WO2013191292A1 - 車両の制動力制御装置 - Google Patents
車両の制動力制御装置 Download PDFInfo
- Publication number
- WO2013191292A1 WO2013191292A1 PCT/JP2013/067199 JP2013067199W WO2013191292A1 WO 2013191292 A1 WO2013191292 A1 WO 2013191292A1 JP 2013067199 W JP2013067199 W JP 2013067199W WO 2013191292 A1 WO2013191292 A1 WO 2013191292A1
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- Prior art keywords
- braking force
- wheel
- vehicle
- braking
- force
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Classifications
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- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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- 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
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- 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
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- 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
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
Definitions
- the present invention relates to a vehicle braking force control device.
- braking force (braking torque) generated in a vehicle decreases with respect to braking force (braking torque) corresponding to the pressing force (or wheel cylinder hydraulic pressure) of a friction braking member.
- This phenomenon is caused by a phenomenon that the friction coefficient of the friction braking member decreases due to excessive temperature rise of the friction braking member (brake pad) (so-called fade), or friction braking member (brake pad) and disc member (brake disc) It may occur due to a phenomenon (so-called snow fade) or the like in which ice and snow intrude between them and the coefficient of friction between them decreases.
- a wheel in which this phenomenon occurs is referred to as a “braking force decreasing wheel”.
- Japanese Patent Application Laid-Open No. 2009-101918 discloses that when there is a braking force reduction wheel due to snow fade, the wheel cylinder hydraulic pressure is largely fluctuated periodically with respect to the braking force reduction wheel. It describes that snow fade elimination control of a wheel with reduced braking force is performed by performing snow fade elimination control such as temporarily increasing the wheel cylinder hydraulic pressure to an excessively high pressure for the braking force reduced wheel.
- Japanese Patent Application Laid-Open No. 2007-237899 discloses a wheel cylinder hydraulic pressure that increases the wheel cylinder hydraulic pressure with respect to the braking force reduced wheel when there is a braking force reduced wheel caused by fading during antilock brake control. It is described that the increase in the braking distance is suppressed by performing control such as decreasing the pressure reducing speed or increasing the pressure increasing speed of the wheel cylinder hydraulic pressure.
- the devices described in the above two documents cope with the above problem by adjusting the wheel cylinder hydraulic pressure (the pressing force of the friction braking member) of the braking force reducing wheel itself when the braking force reducing wheel exists.
- the wheel cylinder hydraulic pressure the pressing force of the friction braking member
- the “braking force reduction degree” (the degree of reduction of the braking force generated in the vehicle with respect to the braking force according to the pressing force of the friction braking member) is large in the braking force reducing wheel. Even if the wheel cylinder hydraulic pressure (the pressing force of the friction braking member) is increased, a situation where the intended braking force (braking torque) cannot be sufficiently generated in the braking force-decreasing wheel may occur. As a result, the state in which the intended vehicle state cannot be realized can continue.
- An object of the present invention is to provide a braking force control device for a vehicle, which can realize an intended vehicle state even when a “braking force reduction degree” in a braking force reducing wheel is large. is there.
- the generated (friction) braking force is reduced with respect to “the braking force according to the pressing force of the friction braking member (with respect to the rotating member rotating integrally with the wheel)”.
- Determination means for determining whether or not there is a wheel (braking force reduced wheel) and the determination that the braking force reduced wheel exists, the wheels other than the braking force reduced wheel Braking force compensation means for increasing the pressing force of the friction braking member based on a shortage of braking force in the braking force reducing wheel.
- the determination means is configured to generate a braking force due to the vehicle stability control during the vehicle stability control. And it is configured to determine whether or not there is a braking force lowering wheel that is a wheel whose braking force is reduced with respect to the braking force according to the pressing force of the friction braking member, and Based on the determination that the braking force-decreasing wheel is present, the braking force compensation means determines that the vehicle stability control is “to increase the running stability” among the plurality of wheels excluding the braking force-decreasing wheel.
- the first braking force distribution wheel By increasing the braking force, the desired turning moment is reliably generated, and the vehicle stability control can be achieved.
- a front wheel on the outside of the turn and a rear wheel on the outside of the turn may be set in order of the priority.
- understeer suppression control that suppresses understeer of the vehicle is adopted as the vehicle stability control, the rear wheel on the inside of the turn, the front wheel on the inside of the turn, the rear wheel on the outside of the turn, the turn An outer front wheel can be set.
