake fluid flowing from the wheel cylinder of the right front wheel hydraulic brake 19 to the low pressure accumulator 17 by intermittently opening and closing the valve.
- the pressure increasing valve 13r (first pressure increasing valve) on the left rear wheel side includes the master cylinder 4, the circuit control valve 11, the pressure increasing valve 13f, the wheel cylinder of the right front wheel hydraulic brake 19, and the wheel cylinder of the left rear wheel hydraulic brake 18. Between.
- the linearly controllable pressure increasing valve 13r is a flow rate of brake fluid from the wheel cylinder side of the master cylinder 4, the circuit control valve 11, the pressure increasing valve 13f and the right front wheel hydraulic brake 19 to the wheel cylinder side of the left rear wheel hydraulic brake 18. Can be adjusted continuously.
- the pressure increasing valve 13r includes a check valve in which the brake fluid flows from the left rear wheel hydraulic pressure brake 18 side to the left rear wheel hydraulic pressure brake 19 side in the closed state, but does not flow in the opposite direction. A bypass channel is provided.
- the left rear wheel side pressure reducing valve 14r (first pressure reducing valve) is a solenoid valve that can be fully opened or fully closed, and is provided between the wheel cylinder of the left rear wheel hydraulic brake 18 and the low pressure accumulator 17. Is provided.
- the pressure reducing valve 14r can reduce pressure by supplying brake fluid supplied to the wheel cylinder of the left rear wheel hydraulic brake 18 to the accumulator 17 when opened.
- the pressure reducing valve 14r can adjust the flow rate of the brake fluid flowing from the wheel cylinder of the left rear wheel hydraulic brake 18 to the low pressure accumulator 17 by intermittently opening and closing the valve.
- the circuit control valve 11 is arranged to communicate and block between the pressure increasing valves 13 f and 13 r and the master cylinder 4, and the suction valve 12 communicates and blocks between the master cylinder 4 and the suction side of the pump 16. It is arranged to make it. Since these are the same as the components for the conventional vehicle attitude control (ESC), detailed description is omitted. Further, the master cylinder hydraulic pressure sensor 5 described above is arranged in one brake pipe (the brake pipe MC1 in the example of FIG. 1).
- the vehicle brake device performs the following processing to sufficiently utilize the regenerative braking force while ensuring a comfortable brake feel while the braking force is provided only by the regenerative braking force. Can do. Further, the braking force of the right front wheel hydraulic brake 19 and the left front wheel hydraulic brake 20 can be appropriately controlled according to the fluctuation of the maximum regenerative braking force that can be regenerated by the regenerative brake. In the present embodiment, only the right front wheel hydraulic brake 19 and the left rear wheel hydraulic brake 18 side will be described, but the left front wheel hydraulic brake 20 and the right rear wheel hydraulic brake 21 side are similarly controlled.
- the brake ECU calculates a driver required brake force Fdrv indicating a target braking force according to an operation by the driver. For use in this calculation, the brake ECU stores a map A in which the correspondence relationship between the stroke sensor value s and the driver required brake force Fdrv as shown in FIG. 3A is set in advance. Therefore, the brake ECU calculates the driver request brake force Fdrv that is the target braking force from the stroke sensor value s and the map A (step S1).
- brake ECU After calculating the driver's required braking force F drv, brake ECU is as the target regenerative braking force to be distributed to the driver's demand braking force F drv, it calculates the driver required regenerative braking force F drv regen (step S2). For use in this calculation, a map B as shown in FIG. 3B is stored in the brake ECU, for example. Map B is obtained by setting the correspondence between the driver's required braking force F drv the driver required regenerative braking force F drv regen. In the present embodiment, as shown in FIG. 3B, the driver-required regenerative braking force F drv regen with respect to the driver-required braking force F drv having a predetermined value is set to zero.
- the brake ECU obtains the maximum regenerative braking force F regen max that is the maximum value of the regenerative braking force that can be output from the power train ECU at the current time (step S3). ).
- brake ECU Upon obtaining the maximum regenerative braking force F regen max, brake ECU compares the maximum regenerative braking force F regen max and driver required regenerative braking force calculated at step S2 F drv regen obtained in step S3, the smaller The brake force F accu caused by the reaction force of the accumulator 17 is subtracted from the value of. The value thus obtained is output to the power train ECU as a regenerative brake command value F regen target (step S4).