- FIG. 1 is a schematic configuration diagram of a vehicle equipped with a vehicle braking force control apparatus according to a first embodiment of the present invention. It is a schematic block diagram of the brake fluid pressure control part shown in FIG. It is the graph which showed the relationship between the command electric current and command differential pressure about the normally open linear solenoid valve shown in FIG. It is a figure for demonstrating the relationship between the braking force which acts on each wheel of a vehicle, and the turning moment resulting from the braking force.
- FIG. 3 is a flowchart showing a routine for performing control for compensating for an insufficient amount of braking force when a braking force-reduced wheel is present, which is executed by the CPU shown in FIG. 1.
- FIG. It is a graph which shows the relationship between the braking force which acts on each wheel, and the magnitude
- FIG. 1 shows a schematic configuration of a vehicle equipped with a vehicle brake device 10 including a vehicle brake control device according to an embodiment of the present invention.
- “**” added to the end of various variables or the like is attached to the end of the various variables or the like to indicate whether the various variables or the like relates to the wheels FR, FL, RR, or RL.
- Inclusive notation such as “fr” and “fl”.
- the vehicle brake device 10 includes a brake fluid pressure control unit 30 that generates friction braking force (friction braking torque) due to wheel cylinder fluid pressure on the wheel **.
- the brake hydraulic pressure control unit 30 includes a brake hydraulic pressure generating unit 32 that generates a hydraulic pressure corresponding to the stroke (or pedaling force) of the brake pedal BP, and a wheel cylinder disposed on the wheel **.
- the brake fluid pressure adjusting units 33 to 36 capable of adjusting the wheel cylinder hydraulic pressure supplied to W ** and the return brake fluid supplying unit 37 are configured.
- the friction braking member (brake pad) is pressed against the “brake disc rotating integrally with the wheel” with a pressing force corresponding to the wheel cylinder hydraulic pressure of W **, so that it corresponds to the wheel cylinder hydraulic pressure. Friction braking torque is applied.
- the brake fluid pressure generating unit 32 includes a vacuum booster VB that responds to the brake pedal BP, and a master cylinder MC that is connected to the vacuum booster VB.
- the vacuum booster VB uses the air pressure (negative pressure) in the intake pipe of the engine (not shown) to assist the operating force of the brake pedal BP at a predetermined ratio and transmit the assisted operating force to the master cylinder MC. It has become.
- the master cylinder MC has two output ports, receives the supply of brake fluid from the reservoir RS, and supplies the hydraulic pressure (master cylinder hydraulic pressure Pm) corresponding to the assisted operating force to the two ports. It comes to be generated from each. Since the configurations and operations of the master cylinder MC and the vacuum booster VB are well known, a detailed description thereof will be omitted here.
- a normally open linear solenoid valve PC1 is interposed between one port of the master cylinder MC and the upstream portion of the brake fluid pressure adjusting unit 33, 34, and the other port of the master cylinder MC and the brake fluid pressure adjustment.
- a normally open linear electromagnetic valve PC2 is interposed between the upstream portions of the portions 35 and 36. Details of the linear solenoid valves PC1 and PC2 will be described later.
- the brake fluid pressure adjusting units 33 to 36 include a pressure-increasing valve PU ** which is a 2-port 2-position switching type normally open electromagnetic on-off valve, and a pressure reducing valve PD ** which is a 2-port 2-position switching type normally closed electromagnetic on-off valve. It consists of and.
- the pressure increasing valve PU ** can communicate / block the upstream portion of the corresponding adjusting portion of the brake fluid pressure adjusting portions 33 to 36 and the wheel cylinder W **.
- the pressure reducing valve PD ** can communicate / block the wheel cylinder W ** and the corresponding one of the reservoirs RS1 and RS2.
- the hydraulic pressure of the wheel cylinder W ** (wheel cylinder hydraulic pressure Pw **) can be increased, held and reduced by controlling the pressure increasing valve PU ** and the pressure reducing valve PD **. Yes.
- the reflux brake fluid supply unit 37 includes a DC motor MT and two hydraulic pumps (gear pumps) HP1 and HP2 that are simultaneously driven by the motor MT.
- the hydraulic pumps HP1 and HP2 pump up the brake fluid in the reservoirs RS1 and RS2 returned from the pressure reducing valve PD **, and supply the pumped brake fluid to upstream portions of the brake fluid pressure adjusting units 33 to 36, respectively. It is like that.