- the brake force F accu due to the reaction force of the accumulator 17 is a brake force generated by the reaction force of the accumulator 17 when the pressure reducing valve 14r is opened, and is a predetermined value set in advance.
- the brake ECU acquires an actual regenerative brake force F regen corresponding to the current actual regenerative brake force from the power train ECU (step S5).
- P target ⁇ (F drv ⁇ F regen so that the hydraulic braking force to be distributed with respect to the driver required braking force F drv is obtained. )
- P target ⁇ (F drv ⁇ F regen so that the hydraulic braking force to be distributed with respect to the driver required braking force F drv is obtained. )
- P target P target circuit pressure
- the brake ECU determines whether or not the calculated target circuit pressure P target is greater than ⁇ F accum (step S7).
- ⁇ F accu is a circuit pressure generated by the reaction force of the accumulator 17 when the pressure reducing valve 14r is opened, which is obtained by multiplying the brake force F accu by the reaction force of the accumulator 17 and the constant ⁇ .
- the brake ECU can determine whether or not the required brake force based on the driver's brake operation is satisfied only by the regenerative brake.
- step S7 If it is determined in step S7 that the target circuit pressure P target is not greater than ⁇ F accum (step S7: NO), the brake ECU opens the pressure reducing valve 14r on the left rear wheel side (step S8), and the rear left The wheel-side pressure increasing valve 13r is opened (step S9), the right front wheel-side pressure reducing valve 14f is closed (step S10), and the right front wheel-side pressure increasing valve 13f is closed (step S11).
- the pump motor 15 is deactivated (step S12), and the series of processes is terminated.
- the brake ECU opens the left rear wheel side pressure reducing valve 14r and the pressure increasing valve 13r when the required brake force is satisfied only by the regenerative brake by the processing of step S8 to step S12, and reduces the pressure on the right front wheel side.
- the valve 14f and the pressure increasing valve 13f are closed.
- the brake fluid corresponding to the operation amount of the brake pedal 1 is discharged to the accumulator 17 through the pressure increasing valve 13r and the pressure reducing valve 14r. A good operation feeling of the brake pedal 1 can be obtained.
- the reaction force of the accumulator 17 does not act on the wheel, and no hydraulic brake is generated. Therefore, the influence of the reaction force of the accumulator 17 can be suppressed while ensuring a good brake feel, and the regenerative braking force can be fully utilized. Further, since the braking force on the front wheel side is dominant as the braking force, the brake drag due to the reaction force of the accumulator 17 is remarkably prevented by preventing the reaction force of the accumulator 17 from acting on the front wheel as in this embodiment. Therefore, the effective use of the regenerative brake can be realized more effectively.
- step S7 when it is determined in step S7 that the target circuit pressure P target is larger than ⁇ F accu (step S7: YES), the brake ECU detects the master cylinder sensor hydraulic pressure Pmc detected by the master cylinder hydraulic pressure sensor 5 and the target circuit. Based on the pressure P target and the map C shown in FIG. 3C, the actual caliper volume V (the volume of brake fluid in the caliper wheel cylinder at the present time) and the target caliper volume V target (target circuit pressure P target (Volume of brake fluid in the wheel cylinder of the caliper) necessary for obtaining the above is calculated (step S13). In order to use for this calculation, the brake ECU stores a map C in which the relationship between the pressure P and the caliper volume V as shown in FIG.
- the brake ECU determines whether ⁇ V is positive (step S15).
- step S15 If it is determined in step S15 that ⁇ V is positive (step S15: YES), the brake ECU closes the pressure increase valve 13r on the left rear wheel side (step S16), and sets the pressure reduction valve 14r on the left rear wheel side.
- the valve is closed (step S17), the number of revolutions of the pump motor 15 is controlled, the motor 15 is operated (step S18), and the series of processes is terminated.
- the rotational speed of the motor 15 at this time is determined based on the value of ⁇ V.
- step S15 determines whether ⁇ V is negative (step S19).
- step S19 If it is determined in step S19 that ⁇ V is negative (step S19: YES), the brake ECU starts to gradually increase the valve opening of the left rear wheel side pressure increasing valve 13r by PWM control (step S20). ).