- a force in an opening direction based on a biasing force from a coil spring (not shown) is constantly applied to the valve bodies of the normally open linear electromagnetic valves PC1 and PC2, and a corresponding adjusting unit among the brake fluid pressure adjusting units 33 to 36.
- a closing force based on a suction force that increases proportionally according to Id) acts.
- the command differential pressure ⁇ Pd which is the command value of the linear valve differential pressure ⁇ P is determined so as to increase in proportion to the command current Id.
- I0 is a current value corresponding to the biasing force of the coil spring.
- the normally open linear solenoid valves PC1 and PC2 are closed when ⁇ Pd is larger than ⁇ P, and are opened when ⁇ Pd is smaller than ⁇ P.
- the brake fluid upstream of the corresponding adjusting unit among the brake hydraulic pressure adjusting units 33 to 36 corresponds to the corresponding electromagnetic among the normally open linear electromagnetic valves PC1 and PC2.
- the linear valve differential pressure ⁇ P can be adjusted to coincide with the command differential pressure ⁇ Pd by flowing to the corresponding port side of the master cylinder MC via the valve.
- the brake fluid that has flowed into the corresponding port side of the master cylinder MC is returned to the corresponding reservoir among the reservoirs RS1 and RS2.
- the linear valve differential pressure ⁇ P can be controlled in accordance with the command current Id of the normally open linear electromagnetic valves PC1 and PC2. ing.
- the pressure upstream of the brake fluid pressure adjusting units 33 to 36 is a value (Pm + ⁇ P) obtained by adding the linear valve differential pressure ⁇ P to the master cylinder fluid pressure Pm. Note that after the hydraulic pumps HP1 and HP2 are stopped in a state where the linear valve differential pressure ⁇ P is adjusted to a value larger than zero, the linear valve differential pressure is adjusted by adjusting the command current Id in the decreasing direction. ⁇ P can still be adjusted only in the decreasing direction.
- the brake hydraulic pressure control unit 30 includes two hydraulic circuits, a system related to the left and right front wheels FR and FL and a system related to the left and right rear wheels RR and RL.
- the brake hydraulic pressure control unit 30 adjusts the wheel cylinder hydraulic pressure Pw ** to a value equal to the master cylinder hydraulic pressure Pm when all the solenoid valves are in the non-excited state.
- the wheel cylinder hydraulic pressure Pw ** is set to the hydraulic pressure (Pm + ⁇ P) by driving the motor MT (therefore, the hydraulic pumps HP1, HP2) and controlling the normally open linear solenoid valves PC1, PC2. Adjusted to Furthermore, the wheel cylinder hydraulic pressure Pw ** can be independently adjusted for each wheel by controlling the pressure increasing valve PU ** and the pressure reducing valve PD **. That is, regardless of the operation of the brake pedal BP by the driver, the braking force applied to the wheel ** can be adjusted independently for each wheel.
- this vehicle brake device 10 includes a wheel speed sensor 41 ** that detects the rotational speed of the wheel and a brake switch that selectively outputs a signal corresponding to whether or not the brake pedal BP is operated. 42, a yaw rate sensor 43 for detecting the yaw rate of the vehicle, a master cylinder hydraulic pressure sensor 44 (see FIG. 2) for detecting the master cylinder hydraulic pressure Pm, and the like.
- the vehicle brake device 10 further includes an electronic control device 50.
- the electronic control device 50 is a microcomputer including a CPU 51, a ROM 52, a RAM 53, a backup RAM 54, an interface 55, and the like.
- the interface 55 is connected to the sensors 41 to 44 and various other sensors, supplies signals from the sensors 41 to 44 and the like to the CPU 51, and in response to instructions from the CPU 51, the brake fluid pressure control unit 30 Drive signals are sent to the solenoid valves (normally open linear solenoid valves PC1, PC2, pressure increasing valve PU **, and pressure reducing valve PD **) and motor MT.
- solenoid valves normally open linear solenoid valves PC1, PC2, pressure increasing valve PU **, and pressure reducing valve PD **
- the brake device 10 (specifically, the CPU 51) executes well-known vehicle stability control for increasing the running stability of the vehicle.
- the vehicle stability control will be briefly described with reference to FIG.