- the brake ECU opens the pressure reducing valve 14r on the left rear wheel side (step S21) and deactivates the pump motor 15 (step S22). A series of processing ends. Accordingly, the pressure reducing valve 14r on the left rear wheel side is maintained in an open state, and the pressure reducing valve 14f on the right front wheel side is maintained in a closed state, so that the brake supplied to the wheel cylinder of the right front wheel hydraulic brake 19 is maintained.
- the pressure reduction of the liquid is adjusted by the pressure increasing valve 13r on the left rear wheel side.
- the brake ECU is configured to increase the regenerative braking force while the right front wheel hydraulic brake 19 is generating the hydraulic braking force.
- the hydraulic pressure of the brake fluid supplied to can be continuously reduced gradually.
- step S19 if it is determined in step S19 that ⁇ V is not negative (step S19: NO), the brake ECU closes the left rear wheel side pressure increasing valve 13r (step S23), and closes the left rear wheel side pressure reducing valve 14r ( In step S24), the pump motor 15 is deactivated (step S25), and the series of processes is terminated.
- the brake ECU maintains the braking force of the right front wheel hydraulic brake 19 when ⁇ V is 0 (zero), that is, when the target caliper volume V target and the actual caliper volume V are the same. can do.
- the brake ECU repeats the above processing every predetermined time.
- the brake ECU when the braking force of the front wheel hydraulic brakes 19 and 20 is decreased, the brake ECU continuously increases the opening degree of the pressure increase valves 13r and 13r on the rear wheel side little by little, and on the rear wheel side.
- the pressure reducing valves 14r and 14r are opened.
- FIG. 4 is a diagram showing an example of a timing chart when the maximum regenerative braking force increases during braking.
- the “maximum regenerative braking force” is the maximum value of the regenerative braking force that can be output at the present time, which is input from the powertrain ECU to the brake ECU. means. As described above, during braking, the maximum regenerative braking force changes depending on the vehicle speed, the state of charge of the battery, and the like.
- the regenerative braking force (corresponding to the regenerative brake command value F regen ) is indicated by a solid line as the regenerative torque, and the driver required brake force F drv is indicated by a broken line as the required torque. Yes.
- the front wheel pressure is indicated by a solid line, and the rear wheel pressure is indicated by a broken line.
- the rear wheel side pressure reducing valve 14r is opened. Specifically, in the region D, the driver's demand braking force F drv by depression of the pedal is increased in the state of the hydraulic pressure braking force is zero or F accu, this time, the driver required regenerative braking force based on the map B F drv regen also increases.
- the pressure increase valve 13r on the rear wheel side is continuously slightly reduced by PWM control. While gradually increasing, the pressure reducing valve 14r on the rear wheel side is opened (region C).
- the pressure increasing valve 13r on the rear wheel side is raised little by little without opening the pressure reducing valve 14f on the front wheel side. The problem of vibration and noise when the pressure reducing valve is opened under pressure can be avoided.
- the master cylinder sensor hydraulic pressure Pmc detected by the master cylinder hydraulic pressure sensor 5 is used to calculate the actual caliper volume V.
- the present invention is not limited to this. If the actual caliper volume V can be calculated, a wheel that detects the hydraulic pressure in the wheel cylinders of the front wheel hydraulic brakes 19 and 20 between the wheel cylinders of the front wheel hydraulic brakes 19 and 20 and the pressure increasing valves 13f and 13f.
- a cylinder hydraulic pressure sensor may be provided, and the hydraulic pressure detected by the wheel cylinder hydraulic pressure sensor may be used instead of the master cylinder sensor hydraulic pressure Pmc.
- the brake ECU when the brake fluid supplied to the wheel cylinders of the front wheel hydraulic brakes 19 and 20 is depressurized, the brake ECU continuously increases the opening degree of the pressure increase valves 13r and 13r on the rear wheel side slightly. After raising each one, the pressure reducing valves 14r, 14r on the rear wheel side are opened, but the present invention is not limited to this. If the brake fluid supplied to the wheel cylinders of the front wheel hydraulic brakes 19 and 20 can be continuously reduced gradually, the rear wheel side pressure reducing valves 14r and 14r are opened, and then the rear wheel side pressure increasing valves 13r and The opening degree of 13r may be increased.
- the present invention is not limited to this.
- the rear wheel side pressure reducing valves 14r and 14r and the pressure increasing valves 13r and 13r are closed, and the front wheel side pressure reducing valves 14f and 14f and the pressure increasing valves 13f and 13f are opened. May be.
- the pressure reducing valve and the pressure increasing valve that are opened are respectively set to the first pressure reducing valve.
- the pressure-reducing valve and the pressure-increasing valve which are referred to as a valve and a first pressure-increasing valve, respectively, are called a second pressure-reducing valve and a second pressure-increasing valve, respectively.
- the accumulator reaction force is not applied to only one hydraulic brake (for example, only the front wheel side of the X-type piping system) in one brake system. It is not limited to.
- the present invention when the present invention is applied to a type II piping system and the braking force can be provided only by the regenerative braking force, all the pressure reducing valves and pressure increasing valves in the front wheel side brake system are closed, and the pressure reducing valve in the rear wheel side brake system And you may comprise so that all the pressure increase valves may be opened.
- the amount of brake fluid that escapes to the accumulator 17 increases on the rear wheel side, it is necessary to increase the rotational speed of the pump motor 15 when the hydraulic brake force is increased.
- the accumulator reaction force is not applied to only one hydraulic brake in one brake system (in other words, the pressure reducing valve is closed only for one hydraulic brake in one brake system and the other hydraulic brake is applied.
- the pressure reducing valves for the pressure brake By opening the pressure reducing valves for the pressure brake), the number of revolutions of the pump motor 15 can be reduced as compared with the case of opening all the pressure reducing valves in one brake system, and the noise during operation of the pump motor can be reduced. Vibration can be reduced.
- the present invention is widely applied not only to four-wheeled vehicles but also to vehicles including two-wheeled vehicles, and in particular, can be widely applied to vehicle brake devices including a so-called regenerative cooperative brake.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
前記第2の減圧弁を閉じるステップと、前記第2の増圧弁を閉じるステップと、を備えたことを特徴とする車両用ブレーキ装置の制御方法が提供される。
2 ストロークセンサ
3 倍力装置
4 マスタシリンダ
P1、P2 液圧ポート
MC1、MC2 ブレーキ管路
5 マスタシリンダ液圧センサ
6 ホイールシリンダ液圧センサ
10 液圧回路
11 回路制御弁
12 吸入弁
13f 増圧弁(第2の増圧弁)
13r 増圧弁(第1の増圧弁、調整弁)
14f 減圧弁(第2の減圧弁)
14r 減圧弁(第1の減圧弁)
15 ポンプモータ
16 ポンプ
17 低圧アキュムレータ
18 左後輪液圧ブレーキ(第1の液圧ブレーキ)
19 右前輪液圧ブレーキ(第2の液圧ブレーキ)
20 左前輪液圧ブレーキ(第2の液圧ブレーキ)
21 右後輪液圧ブレーキ(第1の液圧ブレーキ)
Claims (14)
- 液圧ブレーキ力を発生させる少なくとも第1の液圧ブレーキ及び第2の液圧ブレーキと、回生ブレーキ力を発生させる回生ブレーキとを備え、運転者の要求ブレーキ力に対して液圧ブレーキ力と回生ブレーキ力の分配を行う車両用ブレーキ装置において、