- the front wheel on the outside of the turn, the rear wheel on the outside of the turn, the front wheel on the inside of the turn, and the rear wheel on the inside of the turn are respectively referred to as “outer front wheel”, “outer rear wheel”, “inner front wheel”, and “inner rear wheel”.
- vehicle stability control specifically refers to oversteer suppression control and understeer suppression control.
- the oversteer suppression control is not dependent on the driver's braking operation (operation of the brake pedal BP) when the vehicle is determined to be oversteering based on the turning state of the vehicle (the braking operation is being executed). Or even during non-execution), adjust the wheel cylinder hydraulic pressure of each wheel (and hence the pressing force of the friction braking member) to positively apply the turning outward moment (see FIG. 4) around the center of gravity of the vehicle.
- This control is generated automatically.
- a turning outward moment is generated mainly by applying a braking force to the outer front wheel and the outer rear wheel.
- Understeer suppression control does not depend on the driver's braking operation (operation of the brake pedal BP) when the vehicle is determined to be understeering based on the turning state of the vehicle (the braking operation is being executed). Or even during non-execution), adjust the wheel cylinder hydraulic pressure of each wheel (and hence the pressing force of the friction braking member) to positively apply a turning inward moment (see FIG. 4) around the center of gravity of the vehicle. This control is generated automatically. In the understeer suppression control, specifically, a turning inward moment is generated mainly by applying a braking force to the inner rear wheel and the inner front wheel.
- the target braking force (target braking torque, target wheel cylinder hydraulic pressure, etc.) for each wheel is set according to the turning state of the vehicle, and the actual braking force (actual braking torque, The actual wheel cylinder hydraulic pressure or the like is controlled so as to coincide with the corresponding target braking force.
- the wheel to which the braking force is applied, the magnitude of the applied braking force, and the like are the same as well-known ones, so detailed description thereof is omitted here.
- the “wheel to which the braking force is applied” is referred to as “control target wheel”.
- the vehicle stability control is being executed and the wheel to be controlled is a wheel with a reduced braking force
- the wheel to be controlled is a wheel with a reduced braking force
- the braking force is applied only to the outer front wheel during oversteer suppression control
- the outer front wheel becomes a braking force reduced wheel
- the turning outward moment will sufficiently act on the vehicle.
- a situation in which the oversteer tendency cannot be sufficiently eliminated may occur.
- the brake device 10 reduces the braking force without increasing the wheel cylinder hydraulic pressure of the braking force reduced wheel when it is determined that the wheel to be controlled is a braking force reduced wheel during the vehicle stability control.
- a braking force is generated on the “other wheels that should generate the braking force to achieve vehicle stability control” except for the wheels (the wheel cylinder hydraulic pressure of the other wheels is increased).
- This control is executed without depending on the driver's braking operation (operation of the brake pedal BP) (whether the braking operation is being executed or not being executed).
- FIG. 5 shows a flow of processing of a program stored in the ROM 52 so that the CPU 51 executes this control. This process is repeatedly executed every elapse of a predetermined timing (for example, 6 milliseconds).
- step 505 it is determined whether or not the vehicle stability control is being executed. Specifically, it is determined whether or not oversteer (OS) suppression control or understeer (US) suppression control is being executed. When the vehicle stability control is not being executed, the processing of this program ends. Hereinafter, a case where the vehicle stability control is being executed will be described.
- OS oversteer
- US understeer
- step 510 the first braking force of each wheel is estimated based on the wheel cylinder hydraulic pressure of each wheel.
- step 515 the second braking force of each wheel is estimated based on the slip ratio (and contact load) of each wheel. As will be described later, the first and second braking forces are used to determine the presence or absence of a braking force-decreasing wheel and to estimate the insufficient braking force for the braking force-decreasing wheel.
- the first braking force of each wheel is determined by referring to a map (table) indicating the relationship of “wheel cylinder hydraulic pressure ⁇ braking force” stored in the ROM 52 and the current wheel cylinder hydraulic pressure of the corresponding wheel. Is required by applying This map is created based on the result of an experiment or the like performed on a wheel having a normal coefficient of friction between the brake pad and the brake disk (that is, not a braking force reducing wheel).
- the current wheel cylinder hydraulic pressure of a certain wheel can be acquired based on the detection result of a wheel cylinder hydraulic pressure sensor (not shown), for example.
- the “current slip ratio of the corresponding wheel” is applied to a map (table) indicating the relationship of “slip ratio ⁇ friction coefficient” stored in the ROM 52. This is obtained by multiplying the friction coefficient obtained by the ground contact load of the corresponding wheel.
- the current slip ratio of a certain wheel can be calculated based on the estimated vehicle body speed obtained from the detection result of the wheel speed sensor 41 ** and the current wheel speed of the wheel.
- the ground contact load of a certain wheel may be a constant value (static value) obtained only from the specifications of the vehicle, or a value obtained by adding or subtracting the inertial force based on the acceleration of the vehicle (dynamic value). Value).
- step 520 it is determined whether or not there is a braking force-reduced wheel among the wheels to be controlled (that is, one or more wheels whose wheel cylinder hydraulic pressure has increased due to execution of vehicle stability control). Is done. Specifically, for example, for each wheel to be controlled, it is determined whether or not the value obtained by subtracting the second braking force from the first braking force is greater than a predetermined value (positive value). When there is a wheel in which the value obtained by subtracting the second braking force from the first braking force is greater than a predetermined value (positive value), it is determined that the wheel (one wheel) is a braking force reduced wheel. This determination may be made based on the detection result of a sensor that measures the temperature of the brake pad, for example.
- step 520 If it is determined in step 520 that no braking force reducing wheel exists, the processing of this program ends.
- an insufficient braking force (insufficient braking force) is estimated for the braking force reduced wheel. This insufficient braking force is obtained, for example, by subtracting the second braking force from the first braking force.
- the insufficient braking force may be estimated based on, for example, a detection result of a sensor that measures the temperature of the brake pad and the like.
- step 530 the wheel to which the braking force is to be applied (that is, the wheel cylinder hydraulic pressure is increased) among the “other wheels that should generate the braking force to achieve vehicle stability control” excluding the wheel to be controlled.
- Wheel to be one wheel, hereinafter referred to as “first braking force distribution wheel”.
- Table 1 for each control being executed, a priority order for “wheels that should generate braking force” is determined in advance.
- the outer front wheel and the outer rear wheel are set in descending order of priority.
- the inner rear wheel, the inner front wheel, the outer rear wheel, and the outer front wheel are set in descending order of priority.
- the first braking force distribution wheel is determined to be the highest priority wheel other than the braking force reduction wheel. For example, during execution of OS suppression control, when it is determined that only the outer front wheel or the outer front wheel and the outer rear wheel are the control target wheels and the outer front wheel is the braking force reduced wheel, the first braking force distribution wheel Is determined to be the outer rear wheel. If the outer front wheel and the outer rear wheel are control target wheels, and it is determined that the outer rear wheel is a braking force reduced wheel, the first braking force distribution wheel is determined as the outer front wheel.
- the first braking force distribution wheel is determined as the inner front wheel.
- the first braking force distribution wheel is determined as the inner rear wheel.
- the braking force (distributed braking force) distributed to the first braking force distribution wheel is also determined.
- the distributed braking force is determined by, for example, multiplying the insufficient braking force estimated in step 525 by a coefficient K.
- the coefficient K may be smaller or larger than 1, and may be constant or variable.
- the coefficient K is “a turn generated due to the braking force having the same magnitude as the insufficient braking force applied to the reduced braking force wheel. It may be determined based on the specifications of the vehicle (for example, a tread) so that a turning moment having the same magnitude and the same direction as “moment” can be obtained.
- “determined distributed braking force” is added to the target braking force of the first braking force distribution wheel in the vehicle stability control in step 535.
- the target braking force of the first braking force distribution wheel is corrected. Note that the target braking force of the wheels other than the first braking force distribution wheel is not corrected.
- the target braking force of the first control distributing wheel exceeds a predetermined upper limit value due to the correction of the target braking force of the first control distributing wheel (in other words, the target of the wheel cylinder hydraulic pressure (pressing force of the brake pad))
- the target braking force of the first control distribution wheel is set to a value equal to the predetermined upper limit value, and the “exceeding the upper limit value” is the second control distribution wheel. May be distributed.
- the second control distribution wheel is determined to be the second highest priority wheel other than the braking force reduction wheel. Specifically, for example, during execution of the US suppression control, when only the inner rear wheel or the inner rear wheel and the inner front wheel are the control target wheels, the inner rear wheel is the braking force reduction wheel, and the first control wheel When the power distribution wheel is determined as the inner front wheel, the second braking force distribution wheel is determined as the outer rear wheel.