前記第1の液圧ブレーキに供給されたブレーキ液を増圧可能な第1の増圧弁と、
前記第1の液圧ブレーキに供給されたブレーキ液を減圧可能な第1の減圧弁と、
前記第2の液圧ブレーキに供給されたブレーキ液を増圧可能な第2の増圧弁と、
前記第2の液圧ブレーキに供給されたブレーキ液を減圧可能な第2の減圧弁と、を備えており、
前記第1の減圧弁及び前記第2の減圧弁は、アキュムレータに連通しており、
運転者の要求ブレーキ力が回生ブレーキ力のみで賄われる間、前記第1の増圧弁及び前記第1の減圧弁を開き、前記第2の増圧弁及び前記第2の減圧弁を閉じるようになされたことを特徴とする車両用ブレーキ装置。 - 請求項1に記載の車両用ブレーキ装置において、
前記第1の液圧ブレーキが後輪液圧ブレーキであり、前記第2の液圧ブレーキが前輪液圧ブレーキであることを特徴とする車両用ブレーキ装置。 - 請求項1または2に記載の車両用ブレーキ装置において、
複数のブレーキ系統を備えており、
前記第1の液圧ブレーキ及び前記第2の液圧ブレーキは、1つのブレーキ系統に設けられていることを特徴とする車両用ブレーキ装置。 - 請求項3に記載の車両用ブレーキ装置において、
前記第1の増圧弁は、前記第1の液圧ブレーキと前記第2の液圧ブレーキとの間に設けられ、前記第2の液圧ブレーキ側から前記第1の液圧ブレーキ側へのブレーキ液の流量を連続的に調整可能な調整弁であり、
前記第2の液圧ブレーキの液圧ブレーキ力を減少させる場合に、前記調整弁の開度を連続的に上げるとともに、前記第1の減圧弁を開くことを特徴とする車両用ブレーキ装置。 - 請求項4に記載の車両用ブレーキ装置において、
前記第1の液圧ブレーキは、前記第2の液圧ブレーキの液圧ブレーキ力を減少させる場合に、制動力を発生させないことを特徴とする車両用ブレーキ装置。 - 請求項4または5に記載の車両用ブレーキ装置において、
前記第1の減圧弁は、断続的に開閉可能なソレノイドバルブであり、前記第2の液圧ブレーキの液圧ブレーキ力を減少させる場合に、開いた状態を維持することを特徴とする車両用ブレーキ装置。 - 請求項4乃至6のいずれか一項に記載の車両用ブレーキ装置において、
前記第2の減圧弁は、回生ブレーキ力を増加させる場合に、閉じた状態を維持することを特徴とする車両用ブレーキ装置。 - 液圧ブレーキ力を発生させる少なくとも第1の液圧ブレーキ及び第2の液圧ブレーキと、回生ブレーキ力を発生させる回生ブレーキとを備え、運転者の要求ブレーキ力に対して液圧ブレーキ力と回生ブレーキ力の分配を行う車両用ブレーキ装置の制御方法において、
前記車両用ブレーキ装置は、
前記第1の液圧ブレーキに供給されたブレーキ液を増圧可能な第1の増圧弁と、
前記第1の液圧ブレーキに供給されたブレーキ液を減圧可能な第1の減圧弁と、
前記第2の液圧ブレーキに供給されたブレーキ液を増圧可能な第2の増圧弁と、
前記第2の液圧ブレーキに供給されたブレーキ液を減圧可能な第2の減圧弁と、を備えており、
前記第1の減圧弁及び前記第2の減圧弁は、アキュムレータに連通しており、
前記制御方法は、
運転者の要求ブレーキ力を回生ブレーキ力のみで賄う場合に、
前記第1の減圧弁を開くステップと、
前記第1の増圧弁を開くステップと、
前記第2の減圧弁を閉じるステップと、
前記第2の増圧弁を閉じるステップと、を備えたことを特徴とする車両用ブレーキ装置の制御方法。 - 請求項8に記載の車両用ブレーキ装置の制御方法において、
前記第1の液圧ブレーキが後輪液圧ブレーキであり、前記第2の液圧ブレーキが前輪液圧ブレーキであることを特徴とする車両用ブレーキ装置の制御方法。 - 請求項8または9に記載の車両用ブレーキ装置の制御方法において、
前記車両用ブレーキ装置が複数のブレーキ系統を備えており、
前記第1の液圧ブレーキ及び前記第2の液圧ブレーキは、1つのブレーキ系統に設けられていることを特徴とする車両用ブレーキ装置の制御方法。 - 請求項10に記載の車両用ブレーキ装置の制御方法において、前記第1の増圧弁は、前記第1の液圧ブレーキと前記第2の液圧ブレーキとの間に設けられ、前記第2の液圧ブレーキ側から前記第1の液圧ブレーキ側へのブレーキ液の流量を連続的に調整可能な調整弁であり、
前記第2の液圧ブレーキの液圧ブレーキ力を減少させる場合に、
前記調整弁の開度を連続的に上げるステップと、
前記第1の減圧弁を開くステップと、を備えたことを特徴とする車両用ブレーキ装置の制御方法。 - 請求項11に記載の車両用ブレーキ装置の制御方法において、
前記第1の液圧ブレーキは、前記第2の液圧ブレーキの液圧ブレーキ力を減少させる場合に、制動力を発生させないことを特徴とする車両用ブレーキ装置の制御方法。 - 請求項11または12に記載の車両用ブレーキ装置の制御方法において、
前記第1の減圧弁は、断続的に開閉可能なソレノイドバルブであり、前記第2の液圧ブレーキの液圧ブレーキ力を減少させる場合に、開いた状態を維持することを特徴とする車両用ブレーキ装置の制御方法。 - 請求項11乃至13のいずれか一項に記載の車両用ブレーキ装置の制御方法において、
前記第2の減圧弁は、回生ブレーキ力を増加させる場合に、閉じた状態を維持することを特徴とする車両用ブレーキ装置の制御方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/375,477 US9352655B2 (en) | 2012-01-30 | 2013-01-29 | Brake device for vehicle and control method thereof |
JP2013556402A JP5746773B2 (ja) | 2012-01-30 | 2013-01-29 | 車両用ブレーキ装置及びその制御方法 |
EP13744217.4A EP2810834B1 (en) | 2012-01-30 | 2013-01-29 | Vehicle brake device and method for controlling same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012016725 | 2012-01-30 | ||
JP2012-016725 | 2012-01-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013115166A1 true WO2013115166A1 (ja) | 2013-08-08 |