- the “predetermined upper limit value” may be constant or variable.
- the “predetermined upper limit value” may be determined based on the slip ratio of the first braking force distribution wheel based on the map shown in FIG. As can be understood from FIG. 6, when the wheel cylinder hydraulic pressure (pressing force of the brake pad) of the outer rear wheel is gradually increased to increase the slip ratio of the outer rear wheel, the turning outward moment is initially zero. And then decreases to zero, and then becomes negative. This means that when the braking force (braking torque, wheel cylinder hydraulic pressure) applied to the outer rear wheel as the first braking force distribution wheel exceeds a certain value during execution of the OS suppression control, the braking force turns. It means no longer contributing to the generation of outward moments.
- the slip ratio of the outer rear wheel is “outside of the turn” as the “predetermined upper limit value”.
- the wheel cylinder hydraulic pressure (pressing force on the brake pad) of the inner front wheel is gradually increased to increase the slip ratio of the inner front wheel, the turning inward moment initially increases from 0 and then decreases. It becomes 0 and becomes a negative value thereafter.
- the braking force braking torque, wheel cylinder hydraulic pressure
- the slip ratio of the inner front wheel is determined as “turning inward moment” as the “predetermined upper limit value”.
- step 535 the target braking force of the first braking force distribution wheel is corrected based on the “predetermined upper limit value”, and the first braking force distribution wheel is corrected.
- the target braking force of the two braking force distribution wheels is corrected based on the above “exceeding the upper limit value”.
- the target braking force of the wheels other than the first and second braking force distribution wheels is not corrected.
- the vehicle stability control is executed based on the corrected target braking force of each wheel.
- the wheel cylinder hydraulic pressure (the pressing force of the brake pad) of the braking force-reduced wheel itself is not corrected.
- the wheel cylinder hydraulic pressure (the pressing force of the brake pad) of the first braking force distribution wheel (and the second braking force distribution wheel) other than the braking force reduction wheel is increased.
- the desired turning moment is increased by the increase of the braking force of the first braking force distribution wheel (and the second braking force distribution wheel). It occurs reliably and vehicle stability control can be achieved.
- control for compensating for a shortage of braking force is executed only during execution of vehicle stability control (see step 505).
- the “control for compensating for the shortage of the braking force” may be executed. In this case, it is determined whether or not the braking force reduction wheels are present for all the wheels. Then, when the braking force-reduced wheel exists, the insufficient braking force (see step 525) is applied to wheels other than the braking force-reduced wheel.
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Abstract
Description
図1は、本発明の実施形態に係る車両のブレーキ制御装置を含む車両のブレーキ装置10を搭載した車両の概略構成を示している。以下、各種変数等の末尾に付された「**」は、各種変数等が車輪FR、FL、RR、RLのいずれに関するものであるかを示すために各種変数等の末尾に付される「fr」,「fl」等の包括表記である。
このブレーキ装置10(具体的には、CPU51)は、車両の走行安定性を高めるための周知の車両安定性制御を実行する。図4を参照しながら、この車両安定性制御について簡単に説明する。以下、説明の便宜上、旋回外側の前輪、旋回外側の後輪、旋回内側の前輪、旋回内側の後輪をそれぞれ、「外前輪」、「外後輪」、「内前輪」、「内後輪」と呼ぶ。
ところで、このブレーキ装置10では、摩擦制動部材(ブレーキパッド)の過剰な温度上昇により摩擦制動部材の摩擦係数が低下する現象(所謂、フェード)、或いは、摩擦制動部材(ブレーキパッド)とディスク部材(ブレーキディスク)との間に氷雪が侵入して両者間の摩擦係数が低下する現象(所謂、スノーフェード)等が不可避的に発生し得る。このような現象が発生すると、車両に発生している制動力(制動トルク)が、「摩擦制動部材の押圧力(或いは、ホイールシリンダ液圧)に応じた(予定された)制動力(制動トルク)」に対して過剰に低下する。以下、このように制動力が低下している車輪を「制動力低下輪」と呼ぶ。
Claims (6)
- 発生している制動力が摩擦制動部材の押圧力に応じた制動力に対して低下している車輪である制動力低下輪が存在するか否かを判定する判定手段と、
前記制動力低下輪が存在するとの判定に基づいて、前記制動力低下輪以外の他の車輪の前記摩擦制動部材の押圧力を前記制動力低下輪における制動力の不足分に基づいて増大する制動力補償手段と、
を備えた車両の制動力制御装置。 - 運転者による制動操作に依存することなく車両の走行安定性を高めるために車輪毎に摩擦制動部材の押圧力を調整して制動力を発生させる車両安定性制御を行う制御手段を備えた車両の制動力制御装置であって、
前記車両安定性制御中において、前記車両安定性制御に起因して制動力が発生し、且つ、その制動力が摩擦制動部材の押圧力に応じた制動力に対して低下している車輪、である制動力低下輪が存在するか否かを判定する判定手段と、
前記制動力低下輪が存在するとの判定に基づいて、前記制動力低下輪を除いた複数の車輪のうち、前記車両安定性制御において前記走行安定性を高めるために制動力を発生すべき車輪についての予め定められた優先順位が最も高い車輪、である第1制動力分配輪を特定し、前記第1制動力分配輪の前記摩擦制動部材の押圧力を前記制動力低下輪における制動力の不足分に基づいて増大する制動力補償手段と、
を備えた、車両の制動力制御装置。 - 請求項2に記載の車両の制動力制御装置において、
前記制動力補償手段は、
前記第1制動力分配輪の前記摩擦制動部材の押圧力の増大によってその押圧力が所定の上限値を超える場合、前記第1制動力分配輪の前記摩擦制動部材の押圧力を前記上限値と等しい値に調整し、且つ、前記制動力低下輪を除いた複数の車輪のうち前記優先順位が2番目に高い車輪、である第2制動力分配輪の前記摩擦制動部材の押圧力を、前記上限値を超える分に基づいて増大するように構成された、車両の制動力制御装置。 - 請求項3に記載の車両の制動力制御装置において、
前記上限値は、前記第1制動力分配輪のスリップ率に基づいて設定された、車両の制動力制御装置。 - 請求項1乃至請求項4の何れか一項に記載の車両の制動力制御装置において、
前記車両安定性制御は、前記車両のオーバステアを抑制するオーバステア抑制制御であり、
前記優先順位の高い順に、旋回外側の前輪、旋回外側の後輪が設定された、車両の制動力制御装置。 - 請求項1乃至請求項4の何れか一項に記載の車両の制動力制御装置において、
前記車両安定性制御は、前記車両のアンダステアを抑制するアンダステア抑制制御であり、
前記優先順位の高い順に、旋回内側の後輪、旋回内側の前輪、旋回外側の後輪、旋回外側の前輪が設定された、車両の制動力制御装置。
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US14/397,148 US9393939B2 (en) | 2012-06-22 | 2013-06-24 | Vehicle braking force control apparatus |
DE201311003134 DE112013003134T5 (de) | 2012-06-22 | 2013-06-24 | Fahrzeugbremskraftsteuergerät |
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JP6584877B2 (ja) * | 2014-09-25 | 2019-10-02 | Ntn株式会社 | 電動ブレーキシステム |
JP6531739B2 (ja) * | 2016-08-09 | 2019-06-19 | トヨタ自動車株式会社 | ブレーキ制御装置 |
JP6485418B2 (ja) | 2016-08-09 | 2019-03-20 | トヨタ自動車株式会社 | ブレーキ制御装置 |
JP6381080B2 (ja) * | 2016-09-07 | 2018-08-29 | 株式会社Subaru | 車両の制動力制御装置 |
DE102017202296A1 (de) * | 2017-02-14 | 2018-08-16 | Audi Ag | Schätzverfahren für den Reibwert eines hydraulischen Bremssystems |
GB2562281B (en) * | 2017-05-11 | 2022-06-22 | Arrival Ltd | Method and apparatus for controlling a vehicle |
DE102017008948A1 (de) * | 2017-09-25 | 2019-03-28 | Lucas Automotive Gmbh | Kraftfahrzeug-Bremsanlage, Verfahren zum Betreiben derselben und Steuergerät hierfür |
JP7211352B2 (ja) * | 2019-12-20 | 2023-01-24 | トヨタ自動車株式会社 | 制動能力低下判定装置 |
CN112298137B (zh) * | 2020-02-26 | 2021-10-15 | 中国地质大学(北京) | 商用车气压制动系统的控制方法及整车制动方法 |
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US9393939B2 (en) | 2016-07-19 |
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US20150112568A1 (en) | 2015-04-23 |
DE112013003134T5 (de) | 2015-03-12 |
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