Family
ID=48905201
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/051868 WO2013115166A1 (ja) | 2012-01-30 | 2013-01-29 | 車両用ブレーキ装置及びその制御方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9352655B2 (ja) |
EP (1) | EP2810834B1 (ja) |
JP (1) | JP5746773B2 (ja) |
WO (1) | WO2013115166A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020100317A (ja) * | 2018-12-24 | 2020-07-02 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 |
JP2020100318A (ja) * | 2018-12-24 | 2020-07-02 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 |
CN111918801A (zh) * | 2018-04-12 | 2020-11-10 | 罗伯特·博世有限公司 | 用于双轴车辆的制动系统和用于运行双轴车辆的制动系统的方法 |
CN113306539A (zh) * | 2021-06-30 | 2021-08-27 | 吉林东光奥威汽车制动系统有限公司 | 一种电子式制动助力系统及方法 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6530359B2 (ja) * | 2016-09-09 | 2019-06-12 | 株式会社アドヴィックス | 車両用制動装置 |
JP7146165B2 (ja) * | 2018-02-09 | 2022-10-04 | 株式会社アドヴィックス | 車両の制動制御装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007500104A (ja) | 2003-05-13 | 2007-01-11 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 自動車のブレーキシステムをコントロールするための方法 |
JP2009202678A (ja) * | 2008-02-27 | 2009-09-10 | Hitachi Ltd | ブレーキ制御装置 |
WO2012032897A1 (ja) * | 2010-09-09 | 2012-03-15 | ボッシュ株式会社 | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 |
WO2012086290A1 (ja) * | 2010-12-20 | 2012-06-28 | ボッシュ株式会社 | 車両用ブレーキ装置及びその制御方法 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100721060B1 (ko) | 2005-12-07 | 2007-05-22 | 주식회사 만도 | 차량의 제동시스템 및 그 제동방법 |
JP4441544B2 (ja) * | 2007-03-15 | 2010-03-31 | 本田技研工業株式会社 | 車両の回生協調制動装置 |
JP2008253030A (ja) * | 2007-03-29 | 2008-10-16 | Toyota Motor Corp | 制動装置および制動装置の制御方法 |
JP5150410B2 (ja) * | 2008-08-25 | 2013-02-20 | 日立オートモティブシステムズ株式会社 | ブレーキ装置 |
JP5859460B2 (ja) * | 2010-01-28 | 2016-02-10 | コンチネンタル・テベス・アーゲー・ウント・コンパニー・オーハーゲー | 自動車用ブレーキシステムの作動方法及びブレーキシステム |
JP5699044B2 (ja) * | 2011-06-29 | 2015-04-08 | 日立オートモティブシステムズ株式会社 | ブレーキ制御装置 |
JP5811997B2 (ja) * | 2012-12-14 | 2015-11-11 | 株式会社デンソー | 液圧ブレーキ装置 |
-
2013
- 2013-01-29 JP JP2013556402A patent/JP5746773B2/ja active Active
- 2013-01-29 EP EP13744217.4A patent/EP2810834B1/en active Active
- 2013-01-29 WO PCT/JP2013/051868 patent/WO2013115166A1/ja active Application Filing
- 2013-01-29 US US14/375,477 patent/US9352655B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007500104A (ja) | 2003-05-13 | 2007-01-11 | コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト | 自動車のブレーキシステムをコントロールするための方法 |
JP2009202678A (ja) * | 2008-02-27 | 2009-09-10 | Hitachi Ltd | ブレーキ制御装置 |
WO2012032897A1 (ja) * | 2010-09-09 | 2012-03-15 | ボッシュ株式会社 | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 |
WO2012086290A1 (ja) * | 2010-12-20 | 2012-06-28 | ボッシュ株式会社 | 車両用ブレーキ装置及びその制御方法 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2810834A4 |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111918801A (zh) * | 2018-04-12 | 2020-11-10 | 罗伯特·博世有限公司 | 用于双轴车辆的制动系统和用于运行双轴车辆的制动系统的方法 |
JP2021517095A (ja) * | 2018-04-12 | 2021-07-15 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 2軸車両用のブレーキシステムおよび2軸車両のブレーキシステムを動作させる方法 |
CN111918801B (zh) * | 2018-04-12 | 2022-10-14 | 罗伯特·博世有限公司 | 用于双轴车辆的制动系统和用于运行双轴车辆的制动系统的方法 |
JP7157817B2 (ja) | 2018-04-12 | 2022-10-20 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 2軸車両用のブレーキシステムおよび2軸車両のブレーキシステムを動作させる方法 |
US11970145B2 (en) | 2018-04-12 | 2024-04-30 | Robert Bosch Gmbh | Brake system for a two-axle vehicle and method for the operation thereof |
JP2020100317A (ja) * | 2018-12-24 | 2020-07-02 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 |
JP2020100318A (ja) * | 2018-12-24 | 2020-07-02 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 |
JP7256006B2 (ja) | 2018-12-24 | 2023-04-11 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 |
JP7313141B2 (ja) | 2018-12-24 | 2023-07-24 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 |
CN113306539A (zh) * | 2021-06-30 | 2021-08-27 | 吉林东光奥威汽车制动系统有限公司 | 一种电子式制动助力系统及方法 |
Also Published As
Publication number | Publication date |
---|---|
US9352655B2 (en) | 2016-05-31 |
JPWO2013115166A1 (ja) | 2015-05-11 |
EP2810834A4 (en) | 2015-07-01 |
EP2810834A1 (en) | 2014-12-10 |
US20150048670A1 (en) | 2015-02-19 |
EP2810834B1 (en) | 2019-12-04 |
JP5746773B2 (ja) | 2015-07-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6663075B2 (ja) | 車両のブレーキシステム及び車両のブレーキシステムの運転方法 | |
JP5386042B2 (ja) | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 | |
US10272902B2 (en) | Brake control device | |
JP4412400B2 (ja) | 車両用挙動制御装置 | |
JP5386043B2 (ja) | 車両用ブレーキ装置及びその制御方法 | |
JP5746773B2 (ja) | 車両用ブレーキ装置及びその制御方法 | |
US20150375726A1 (en) | Method for operating a brake system, brake system in which the method is performed, and uses of the brake system | |
CN105228870A (zh) | 制动装置 | |
JP2007500104A (ja) | 自動車のブレーキシステムをコントロールするための方法 | |
US20220314812A1 (en) | Braking control device for vehicle | |
JP4803109B2 (ja) | ブレーキ制御装置 | |
JP2014196033A (ja) | 制動装置 | |
JP3704985B2 (ja) | 4輪独立ブレーキ力制御装置 | |
JP2008162562A (ja) | ブレーキ制御装置 | |
JP4360278B2 (ja) | 車両用制動力制御装置 | |
KR20150143008A (ko) | 차량의 능동 유압 부스터 시스템 및 그 제어방법 | |
JP7313141B2 (ja) | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 | |
JP5088218B2 (ja) | ブレーキ制御装置及びブレーキ制御方法 | |
JP5251248B2 (ja) | ブレーキ制御装置 | |
JP7256006B2 (ja) | 車両用ブレーキ装置及び車両用ブレーキ装置の制御方法 | |
JPH1014009A (ja) | 電動車両の制動制御装置 | |
JP2010167969A (ja) | ブレーキフルード充填方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13744217 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2013556402 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2013744217 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14375477 Country of ref document: US |